Type Synthesis of Lower Mobility Parallel Mechanisms: A Review

Type synthesis of mechanisms aims to systematically determine all possible structures for a specific mobility requirement. Numerous methods based on di erent theories were proposed for type synthesis of lower mobility parallel mechanisms in past decades. However, there does not exist a comprehensive review on these approaches. Therefore, the goal of this paper is to give such a review, classifying the approaches proposed in the literature into three groups, namely, motion-based methods, constraint-based methods, and other methods. The motion-based methods include the Lie group based method, the GF set method, the linear transformation method, the POC set method,and the finite screw method. The constraint-based methods involve the screw theory-based method, the virtual chain method, the method based on Grassmann line geometry and line graphs, and the motion constraint generator method. Other methods contain the enumeration approach based on the general CGK mobility formula and the graph theory method. Upon thoroughly analyzing the characteristics and/or limitations of each method, this review provides a well reference to help researchers find an e ective synthesis method for innovative design and further scientific investigations for mechanisms.

Holocene Dune Mobility and Forcing Mechanisms at the Northern Margin of the East Asian Monsoon

Dune fields at the northern margin of the East Asian monsoon （EAM）, are mosaics of mobile and vegetation-stabilized aeolian dunes. These sand dunes are highly sensitive to environmental change, thus the distribution and the timing of their development may provide important clues to past environmental dynamics. Due to the strong wind erosion and dune migration, long and continuous stratigraphic records are seldom preserved. Synthesizing a large body of events, ultimately producing a relatively complete and high-resolution record, may be a proper method to investigate the dune development history and climate change. In this study, we synthesized a large body of luminescence ages for aeolian deposits from the Mu Us, Otindag, Horqin dune fields at the northern margin of the EAM. The results show that these dune fields, as a whole experienced a most extensive mobility during the early Holocene, followed by a widespread shift toward limited mobility and soil development in the mid-Holocene, and widespread reactivation occurred during late Holocene. The dune developments are directly linked to the effective moisture change controlled by the EAM changes, which respond to the low latitude summer insolation variation. The increased subsidence at the margin contrary to the core EAM, the delay from the feedback of the soil-vegetation-air coupled system, the increased evaporation due to the high temperature all play partial role in the lag of the margin EAM effective moisture change to the low latitude summer insolation. The asynchronous end of the wetter mid-Holocene mainly responds to the southeastwardly shift of the precipitation belt, while the regional sensitivity, response speed and internal feedback also contributed. The correspondence between dune records and North Atlantic drift-ice records of the rapid climate changes implies a close relationship between North Atlantic climate and the frequent dune activity at the northern margin of EAM.

Over-Constraints and a Unified Mobility Method for General Spatial Mechanisms Part 2:Application of the Principle

The pre-research on mobility analysis presented a unified-mobility formula and a methodology based on reciprocal screw theory by HUANG, which focused on classical and modem parallel mechanisms. However its range of application needs to further extend to general multi-loop spatial mechanism. This kind of mechanism is not only more complex in structure but also with strong motion coupling among loops, making the mobility analysis even more complicated, and the relevant research has long been ignored. It is focused on how to apply the new principle for general spatial mechanism to those various multi-loop spatial mechanisms, and some new meaningful knowledge is further found. Several typical examples of the genera/multi-loop spatial mechanisms with motion couple even strong motion couple are considered. These spatial mechanisms include different closing way： over-constraint appearing in rigid closure, in movable closure, and in dynamic closure as well; these examples also include two different new methods to solve this kind of issue： the way to recognize over-constraints by analyzing relative movement between two connected links and by constructing a virtual loop to recognize over-constraints. In addition, over-constraint determination tabulation is brought to analyze the motion couple. The researches above are all based upon the screw theory. All these multi-loop spatial mechanisms with different kinds of structures can completely be solved by following the directions and examples, and the new mobility theory based on the screw theory is also proved to be valid. This study not only enriches and develops the theory and makes the theory more universal, but also has a special meaning for innovation in mechanical engineering.

