Passive Linkage Research Articles

Linked Links—A Research Project: The Multiple Superimposed Soft Networks as Network Profiles

This article, based on network science, aims to contribute to overcoming its geometric and technological phases. The novelty consists in considering links of networks as linked by superimposed networks, termed here multiple superimposed soft networks (MSSN), which is introduced as a research issue. Such links of links (termed here as passive links) concern, for instance, correspondences, incompatibilities, and temporal synchronizations between the occurrences of pairs of active links of effective networks, such as those based on electrical and telecommunication. A possible constitutive mechanism of such passive linkage consists of linkage representations for practices and histories of use expressed by their validating statistical reoccurrences. We consider the possible emergent nature of the passive linkage. The reason for introducing the design and usage of MSSN properties as a research issue involves making new approaches to profile and manage networks available. Correspondence between active linkage and MSSN properties should be a matter for an experiential, machine-learning approach. Research issues relate their possible usage on the active linkage such as for classification, comparations, detection of criticalities, diagnosis, performance evaluation, and regulatory as weak forces. Furthermore, the possible identification of standard corresponding configurations of passive and active linkage is finalized to avoid their establishment or, conversely, in facilitating their establishment and keeping their replication in different contexts (or partially and in combinations) and identifying related standardized approaches (also for classes of configurations having significant levels of equivalence). This research project has methodological generalizing aspects of trans-disciplinarity. We conclude by mentioning related research issues.

Continuous Control Strategy of Planar 3-Linkage Underactuated Manipulator Based on Broad Neural Network

For the position control of a planar 3-linkage underactuated manipulator (PTUM) with a passive first linkage, a continuous control strategy is developed in this paper. In particular, a broad neural network (BNN)-based model is first established to accurately describe the motion coupling relationship between the passive linkage and the second linkage. Based on this model, by using the particle swarm optimization algorithm, the target angles of all linkages are calculated combining the start states of all linkages and the target position of the PTUM. Then, the target angles of the active linkages are directly achieved by their respective actuators, and that of the passive linkage is also achieved by the rotation of the second linkage. By carrying out several experiments, the effectiveness of the above strategy is verified.

Vibration isolation with passive linkage mechanisms

This study is to present a novel way to achieve superior passive vibration isolation by employing a specially designed and compact linkage mechanism. The proposed anti-vibration system has beneficial nonlinear inertia, inspired by swinging motion of human arms, and is constructed with an adjustable nonlinear stiffness system inspired by animal or human leg skeleton. It is shown with comprehensive theoretical analysis and consequently validated by a series of well-designed experiments that the nonlinear stiffness, nonlinear damping and nonlinear inertia of the proposed system are very helpful for significantly reducing resonant frequency and enhancing damping effect in a beneficial nonlinear way. This results in excellent vibration isolation performance with lower resonant frequency and resonant peak of faster decay rate. This study provides an innovative solution to a cost-efficient vibration control demanded in various engineering systems.

Development of a web-platform for dynamic monitoring of population health in Geneva: Specchio project

Abstract Background In order to provide efficient public health decisions making, it is crucial to obtain reliable and recent data on the state of health of the population. For that purpose, a web-platform for the dynamic monitoring of the health status and well-being of the population is being developed in the Geneva canton. Methods Using a dedicated website, recruitment will be carried out over 5 years so as to enroll up to 20 000 volunteers, resident in Geneva and aged ≥ 18 years, followed-up for at least 10 years. Once connected to the website, participants will fill a general self-administered questionnaire on their socio-demographic and lifestyle characteristics, anthropometry, health status, physical activity and diet. Environmental, behavioral and occupational exposures will also be evaluated via more specific questionnaires. Current addresses of residence will be geocoded and linked to geographical databases to passively gather information on noise, air pollution, green areas, and other exposures. Surveillance of health events will be implemented via yearly self-administered on line questionnaires and potentially via passive linkage to medical databases (medical file) and health registries with the participants' consent. For a subsample of volunteers, biochemical samples and biomarkers will be collected. Results The pilot study shows that the project is feasible, potentially cost-effective but requires innovative methodologies for ensuring long term follow-up. Different communication strategies used for recruitment and long-term participation need to be implemented ensuring trust from participants, different levels of health literacy and the need of justice. Conclusions Specchio is a new project aimed at setting up a digital longitudinal health study in Geneva. Challenges concerns the determinants of participation, recruitment and attrition, quality of data and ethics. Long-term funding by the Directorate General of Health Geneva is currently under evaluation. Key messages This digital longitudinal health study will enable dynamic monitoring of the health status and well-being of Geneva residents and will enable efficient public health decision making. Specchio is a new project funded by the Directorate General of Health Geneva.

