Link Module Research Articles

Equilibrium Optimization-Based Ensemble CNN Framework for Breast Cancer Multiclass Classification Using Histopathological Image.

Background: Breast cancer is one of the most lethal cancers among women. Early detection and proper treatment reduce mortality rates. Histopathological images provide detailed information for diagnosing and staging breast cancer disease. Methods: The BreakHis dataset, which includes histopathological images, is used in this study. Medical images are prone to problems such as different textural backgrounds and overlapping cell structures, unbalanced class distribution, and insufficiently labeled data. In addition to these, the limitations of deep learning models in overfitting and insufficient feature extraction make it extremely difficult to obtain a high-performance model in this dataset. In this study, 20 state-of-the-art models are trained to diagnose eight types of breast cancer using the fine-tuning method. In addition, a comprehensive experimental study was conducted to determine the most successful new model, with 20 different custom models reported. As a result, we propose a novel model called MultiHisNet. Results: The most effective new model, which included a pointwise convolution layer, residual link, channel, and spatial attention module, achieved 94.69% accuracy in multi-class breast cancer classification. An ensemble model was created with the best-performing transfer learning and custom models obtained in the study, and model weights were determined with an Equilibrium Optimizer. The proposed ensemble model achieved 96.71% accuracy in eight-class breast cancer detection. Conclusions: The results show that the proposed model will support pathologists in successfully diagnosing breast cancer.

Biomimetic Hyaluronan Binding Biomaterials to Capture the Complex Regulation of Hyaluronan in Tissue Development and Function.

Within native ECM, Hyaluronan (HA) undergoes remarkable structural remodeling through its binding receptors and proteins called hyaladherins. Hyaladherins contain a group of tandem repeat sequences, such as LINK domains, BxB7 homologous sequences, or 20-50 amino acid long short peptide sequences that have high affinity towards side chains of HA. The HA binding sequences are critical players in HA distribution and regulation within tissues and potentially attractive therapeutic targets to regulate HA synthesis and organization. While HA is a versatile and successful biopolymer, most HA-based therapeutics have major differences from a native HA molecule, such as molecular weight discrepancies, crosslinking state, and remodeling with other HA binding proteins. Recent studies showed the promise of HA binding domains being used as therapeutic biomaterials for osteoarthritic, ocular, or cardiovascular therapeutic products. However, we propose that there is a significant potential for HA binding materials to reveal the physiological functions of HA in a more realistic setting. This review is focused on giving a comprehensive overview of the connections between HA's role in the body and the potential of HA binding material applications in therapeutics and regenerative medicine. We begin with an introduction to HA then discuss HA binding molecules and the process of HA binding. Finally, we discuss HA binding materials anf the future prospects of potential HA binding biomaterials systems in the field of biomaterials and tissue engineering.

Chemical modification of hyaluronan oligosaccharides differentially modulates hyaluronan–hyaladherin interactions

The glycosaminoglycan hyaluronan (HA) is a ubiquitous, nonsulfated polysaccharide with diverse biological roles mediated through its interactions with HA-binding proteins (HABPs). Most HABPs belong to the Link module superfamily, including the major HA receptor, CD44, and secreted protein TSG-6, which catalyzes the covalent transfer of heavy chains from inter-α-inhibitor onto HA. The structures of the HA-binding domains (HABDs) of CD44 (HABD_CD44) and TSG-6 (Link_TSG6) have been determined and their interactions with HA extensively characterized. The mechanisms of binding are different, with Link_TSG6 interacting with HA primarily via ionic and CH-π interactions, whereas HABD_CD44 binds solely via hydrogen bonds and van der Waals forces. Here, we exploit these differences to generate HA oligosaccharides, chemically modified at their reducing ends, that bind specifically and differentially to these target HABPs. Hexasaccharides (HA6AN) modified with 2- or 3-aminobenzoic acid (HA6-2AA, HA6-3AA) or 2-amino-4-methoxybenzoic acid (HA6-2A4MBA), had increased affinities for Link_TSG6 compared to unmodified HA6AN. These modifications did not increase the affinity for CD44_HABD. A model of HA6-2AA (derived from the solution dynamic 3D structure of HA4-2AA) was docked into the Link_TSG6 structure, providing evidence that the 2AA-carboxyl forms a salt bridge with Arginine-81. These modeling results informed a second series of chemical modifications for HA oligosaccharides, which again showed differential binding to the two proteins. Several modifications to HA4 and HA6 were found to convert the oligosaccharide into substrates for heavy chain transfer, whereas unmodified HA4 and HA6 are not. This study has generated valuable research tools to further understand HAbiology.