MECHANISM DESIGN AND MOTION ANALYSIS OF A SPHERICAL MOBILE ROBOT

A new spherical mobile robot BHQ-1 is designed. The spherical robot is driven by two internally mounted motors that induce the ball to move straight and turn around on a fiat surface. A dynamic model of the robot is developed with Lagrange method and factors affecting the driving torque of two motors are analyzed. The relationship between the turning radius of the robot and the length of two links is discussed in order to optimize its mechanism design. Simulation and experimental results demonstrate the good controllability and motion performance of BHQ-1.

Locomotion Optimization and Manipulation Planning of a Tetrahedron-Based Mobile Mechanism with Binary Control

Locomotion and manipulation optimization is essential for the performance of tetrahedron-based mobile mechanism. Most of current optimization methods are constrained to the continuous actuated system with limited degree of freedom(DOF), which is infeasible to the optimization of binary control multi-DOF system. A novel optimization method using for the locomotion and manipulation of an 18 DOFs tetrahedron-based mechanism called 5-TET is proposed. The optimization objective is to realize the required locomotion by executing the least number of struts.Binary control strategy is adopted, and forward kinematic and tipping dynamic analyses are performed, respectively.Based on a developed genetic algorithm(GA), the optimal number of alternative struts between two adjacent steps is obtained as 5. Finally, a potential manipulation function is proposed, and the energy consumption comparison between optimal 5-TET and the traditional wheeled robot is carried out. The presented locomotion optimization and manipulation planning enrich the research of tetrahedron-based mechanisms and provide the instruction to the successive locomotion and operation planning of multi-DOF mechanisms.

Dynamic Analysis of Propulsion Mechanism Directly Driven by Wave Energy for Marine Mobile Buoy

Marine mobile buoy（MMB） have many potential applications in the maritime industry and ocean science.Great progress has been made,however the technology in this area is far from maturity in theory and faced with many difficulties in application.A dynamic model of the propulsion mechanism is very necessary for optimizing the parameters of the MMB,especially with consideration of hydrodynamic force.The principle of wave-driven propulsion mechanism is briefly introduced.To set a theory foundation for study on the MMB,a dynamic model of the propulsion mechanism of the MMB is obtained.The responses of the motion of the platform and the hydrofoil are obtained by using a numerical integration method to solve the ordinary differential equations.A simplified form of the motion equations is reached by omitting terms with high order small values.The relationship among the heave motion of the buoy,stiffness of the elastic components,and the forward speed can be obtained by using these simplified equations.The dynamic analysis show the following：The angle of displacement of foil is fairly small with the biggest value around 0.3 rad;The speed of mobile buoy and the angle of hydrofoil increased gradually with the increase of heave motion of buoy;The relationship among heaven motion,stiffness and attack angle is that heave motion leads to the angle change of foil whereas the item of speed or push function is determined by vertical velocity and angle,therefore,the heave motion and stiffness can affect the motion of buoy significantly if the size of hydrofoil is kept constant.The proposed model is provided to optimize the parameters of the MMB and a foundation is laid for improving the performance of the MMB.

A reconfigurable tracked mobile robot based on four-linkage mechanism

A novel reconfigurable tracked robot based on four-link mechanism was proposed and released for the complicated terrain environment. This robot was modularly designed and developed, which is composed of one suspension and one pair of symmetrical deployed reconfigurable track modules. This robot can implement multiple locomotion configurations by changing the track configuration, and the geometric theory analysis shows that the track length keeps constant during the process of track reconfiguration. Furthermore, a parameterized geometric model of the robot was established to analyze the kinematic performance of the robot while overcoming various obstacles. To investigate the feasibility and correctness of design theory and robot scheme, an example robot was designed to climb 45° slopes and 200 mm steps, and a group of design parameters of the robot were determined. Finally, A prototype of this robot was developed, and the test results show that the robot own powerful mobility and obstacle overcoming performance, for example, running across obstacle like mantis, extending to stride over entrenchment, standing up to elevate height, and going ahead after overturn.