A Hybrid Active and Passive Cable-Driven Segmented Redundant Manipulator: Design, Kinematics, and Planning

With a light-slender and superior dexterous body, the cable-driven segmented redundant manipulators (CSRMs) are excellent candidates for operations in narrow confined space. However, their application is still largely limited due to their weak stiffness, low load capacity, and complex modeling and planning. In this article, we design a new type of CSRM with high stiffness and load capacity using hybrid active and passive cables, and propose a simplified kinematics modeling and configuration planning method. The manipulator is composed of three active-linkage segments and one active tool end-effector. Each active segment, driven by three active driving cables, has two degrees of freedom (DOFs). By utilizing the passive linkage cables, the segment can be fully constrained with high stiffness, and move with equal joint angles in nearly continuous shape. Based on such structural features, the kinematics equations about the active segment-joint variables (i.e., the equalpitch and yaw angles of the whole segment) are derived. The direct, inverse kinematics and differential kinematics are greatly simplified. To find suitable solutions under environment constraints, extended virtual joint (EVJ) is introduced for quick regional solutions searching and equivalent kinematic constraint analysis. Furthermore, a configuration planning method based on the simplified kinematics and equivalent EVJs is proposed for single obstacle avoidance and continuous narrow space crossing tasks. Finally, a prototype system is developed and typical experiments are performed. The results show the high linkage accuracy, improved stiffness, and load capacity of the developed CSRM and verify the adaptability of the proposed configuration planning method.

Using health insurance reimbursement data to identify incident cancer cases

ObjectivesThe objective of this study was to establish an optimal population-level follow-up strategy for identifying incident cancers using health insurance reimbursement data in rural China. Study Design and SettingWe compared active follow-up and passive linkage with claims data for identification of incident cancer cases. Claims data were derived from the New Rural Cooperative Medical Scheme (NCMS). Follow-up data from subject enrollment to December 31, 2016, regarding 33,948 subjects in a large-scale randomized controlled trial were used in this study. ResultsThe overall sensitivity of passive linkage with NCMS claims data was significantly higher than that of active follow-up (95.6% vs. 54.9%, P < 0.001). Of 12 cases missed by the NCMS data set, seven were treated on an outpatient basis and there were therefore no records in the NCMS system, and five were diagnosed at primary (township-level) health facilities and excluded from the quality control process. Of the 123 cases missed by active follow-up, 54 were reported as negative, 69 were reported as positive but had inaccurate information regarding the site of cancer, or exceeded the 6-month limitation from the date of diagnosis. ConclusionPassive linkage with NCMS claims data is an efficient approach for identifying incident cancers in areas without cancer registries in rural China.

Performance Comparison of Adaptive Mechanisms of Cleaning Module to Overcome Step-Shaped Obstacles on Façades

As the demand and market for building maintenance are increasing, automated building facade cleaning has become essential. Robots are replacing human workers because cleaning work on high-rise buildings using gondolas can be dangerous. Several facade cleaning robots have been developed for climbing, and practical knowledge to clean the facade is being adopted in their cleaning devices. In this study, a passive linkage suspension mechanism and tri-star wheels are applied to solve the problems of unclean zones due to failures during overcoming obstacles and the problems through the use of additional actuators. Various mechanism models have been introduced and their performances have been compared based on dynamic simulation considering obstacle encounters.