TSG-6-Mediated Extracellular Matrix Modifications Regulate Hypoxic-Ischemic Brain Injury.

Proteoglycans containing link domains modify the extracellular matrix (ECM) to regulate cellular homeostasis and can also sensitize tissues/organs to injury and stress. Hypoxic-ischemic (H-I) injury disrupts cellular homeostasis by activating inflammation and attenuating regeneration and repair pathways. In the brain, the main component of the ECM is the glycosaminoglycan hyaluronic acid (HA), but whether HA modifications of the ECM regulate cellular homeostasis and response to H-I injury is not known. In this report, employing both male and female mice, we demonstrate that link-domain-containing proteoglycan, TNFα-stimulated gene-6 (TSG-6), is active in the brain from birth onward and differentially modifies ECM HA during discrete neurodevelopmental windows. ECM HA modification by TSG-6 enables it to serve as a developmental switch to regulate the activity of the Hippo pathway effector protein, yes-associated protein 1 (YAP1), in the maturing brain and in response to H-I injury. Mice that lack TSG-6 expression display dysregulated expression of YAP1 targets, excitatory amino acid transporter 1 (EAAT1; glutamate-aspartate transporter) and 2 (EAAT2; glutamate transporter-1). Dysregulation of YAP1 activation in TSG-6-/- mice coincides with age- and sex-dependent sensitization of the brain to H-I injury such that 1-week-old neonates display an anti-inflammatory response in contrast to an enhanced proinflammatory injury reaction in 3-month-old adult males but not females. Our findings thus support that a key regulator of age- and sex-dependent H-I injury response in the mouse brain is modulation of the Hippo-YAP1 pathway by TSG-6-dependent ECM modifications.

Digital twin modeling of open category UAV radio communications: A case study

The modeling of radio links plays a crucial role in achieving mission success of unmanned aerial vehicles (UAVs). By simulating and analyzing communication performance, operators can anticipate and address potential challenges. In this paper, we propose a full-featured UAV software-in-the-loop digital twin (SITL-DT) for a heavy-lifting hexacopter that integrates a radio link module based on an experimental path loss model for ‘Open’ category Visual Line of Sight (VLOS) conditions and drone-antenna radiation diagrams obtained via electromagnetic simulation. The main purpose of integrating and simulating a radio link is to characterize when the communication link can be conflicting due to distance, the attitude of the aircraft relative to the pilot, and other phenomena. The system architecture, including the communications module, is implemented and validated based upon experimental flight data.

A semantic web-based risk assessment framework for collaborative planning to enhance overall supply chain effectiveness for semiconductor industry

Semiconductor supply chain uncertainty is increasingly complicated due to shortening product life cycles, demand fluctuation and a series of collaborative decisions, yet little research focuses on risk assessment from operational planning level to supply chain planning level. Limitations of existing approaches can be traced in part to the lack of a framework within which the decisions involved in different levels can be integrated and aligned in light of supply chain dynamics. This study aims to develop a semantic web based risk assessment framework to integrate collaborative planning and enable the interpretability among real world and simulation modelling. This study starts by proposing a performance elevation metric from interpreting planning level for overall supply chain effectiveness. This study further constructs an ontology for planning and control decisions to support building the risk assessment simulation model to ensure information system interoperability and link domain knowledge for semiconductor supply chain network resilience. For validation, a simulation model is constructed for backend production from a leading semiconductor company in Germany. The contribution of the proposed semantic web-based framework provides the interoperability for supporting supply chain management and reduces the gaps between simulation modelling and physical setting to enhance overall supply chain effectiveness.