Design of a Mobile Mechanism for Missing Miner Search Robots in Underground Mines

A mobile mechanism with four tracked-units for a missing miner search robot (MMSR) is presented, with a design based on the terrain features and atrocious environment of an underground mine. Its structure and working prin- ciple is discussed. The four tracked-units are controlled independently and driven cooperatively. By means of two DC motors being controlled respectively, one tracked-unit can accomplish two types of driving mode: tracked travel and in- tegral unit legged rotation (IULR), forming a track-legged compound function mechanism. Its capabilities of surmount- ing obstacles and its toppling stability in underground mines have also been analyzed. The results show that the mobile mechanism can directly surmount an obstacle of the height less than the length of one tracked-unit and get across a raceway with a span less than the length of one tracked-unit by using tracked travel and IULR. Its unstable slope angle is 51.3°. Toppling stability is determined by its structural size, moving direction and slope angle. IULR of four tracked-units can adjust the robot’s posture and then enhance toppling stability or assist in surmounting obstacles. Its track-legged compound function mechanism makes it suitable for working in underground mines.

Early mobilization for mechanically ventilated patients in the intensive care unit:a systematic review and meta-analysis

Background: Early mobilization(EM) is a regimen that was carried out by physiotherapists in a relatively early stage. It has been investigated by an increasing number of researchers. However, there has not been a meta-analysis concerning whether EM could benefit the clinical outcomes of critically ill patients requiring mechanical ventilation(MV). The present systematic review aims to evaluate the effect of EM compared with immobilization for mechanically ventilated patients.Methods: A computerized literature search was performed in six databases for related articles from inception to June 2017. We included randomized controlled trials and controlled clinical trials and used the Physiotherapy Evidence Database scale to assess the quality of included studies. Primary outcomes were measures of muscle function, duration of MV, and incidence of mortality.Secondary outcomes were adverse effects and length of stay(LOS) in intensive care unit(ICU) and hospital.Results: Eight trials were included; of those, only one study without standard EM reported that the intervention was invalid to improve the outcomes. The result of meta-analysis indicated that EM shortened the duration of MV; however, it had no positive effect on mortality and LOS in ICU.Conclusions: This review suggests that EM improves the muscle function and ventilation duration. Further research highlighting standard intervention and specific groups is needed.

Multiscale Characteristics and Connection Mechanisms of Attraction Networks:A Trajectory Data Mining Approach Leveraging Geotagged Data

Urban tourism is considered a complex system,and multiscale exploration of the organizational patterns of attraction networks has become a topical issue in urban tourism,so exploring the multiscale characteristics and connection mechanisms of attraction networks is important for understanding the linkages between attractions and even the future destination planning.This paper uses geotagging data to compare the links between attractions in Beijing,China during four different periods:the pre-Olympic period(2004–2007),the Olympic Games and subsequent‘heat period’(2008–2013),the post-Olympic period(2014–2019),and the COVID-19(Corona Virus Disease 2019)pandemic period(2020–2021).The aim is to better understand the evolution and patterns of attraction networks at different scales in Beijing and to provide insights for tourism planning in the destination.The results show that the macro,meso-,and microscales network characteristics of attraction networks have inherent logical relationships that can explain the commonalities and differences in the development process of tourism networks.The macroscale attraction network degree Matthew effect is significant in the four different periods and exhibits a morphological monocentric structure,suggesting that new entrants are more likely to be associated with attractions that already have high value.The mesoscale links attractions according to the common purpose of tourists,and the results of the community segmentation of the attraction networks in the four different periods suggest that the functional polycentric structure describes their clustering effect,and the weak links between clusters result from attractions bound by incomplete information and distance,and the functional polycentric structure with a generally more efficient network of clusters.The pattern structure at the microscale reveals the topological transformation relationship of the regional collaboration pattern,and the attraction network structure in the four different periods has a very similar importance profile structure suggesting that the attraction network has the same construction rules and evolution mechanism,which aids in understanding the attraction network pattern at both macro and micro scales.Important approaches and practical implications for planners and managers are presented.

An Incentive Mechanism for Mobile Crowd Sensing in Vehicular Ad Hoc Networks

In the mobile crowdsensing of vehicular ad hoc networks (VANETs), in order to improve the amount of data collection, an effective method to attract a large number of vehicles is needed. Therefore, the incentive mechanism plays a dominant role in the mobile crowdsensing of vehicular ad hoc networks. In addition, the behavior of providing malicious data by vehicles as data collectors will have a huge negative impact on the whole collection process. Therefore, participants need to be encouraged to provide data honestly to obtain more available data. In order to increase data collection and improve the availability of collected data, this paper proposes an incentive mechanism for mobile crowdsensing in vehicular ad hoc networks named V-IMCS. Specifically, the Stackelberg game model, Lloyd’s clustering algorithm and reputation management mechanism are used to balance the competitive relationship between participants and process the data according to the priority order, so as to improve the amount of data collection and encourage participants to honestly provide data to obtain more available data. In addition, the effectiveness of the proposed mechanism is verified by a series of simulations. The simulation results show that the amount of available data is significantly higher than the existing incentive mechanism while improving the amount of data collection.