Active follow-up versus passive linkage with cancer registries for case ascertainment in a cohort

BackgroundAscertaining incident cancers is a critical component of cancer-focused epidemiologic cohorts and of cancer prevention trials. Potential methods: for cancer case ascertainment include active follow-up and passive linkage with state cancer registries. Here we compare the two approaches in a large cancer screening trial. MethodsThe Prostate, Lung, Colorectal and Ovarian (PLCO) cancer screening trial enrolled 154,955 subjects at ten U.S. centers and followed them for all-cancer incidence. Cancers were ascertained by an active follow-up process involving annual questionnaires, retrieval of records and medical record abstracting to ascertain and confirm cancers. For a subset of centers, linkage with state cancer registries was also performed. We assessed the agreement of the two methods in ascertaining incident cancers from 1993 to 2009 in 80,083 subjects from six PLCO centers where cancers were ascertained both by active follow-up and through linkages with 14 state registries. ResultsThe ratio (times 100) of confirmed cases ascertained by registry linkage compared to active follow-up was 96.4 (95% CI: 95.1–98.2). Of cancers ascertained by either method, 86.6% and 83.5% were identified by active follow-up and by registry linkage, respectively. Of cancers missed by active follow-up, 30% were after subjects were lost to follow-up and 16% were reported but could not be confirmed. Of cancers missed by the registries, 27% were not sent to the state registry of the subject’s current address at the time of linkage. ConclusionLinkage with state registries identified a similar number of cancers as active follow-up and can be a cost-effective method to ascertain incident cancers in a large cohort.

Abstract A01: Prism regression: A new statistical tool for understanding determinants of cancer health disparities

Abstract As part of our ongoing collaboration with community stakeholders throughout the Miami metropolitan area, we have become increasingly aware of the limitations imposed by current measurements of race. Our stakeholders uphold that the categorical variable (black vs. white) most commonly used to approximate this social construct lacks necessary dimension for understanding its significance and contribution to persistent health disparity. In response to this input, we introduce a class of generalized regression models for cancer outcomes, which allow the coefficient of race to vary as a function of other variables. These other variables involve factors that typically interact with the race focus variable. Existing varying coefficient models (VCMs) have been limited in a number of ways: they do not easily extend to allow multiple effect modifiers at once, and they do not allow interactions between the effect modifier variables. We developed “prism regression” to overcome these limitations in a data-adaptive, non-parametric manner. Joint modeling of the effect modifiers can be viewed as a prism through which the overall race coefficient is “refracted” in different directions (the variables defining the prism are what we term prism variables). This allows one to delineate patterns of racial differences in cancer outcomes that were previously hidden or masked. Our particular implementation of prism regression uses a rule-based decision tree structure, which is extremely intuitive to understand. Importantly, these tree-like structures can be extended in elegant ways to allow for much more complex effect modification. One such example, which we term hierarchical prism regression, allows the effect of race to vary as a function of layered, directional effect modifiers (i.e. prism variables and hierarchical variables together). This cannot be accomplished by existing methods such as multiway interactions, mediation or moderation. We detail the prism regression methodology and demonstrate some optimality properties based on a new constrained parameter estimation algorithm called “prism fusion” that provides not only more accurate predictions due to shrinkage, but also evidence for or against the presence of effect modification. We compare prism regression to existing methods using a series of simulation studies and show significant gains in predictive accuracy. In addition, we analyzed data from the cancer registry of Florida to search for complex effect modification of racial disparity. The Florida Cancer Data System is Florida's legislatively mandated, population-based, statewide cancer registry. It is the second largest population based, cancer incidence registry in the nation processing over 180,000 new cases are from patient medical records annually, corresponding to 1155,000 newly diagnosed tumors since 1981. Cancer cases are submitted by hospitals, freestanding ambulatory surgical facilities, radiation therapy facilities, private physicians and death certificates. Information includes routine personal and demographic data, includes diagnosis, stage of disease, tissue pathology, and first course of medical treatment as well as passive death certificate linkage information. We illustrate the usefulness of prism regression focusing on breast cancer patients from the FCDS registry to investigate the individual and contextual level factors that lead to differential effects of race in relation to stage of disease at diagnosis. Individual level variables obtained from the FCDS registry are linked by geocode to obtain contextual variables from census data. We consider the individual level information as prism variables, and the geocode linked contextual level variables as hierarchical variables. Citation Format: Shari Messinger, Erin Kobetz, J Sunil Rao. Prism regression: A new statistical tool for understanding determinants of cancer health disparities. [abstract]. In: Proceedings of the Seventh AACR Conference on The Science of Health Disparities in Racial/Ethnic Minorities and the Medically Underserved; Nov 9-12, 2014; San Antonio, TX. Philadelphia (PA): AACR; Cancer Epidemiol Biomarkers Prev 2015;24(10 Suppl):Abstract nr A01.