Estimation of Impact Loads Transmitted to Vibro-Ripper Housing Using Transfer Path Analysis

This study aimed to estimate impact loads delivered to vibro-ripper housing through link modules, together with loads transmitted in various directions. Housing vibration resulting from impact loads generated during the operating condition and frequency response functions were assessed by vibration and modal experiments, respectively. Vibration data and transfer functions were applied in a transfer path analysis (TPA) model to analyze the quantified impact loads transmitted through the key components of the vibro-ripper to its housing. Impact loads derived by TPA for different housing parts were compared with those in the tooth derived from load-cell measurements, validating the TPA method. As a result of the verification, the impact load calculated by the TPA method was 193.7 kN, whereas that from the striking force measured by the load cell was 220 kN, a difference of 12.3%. The results of this study may be important input values for numerical analysis in equipment design and can be used as key data for structural safety evaluation and optimization. In summary, this paper introduces the vibration-based TPA method and considers its applicability to construction machinery exposed to impact vibration and loads.

Transsynaptic Assemblies Link Domains of Presynaptic and Postsynaptic Intracellular Structures across the Synaptic Cleft.

The chemical synapse is a complex machine separated into three parts: presynaptic, postsynaptic, and cleft. Super-resolution light microscopy has revealed alignment of presynaptic vesicle release machinery and postsynaptic neurotransmitter-receptors and scaffolding components in synapse spanning nanocolumns. Cryo-electron tomography confirmed that postsynaptic glutamate receptor-like structures align with presynaptic structures in proximity to synaptic vesicles into transsynaptic assemblies. In our electron tomographic renderings, nearly all transcleft structures visibly connect to intracellular structures through transmembrane structures to form transsynaptic assemblies, potentially providing a structural basis for transsynaptic alignment. Here, we describe the patterns of composition, distribution, and interactions of all assemblies spanning the synapse by producing three-dimensional renderings of all visibly connected structures in excitatory and inhibitory synapses in dissociated rat hippocampal neuronal cultures of both sexes prepared by high-pressure freezing and freeze-substitution. The majority of transcleft structures connect to material in both presynaptic and postsynaptic compartments. We found several instances of assemblies connecting to both synaptic vesicles and postsynaptic density scaffolding. Each excitatory synaptic vesicle within 30 nm of the active zone contacts one or more assembly. Further, intracellular structures were often shared between assemblies, entangling them to form larger complexes or association domains, often in small clusters of vesicles. Our findings suggest that transsynaptic assemblies physically connect the three compartments, allow for coordinated molecular organization, and may combine to form specialized functional association domains, resembling the light-level nanocolumns.SIGNIFICANCE STATEMENT A recent tomographic study uncovered that receptor-like cleft structures align across the synapse. These aligned structures were designated as transsynaptic assemblies and demonstrate the coordinated organization of synaptic transmission molecules between compartments. Our present tomographic study expands on the definition of transsynaptic assemblies by analyzing the three-dimensional distribution and connectivity of all cleft-spanning structures and their connected intracellular structures. While one-to-one component alignment occurs across the synapse, we find that many assemblies share components, leading to a complex entanglement of assemblies, typically around clusters of synaptic vesicles. Transsynaptic assemblies appear to form domains which may be the structural basis for alignment of molecular nanodomains into synapse spanning nanocolumns described by super-resolution light microscopy.

The recombinant Link module of human TSG-6 suppresses cartilage damage in models of osteoarthritis: A potential disease-modifying OA drug

To investigate the role of endogenous TSG-6 in human osteoarthritis (OA) and assess the disease-modifying potential of a TSG-6-based biological treatment in cell, explant and animal models of OA. Knee articular cartilages from OA patients were analyzed for TSG-6 protein and mRNA expression using immunohistochemistry and RNAscope, respectively. The inhibitory activities of TSG-6 and its isolated Link module (Link_TSG6) on cytokine-induced degradation of OA cartilage explants were compared. Human mesenchymal stem/stromal cell-derived chondrocyte pellet cultures were used to determine the effects of Link_TSG6 and full-length TSG-6 on IL-1α-, IL-1β-, or TNF-stimulated ADAMTS4, ADAMTS5, and MMP13 mRNA expression. Link_TSG6 was administered i.a. to the rat ACLTpMMx model; cartilage damage and tactile allodynia were assessed. TSG-6 is predominantly associated with chondrocytes in regions of cartilage damage where high TSG-6 expression aligns with low MMP13, the major collagenase implicated in OA progression. Link_TSG6 is more potent than full-length TSG-6 at inhibiting cytokine-mediated matrix breakdown in human OA cartilage explants;>50% of donor cartilages, from 59 tested, were responsive to Link_TSG6 treatment. Link_TSG6 also displayed more potent effects in 3D pellet cultures, suppressing ADAMTS4, ADAMTS5, and MMP13 gene expression, which was consistent with reduced aggrecanase and collagenase activities in explant cultures. Link_TSG6 treatment reduced touch-evoked pain behavior and dose-dependently inhibited cartilage damage in a rodent model of surgically-induced OA. Link_TSG6 has enhanced chondroprotective activity compared to the full-length TSG-6 protein and shows potential as a disease modifying OA drug via its inhibition of aggrecanase and collagenase activity.