Effect of high mobility group box-1 protein on immune cells and its regulatory mechanism

High mobility group box-1 protein(HMGB1),which is a nuclear protein,participates in chromatin architecture and transcriptional regulation.When released from cells,HMGB1 also plays a well-established role as a pro-inflammatory mediator during innate immune responses to injury.In the initial stage of injury,there is a release of large quantities of early pro-inflammatory mediators to initiate or perpetuate immune responses against pathogens,but this pro-inflammatory period is transient,and it is followed by a prolonged period of immune suppression.At present,several lines of evidences have suggested that HMGB1 is a late cytokine provoking delayed endotoxin morbidity,which may enhance the production of early proinflammatory mediators,and it can contribute potently to the activation of different immune cells and play a role in the development of host cell-mediated immunity.The biology of HMGB1 has been extensively studied as a pro-inflammatory cytokine of systemic inflammation,however,this review will attempt to provide a summary of the effects of HMGB1 on different immune cells and its regulatory mechanism in acute insults.

Mobility and constant-orientation workspace analysis of 4UPS-UPU parallel mechanism

One of the key issues for parallel mechanism is the kinematic characteristics,especially the workspace which varies with configuration parameters.A kind of 4UPS-UPU parallel mechanism is designed and its workspace is studied in this paper.First,the mobility of the 4UPS-UPU parallel mechanism is analyzed based on the reciprocal screw theory,and the motion and constraint screw systems of the parallel mechanism are obtained.Then the inverse kinematics is derived by the closed-form kinematics chain.The boundary search method in the polar coordinate system is presented to analyze the constant-orientation workspace of the parallel mechanism.Finally,the influence factors relevant to the workspace,such as the structural parameters and kinematics parameters are analyzed in detail.The relationship between the workspace volume and different parameters are obtained.The conclusions can be used for parameters optimization and path planning of the parallel mechanism.

Mobility and equilibrium stability analysis of pin-jointed mechanisms with equilibrium matrix SVD

Under certain load pattern, the geometrically indeterminate pin-jointed mechanisms will present certain shapes to keep static equalization. This paper proposes a matrix-based method to determine the mobility and equilibrium stability of mechanisms according to the effects of the external loads. The first and second variations of the potential energy function of mechanisms under conservative force field are analyzed. Based on the singular value decomposition (SVD) method, a new crite- rion for the mobility and equilibrium stability of mechanisms can be concluded by analyzing the equilibrium matrix. The mobility and stability of mechanisms can be classified by unified matrix formulae. A number of examples are given to demonstrate the proposed criterion. In the end, criteria are summarized in a table.

基于MobileNetV3Small-ECA的水稻病害轻量级识别研究

为实现水稻病害的轻量化识别与检测,使用ECA注意力机制改进MobileNetV3Small模型,并使用共享参数迁移学习对水稻病害进行智能化轻量级识别和检测。在PlantVillage数据集上进行预训练,将预训练得到的共享参数迁移到对水稻病害识别模型上微调优化。在开源水稻病害数据集上进行试验测试,试验结果表明,在非迁移学习下,识别准确率达到97.47%,在迁移学习下识别准确率达到99.92%,同时参数量减少26.69%。其次,通过Grad-CAM进行可视化,本文方法与其他注意力机制CBAM和SENET相比,ECA模块生成的结果与图像中病斑的位置和颜色更加一致,表明网络可以更好地聚焦水稻病害的特征,并且通过可视化和各水稻病害分析了误分类原因。本文方法实现了水稻病害识别模型的轻量化,使其能够在移动设备等资源受限的场景中部署,达到快速、高效、便携的目的。同时开发了基于Android的水稻病害识别系统,方便于在边缘端进行水稻病害识别分析。