Terrain-surface Estimation from Body Configurations of Passive Linkages

A passive linkage mechanism is used for increasing the mobile performance of a wheeled vehicle on uneven ground. The mechanism changes its shape according to the terrain and enables all the wheels to remain grounded while the vehicle operates over rough terrain. This means that the shape of the passive linkage mechanism must correspond to that of the terrain surface, so that the vehicle can estimate the shape of the surface while passing over it. This paper proposes a new terrain-surface estimation scheme that uses a passive linkage mechanism. Our key concept is to enable changes in the vehicle body's configuration to correspond to those in the terrain's shape. Using this concept, our mobile platform estimates the shape of terrain surfaces without using external sensors; the estimated surface shapes are used to adjust the reference velocities of individual wheels, thereby improving the mobile performance of the vehicle. We test our proposed scheme by experiments using a prototype vehicle.

High adsorption of dyes by water hyacinth fixed on alginate

Pollution from synthetic dyes has emerged to be a significant environmental issue over the past few decades. This has mainly been triggered by the increasing global dye production, possible toxic effects, undesirable colour and high persistence in the environment. Biosorption, which involves dye removal from aqueous solution by passive linkage in live and dead biomass, has shown great potential in removing dyes from aquatic environments. Among aquatic macrophytes, water hyacinth, Eichhornia crassipes, has shown great potential as a biosorbent. In this work, we investigated the removal of two basic dyes, methylene blue and crystal violet, using E. crassipes immobilized on alginate. Results showed that the Langmuir model better described the equilibrium sorption data when compared to the Freundlich model. Optimum amounts of methylene blue and crystal violet dyes were adsorbed in the alkaline pH range (8–10), 8 % biomass dose, and the amount of dye removed increased with increasing initial dye concentration. The equilibrium monocomponent adsorption capacities for the dyes were 111.1 and 43.5 mg/g, while the binary adsorption capacities were 26.1 and 11.6 mg/g for methylene blue and crystal violet, respectively. To conclude, we show for the first time that E. crassipes fixed on alginate beads can uptake and adsorb methylene blue and crystal violet dyes very effectively in batch systems and show great potential for dye removal from aquatic environments.

Teleautonomous Control on Rescue Robot Prototype

Robot application in disaster area can help responder team to save victims. In order to finish task, robot must have flexible movement mechanism so it can pass through uncluttered area. Passive linkage can be used on robot chassis so it can give robot flexibility. On physical experiments, robot is succeeded to move through gravels and 5 cm obstacle. Rescue robot also has specialized control needs. Robot must able to be controlled remotely. It also must have ability to move autonomously. Teleautonomous control method is combination between those methods. It can be concluded from experiments that on teleoperation mode, operator must get used to see environment through robot’s camera. While on autonomous mode, robot is succeeded to avoid obstacle and search target based on sensor reading and controller program. On teleautonomous mode, robot can change control mode by using bluetooth communication for data transfer, so robot control will be more flexible.