Intercultural Competence in Physical Education Teacher Education: Virtual Exchange through Global Link

ABSTRACT To prepare teachers for effectively addressing students’ cultural diversity in K-12, physical education teacher education (PETE) programs need to include intercultural competence training. Global Link is a pedagogical module, which has been designed to promote students’ intercultural competence in a PETE program. In the past 13 years, the module has been used successfully in a graduate course working with PETE programs in Belgium, China, Italy, South Korea, Turkey, and USA. Based on lessons learned from multiple implementation experiences, this article aims to introduce the Global Link module and present a four-step procedure for designing and implementing the module, teaching strategies and suggestions, and an example of a Global Link module. Four steps for organizing Global Link include: finding and establishing partnerships, planning for Global Link, implementing Global Link, and reflecting on Global Link experiences. Collaboration and communication between instructors involved in the Global Link are cornerstones to successfully proceed step by step. Incorporating the Global Link type of virtual exchange in PETE programs is suggested to better prepare preservice teachers for interacting with students from other countries in classes and to expand the scope of instructional content to international.

Parametric stiffness modeling of a variable cross-section link for a collaborative robot

This paper describes how a parametric stiffness model of the variable cross-section link of a collaborative robot is obtained. The variable cross-section link module is divided into three parts: the front connection part, the rear connection part, and the main part. The static condensation method is used to model the stiffness of the connecting parts. The parametric stiffness modeling of the main part is carried out using the structural mechanics method. The stiffness models of the three parts are integrated into the parametric stiffness model of the entire link. The parametric stiffness model of the variable cross-section link is related to the structural dimensions of the link. The elastic deformation errors in all directions obtained from the stiffness model are within 5%. The method establishes the mapping relationship between the link’s structural dimensions and its stiffness model. Based on this, the structural optimization of a collaborative robot based on parametric stiffness model is made possible.

On the Complexity of Finding Set Repairs for Data-Graphs

In the deeply interconnected world we live in, pieces of information link domains all around us. As graph databases embrace effectively relationships among data and allow processing and querying these connections efficiently, they are rapidly becoming a popular platform for storage that supports a wide range of domains and applications. As in the relational case, it is expected that data preserves a set of integrity constraints that define the semantic structure of the world it represents. When a database does not satisfy its integrity constraints, a possible approach is to search for a ‘similar’ database that does satisfy the constraints, also known as a repair. In this work, we study the problem of computing subset and superset repairs for graph databases with data values using a notion of consistency based on having a set of Reg-GXPath expressions as integrity constraints. We show that for positive fragments of Reg-GXPath these problems admit a polynomial-time algorithm, while the full expressive power of the language renders them intractable.

MARVELD3 inhibits the epithelial-mesenchymal transition and cell migration by suppressing the Wnt/β-catenin signaling pathway in non-small cell lung cancer cells.

The epithelial-mesenchymal transition (EMT), featured by abatement of cell-cell contact, is related to exacerbating non-small cell lung cancer (NSCLC) by inducing metastasis. MAL and relevant proteins for vesicle trafficking and membrane link domain 3 (MARVELD3) is a novel tight junction protein participated in the EMT. There is limited information available about the mechanism of MARVELD3 in NSCLC. In this trial, the inhibition effect of MARVELD3 on human NSCLC cells will be discussed. MARVELD3 expression was measured in NSCLC tissues and para-carcinoma tissues. The expression of MARVELD3 and EMT-related genes were examined in transforming growth factor (TGF)-β1-induced NSCLC cells. NSCLC cells with MARVELD3-knockdown and overexpressed were established to analyze the relationship between MARVELD3 and EMT and cell migration. The Wnt/β-catenin pathway expression was also analyzed in NSCLC cell models and clinic species. Lower protein levels of MARVELD3 were observed in NSCLC samples than para-carcinoma specimens, and the decreased expression of MARVELD3 in NSCLC specimens was associated with tumor metastasis. E-Cadherin and MARVELD3 expression was reduced in TGF-β1 treated NSCLC cells, whereas increased Vimentin expression was detected. MARVELD3 changed the EMT-related genes and induced cell migration. In addition, Wnt/β-catenin pathway and target genes, MYC and CCND1, expressions were inhibited in MARVELD3 overexpressed NSCLC cells. TGF-β1 induced EMT in human NSCLC cells can be suppressed by MARVELD3 through Wnt/β-catenin signaling pathway. These results indicate that MARVELD3 might be a potential therapeutic modality useful in the treatment of NSCLC.

Proteoglycans: A Tool for Detecting Hyaluronan by ELISA-Like Methods.

Hyaluronan is a non-sulfated glycosaminoglycan synthesized on the plasma membrane of almost all mammalian cells, which can interact with different proteoglycans of the extracellular matrix. Aggrecan, versican, neurocan, and brevican are proteoglycans whose structures present a specific protein domain called "link module," which allows hyaluronan binding. Therefore, they can be helpful for assays that detect hyaluronan. For example, ELISA-like methods developed to measure hyaluronan amounts in solution are based on specific interactions between this molecule and the link module present in aggrecan or other hyaluronan-binding proteins (hyaladherins).

Extracellular matrix-inspired hydrogel of hyaluronan and gelatin crosslinked via a Link module with a transglutaminase reactive sequence

The extracellular matrix (ECM) is a natural scaffold of cells in the body. It has a complex structure comprising various proteins, such as collagen and hyaladherins, and polysaccharides such as hyaluronan (HA). Here, inspired by the crosslinked ECM structure, we design a genetically engineered Link module—LinkCFQ—by fusing a microbial transglutaminase (MTG)-reactive tag to the Link module, an HA-binding domain of tumor necrosis factor-stimulated gene-6. Although the HA-specific binding property of the Link module is preserved, LinkCFQ demonstrates excellent MTG reactivity with various proteins. Furthermore, an ECM-inspired hydrogel is fabricated from an HA–gelatin mixture crosslinked via HA/Link module interaction and MTG-catalyzed isopeptide bond formation in LinkCFQ. Cell culture and mouse experiments confirm the hydrogel’s biocompatibility and degradability. Our findings provide insights into the design of biomaterials and proteins for tissue engineering, regenerative medicine, drug discovery and delivery, disease models, biofabrication, and medical devices.

Noncovalent hyaluronan crosslinking by TSG-6: Modulation by heparin, heparan sulfate, and PRG4

The size, conformation, and organization of the glycosaminoglycan hyaluronan (HA) affect its interactions with soluble and cell surface-bound proteins. HA that is induced to form stable networks has unique biological properties relative to unmodified soluble HA. AlphaLISA assay technology offers a facile and general experimental approach to assay protein-mediated networking of HA in solution. Connections formed between two end-biotinylated 50 kDa HA (bHA) chains can be detected by signal arising from streptavidin-coated donor and acceptor beads being brought into close proximity when the bHA chains are bridged by proteins. We observed that incubation of bHA with the protein TSG-6 (tumor necrosis factor alpha stimulated gene/protein 6, TNFAIP/TSG-6) leads to dimerization or higher order multimerization of HA chains in solution. We compared two different heparin (HP) samples and two heparan sulfate (HS) samples for the ability to disrupt HA crosslinking by TSG-6. Both HP samples had approximately three sulfates per disaccharide, and both were effective in inhibiting HA crosslinking by TSG-6. HS with a relatively high degree of sulfation (1.75 per disaccharide) also inhibited TSG-6 mediated HA networking, while HS with a lower degree of sulfation (0.75 per disaccharide) was less effective. We further identified Proteoglycan 4 (PRG4, lubricin) as a TSG-6 ligand, and found it to inhibit TSG-6-mediated HA crosslinking. The effects of HP, HS, and PRG4 on HA crosslinking by TSG-6 were shown to be due to HP/HS/PRG4 inhibition of HA binding to the Link domain of TSG-6. Using the AlphaLISA platform, we also tested other HA-binding proteins for ability to create HA networks. The G1 domain of versican (VG1) effectively networked bHA in solution but required a higher concentration than TSG-6. Cartilage link protein (HAPLN1) and the HA binding protein segment of aggrecan (HABP, G1-IGD-G2) showed only low and variable magnitude HA networking effects. This study unambiguously demonstrates HA crosslinking in solution by TSG-6 and VG1 proteins, and establishes PRG4, HP and highly sulfated HS as modulators of TSG-6 mediated HA crosslinking.