Zebedee: Design of a Spring-Mounted 3-D Range Sensor with Application to Mobile Mapping

Three-dimensional perception is a key technology for many robotics applications, including obstacle detection, mapping, and localization. There exist a number of sensors and techniques for acquiring 3-D data, many of which have particular utility for various robotic tasks. We introduce a new design for a 3-D sensor system, constructed from a 2-D range scanner coupled with a passive linkage mechanism, such as a spring. By mounting the other end of the passive linkage mechanism to a moving body, disturbances resulting from accelerations and vibrations of the body propel the 2-D scanner in an irregular fashion, thereby extending the device's field of view outside of its standard scanning plane. The proposed 3-D sensor system is advantageous due to its mechanical simplicity, mobility, low weight, and relatively low cost. We analyze a particular implementation of the proposed device, which we call Zebedee, consisting of a 2-D time-of-flight laser range scanner rigidly coupled to an inertial measurement unit and mounted on a spring. The unique configuration of the sensor system motivates unconventional and specialized algorithms to be developed for data processing. As an example application, we describe a novel 3-D simultaneous localization and mapping solution in which Zebedee is mounted on a moving platform. Using a motion capture system, we have verified the positional accuracy of the sensor trajectory. The results demonstrate that the six-degree-of-freedom trajectory of a passive spring-mounted range sensor can be accurately estimated from laser range data and industrial-grade inertial measurements in real time and that a quality 3-D point cloud map can be generated concurrently using the same data.

Simultaneous Optimization of Robot Structure and Control System Using Evolutionary Algorithm

The simultaneous optimization of a robot structure and control system to realize effective mobility in an outdoor environment is investigated. Recently, various wheeled mechanisms with passive and/or active linkages for outdoor environments have been developed and evaluated. We developed a mobile robot having six active wheels and passive linkage mechanisms, and experimentally verified its maneuverability in an indoor environment. However, there are various obstacles in outdoor environment and the travel ability of a robot thus depends on its mechanical structure and control system. We proposed a method of simultaneously optimizing mobile robot structure and control system using an evolutionary algorithm. Here, a gene expresses the parameters of the structure and control system. A simulated mobile robot and controller are based on these parameters and the behavior of the mobile robot is evaluated for three typical obstacles. From the evaluation results, new genes are created and evaluated repeatedly. The evaluation items are travel distance, travel time, energy consumption, control accuracy, and attitude of the robot. Effective outdoor travel is achieved around the 80th generation, after which, other parameters are optimized until the 300th generation. The optimized gene is able to pass through the three obstacles with low energy consumption, accurate control, and stable attitude.

2A2-E14 車輪型移動ロボットのための環境認識システム : 第4報:自己組織化テンプレート作成手法の導入

Recently, various mechanism have been developed combining linkage mechanisms and wheels, especially, the combination of passive linkage mechanisms and small wheels is one of main research trends, because, standard wheeled mobile mechanisms have difficulties on rough terrain movements. In our research, a 6-wheeled mobile robot employing a passive linkage mechanism has been developed to enhance maneuverability and achieved climbing capability over a 0.20[m] height of bump. In this paper, we propose environment recognition system for wheeled mobile robot which consists of multiple classification analyses like self-organizing map, and image processing for self-localization.

Omni‐directional vehicle control based on body configuration

PurposeThe purpose of this paper is to develop a new wheel control scheme for wheeled vehicle with passive linkage mechanism which realizes high step‐overcoming performance.Design/methodology/approachDeveloping wheeled vehicle realizes omni‐directional motion on flat floor using special wheels and passes over non‐flat ground using the passive suspension mechanism. The vehicle changes its body shape and wheel control references according to ground condition when it runs over the rough terrain.FindingsUtilizing the proposed wheel control scheme, the slip ratio and the disturbance ratio of the wheel reduce when the vehicle passes over the step and its step‐overcoming performance is improved.Originality/valueThe paper's key idea is modification of its kinematic model referring to the body configuration dynamically and using this model for wheel control of the vehicle. The controller adjusts the wheel control references when the vehicle passes over the rough terrain changing the body shape and reduces the slippage and the rotation error of wheels.