A Novel Quadrotor With a 3-Axis Deformable Frame Using Tilting Motions of Parallel Link Modules Without Thrust Loss

We propose a novel quadrotor with a 3-axis deformable frame using parallel link modules. By adding three servo motors to the frame, it has two configurations, namely, roll-pitch deformation mode and yaw deformation mode. In the roll-pitch deformation mode, it can tilt and fold the frame in the roll and pitch directions independently, which gives it 6 controllable degrees of freedom (CDOF). In the yaw deformation mode, it can contract the whole frame in the yaw direction. We propose a design method without thrust loss at any deformed state in both modes. In experiments, we show that it can fly stably even when deformed in both modes by the extended conventional control method. Furthermore, its applications are presented to demonstrate its high versatility.

Techno-economic and environmental evaluation of PV/diesel/battery hybrid energy system using improved dispatch strategy

The selection of an appropriate dispatch strategy is considered as a major concern when designing hybrid energy system (HES) since it has large effects on the stability, reliability, environmental and economic performance of the system. The cycle charging (CC) strategy is a default dispatch strategy in HOMER software. However, the main drawback of this strategy is that it uses the resource and load data in the current time step and has no information about the future. This paper aims to investigate the optimum design of an off-grid PV/diesel/battery HES for electrifying a rural area in Iraq. A new dispatch strategy which has 12-hour foresight for the load and solar production is developed using MATLAB Link module in HOMER software. A comparison between the proposed strategy and default cycle charging (CC) strategy in HOMER is carried out by considering the technical, economic, and environmental performance. The results show that the proposed strategy achieves better performance than CC strategy by having NPC of $4.03M, renewable fraction of 41.3% and CO2 emissions of 851377 kg/year. For the CC strategy, these values are calculated as $4.19M, 33.9% and 957477 kg, respectively. The sensitivity analysis is also performed to reduce the effect of input parameters on the optimization results and determine the critical parameters. The research findings can play a crucial role in the development of more effective energy management systems.

Using AI to detect and classify malicious domain names

On the Internet and other IP networks, the Domain Name System (DNS) is used to identify machines. Resource entries in the DNS link domain names to various sorts of data. Commonly, it is used to transform domain names to IP addresses so that computers may locate services and devices utilizing the underlying network protocols. Due to a lack of security safeguards, cybercriminals use the Domain Name System (DNS) to launch attacks. So how to quickly locate and block possibilities? Finding rogue websites and their IP addresses has become a prominent research topic. Preventing unknown cyber-attacks is critical. This article advocated analysing enormous amounts of mobile web traffic to find dangerous domains. To classify, we used text and domain traffic statistics. Then we gave three typical classifiers to compare their impacts. The Spark framework is used to calculate huge amounts of DNS traffic. Our system's efficiency persuades us. It can be very useful in network security. The new features are tough to use and assist in identifying rogue domains. We tested MalPortrait using real-world big ISP networks' passive DNS traffic.

Optimal Synthesis of Unconventional Links for Modular Reconfigurable Manipulators

Abstract Customization of manipulators having unconventional parameters and link shapes have gained attention to accomplish nonrepetitive tasks in a given cluttered environment. Adaptive modular and reconfigurable designs are being used to achieve customization and have provided time and cost-effective solutions. Major challenges are associated to provide the systematic approach on the design and realization of modular components considering connectivity and integration. This article focuses on the architectural synthesis of the modular links, optimized with respect to the dynamic torques while following a prescribed set of trajectories. The design methodology is proposed as an Architecture Prominent Sectioning−k strategy, which assumes a modular link as an equivalent system of k number of point masses, performing optimization to minimize the joint torques and map the resulting re-adjusted point masses into a possible architecture. The proposed strategy is general and can be applied to planar or spatial manipulators with n−DoF even with nonparallel and nonperpendicular jointed configurations. The design of optimal curved links is realized resulting from the optimized solution considering the dynamics of the modular configurations over primitive trajectories. The proposed modular library of unconventional curved link modules with joint modules have shown lesser requirement of the joint torques compared to the conventional straight links.