A biomechanical control mechanism for correction of clubfoot deformity in babies

A novel mechanism for an ankle-foot orthosis (AFO) based on a passive four-bar linkage for non-surgical treatment of clubfoot disorder is proposed. Clubfoot is a historical foot deformity where foot turned in and pointed down causing the subject to walk on the outside edges of foot. The non-surgical correction of this deformity is an unsolved challenging problem in medical domain. An AFO is a device for correction of foot deformities such as clubfoot in this case. A mechanism is proposed that when fitted to AFO, control the motion of the abnormal foot during correction. The linkage is attached to the foot and shank of the AFO. As the fly nut is rotated the downward force will be transmitted to the forefoot region to dorsiflex the clubfoot and correct this deformity. The magnitude of the force can be controlled by number of rotation of the fly nut. The initial wearable prototype has been proposed and is ready for fabrication and testing on test subjects to demonstrate the feasibility of the concept.

2A2-E11 動力学シミュレーションと進化型アルゴリズムを用いた不整地移動ロボットの構造最適化

A wheeled mobile mechanism with a passive and/or active linkage mechanism for travel in rough terrain is developed and evaluated. In our previous research, we developed a wheeled mobile robot which has six wheels and a passive linkage mechanism, and its maneuverability was experimentally verified. The ability to climb over a 0.20 m high bump, which is twice the height of the wheel diameter of 0.10 m, was achieved; and the mobile robot can climb up 0.15 m high continuous steps. In this research, we optimized the mobile robot linkage mechanisms and controller parameters by evolutionary algorithm and Open Dynamics Engine in numerical simulations. In simulations, though the default parameter mobile robot could climb up the 0.20 m high bump, it could not achieve climbing up the two kinds of stairs. On the other hand, the best parameter mobile robot could climb up the three kinds of typical environments.

Molecular basis of the catch state in molluscan smooth muscles: a catchy challenge

The catch state (or 'catch') of molluscan smooth muscles is a passive holding state that occurs after cessation of stimulation. During catch, force and, in particular, resistance to stretch are maintained for long time periods with low (or no) energy consumption at basal intracellular free [Ca2+]. The catch state is initiated by Ca2+-stimulated dephosphorylation of the titin-like protein twitchin and is inhibited by cAMP-dependent phosphorylation of twitchin. In addition, catch is pH sensitive, but the reason for this is unknown. According to a traditional model, catch is due to slower cross-bridge cycles where myosin heads remain longer attached to the actin filaments after force generation, possibly caused by a hindered release of ADP from the myosin heads. However, this model was disproved by recent findings which showed that (i) inhibitors of myosin function, such as vanadate, do not affect catch force; (ii) factors which terminate the catch state do not accelerate myosin head detachment kinetics and (iii) a catch-like high resistance to stretch is still inducible when force development is prevented. Thus, catch probably involves passive linkage structures interconnecting the myofilaments (catch linkages). For example twitchin could (i) tie myosin heads to the thin filaments, (ii) mechanically lock them in a stretch resistant state or (iii) interconnect thick and thin filaments directly. However, it is questionable if these mechanisms are sufficient since twitchin seems to be about 15-times less abundant than myosin. Therefore, in addition, interconnections between thick filaments could exist, which could involve e.g. paramyosin or twitchin. Catch could even involve changes in the compliance of thick filaments. The function of myorod, found specifically in catch muscles in equal abundance with myosin, is not known. The suggestion is made here that catch linkages are present already during active contraction either as ratchet-like elements resisting stretch and not opposing shortening or in some kind of 'standby' mode ready to transform suddenly into the working mode by stretches or after Ca2+ removal following cessation of stimulation.

A Controller Design Method Based on a Neural Network for an Outdoor Mobile Robot

A wheeled mobile mechanism with a passive and/or active linkage mechanism for travel in rough terrain is developed and evaluated. In our previous research, we developed a switching controller system for wheeled mobile robots in rough terrain. This system consists of two sub-systems: an environment recognition system using a self-organizing map and an adjusted control system using a neural network. In this paper, we propose a new controller design method based on a neural network. The proposed method involves three kinds of controllers: an elementary controller, adjusted controllers, and simplified controllers. In the experiments, our proposed method results in less oscillatory motion in rough terrain and performs better than a well tuned PID controller does.