KINEMATICS FEATURE ANALYSIS OF A 3-DOF COMPLIANT MECHANISM FOR MICRO MANIPULATION

Kinematics and its related issues of a 3-DOF in-parallel compliant mechanismare focused on. The micro manipulation application that requires high accuracy is developed. Designof the developed micromanipulator is based on the modified Delta mechanism. The main advantages ofthis manipulator are the use of only revolute flexure hinges and the capability to produce puretranslation theoretically. The aim is to develop an efficient kinematic model used for positioningcontrol. For this purpose, the Jacobian matrix relating the end effector position with the actuatordisplacements is obtained by both theoretical derivation and experiment. Aiming at the abnormalityin the motion capabilities of the micromanipulator found in calibration experiment, the mobility ofthe compliant mechanism on a theoretical level is analyzed by using the matrix method and screwtheory. Both the experimental and theoretical results have verified that the compliant mechanismdoes have rotational motion.

Preparation and Mechanical Properties of Micro- and Nano-sized SiC/Fluoroelastomer Composites

Microand nano-sized SiC/fluoroelastomer （FKM） composites were prepared by a mechanical mixing method. These composites were first characterized by a rotorless rheometer. Then the effects of micro- and nano-sized SiC on hardness, static and dynamic mechanical properties of the composites were investigated. The increasing amount of the SiC filler increased the curing efficiency of the biphenyl curing system, which was evident from the rheometric properties of the resulting composites. The tensile properties of composite increased with the increasing of micro- and nano-sized SiC content. When the micro- and nano-sized SiC content was higher than 20 phr, the composites showed almost unchanged tensile properties. The increasing of the tensile property was mainly attributed to the well dispersed micro- and nano-sized SiC particles characterized by SEM images. Compared to pure FKM, the composites exhibited a higher glass transition temperature and lower tan peak value.

Role of high mobility group box protein 1 in depression:A mechanistic and therapeutic perspective

As a common and serious psychiatric disorder,depression significantly affects psychosocial functioning and quality of life.However,the mechanism of depression is still enigmatic and perplexing,which limits its precise and effective therapeutic methods.Recent studies demonstrated that neuroinflammation activation plays an important role in the pathophysiology of depression.In this respect,high mobility group box 1(HMGB1)may be a possible signaling inducer of neuroinflammation and can be a potential mechanistic and therapeutic target for depression.Herein,we review recent studies on the mechanistic and therapeutic targets of HMGB1 in depression and propose potential perspectives on this topic.

Packet Drop Battling Mechanism for Energy Aware Detection in Wireless Networks

Network security and energy consumption are deemed to be two important components of wireless and mobile ad hoc networks(WMANets).There are various routing attacks which harm Ad Hoc networks.This is because of the unsecure wireless communication,resource constrained capabilities and dynamic topology.In order to cope with these issues,Ad Hoc On-Demand Distance Vector(AODV)routing protocol can be used to remain the normal networks functionality and to adjust data transmission by defending the networks against black hole attacks.The proposed system,in this work,identifies the optimal route from sender to collector,prioritizing the number of jumps,the battery life,and security,which are fundamental prerequisites.Researches have proposed various plans for detecting the shortest route,as well as ensuring energy conversions and defense against threats and attacks.In this regard,the packet drop attack is one of the most destructive attack against WMANet communication and hence merits special attention.This type of attack may allow the attacker to take control of the attacked hubs,which may lost packets or transmitted information via a wrong route during the packets journey from a source hub to a target one.Hence,a new routing protocol method has been proposed in this study.It applies the concept of energy saving systems to conserve energy that is not required by the system.The proposed method for energy aware detection and prevention of packet drop attacks in mobile ad hoc networks is termed the Ad Hoc On-Demand and Distance Vector–Packet Drop Battling Mechanism(AODV–PDBM).

Hybrid Trust Based Reputation Mechanism for Discovering Malevolent Node in MANET

A self-contained connection of wireless links that functions without any infrastructure is known as Mobile Ad Hoc Network(MANET).A MANET’s nodes could engage actively and dynamically with one another.However,MAN-ETs,from the other side,are exposed to severe potential threats that are difficult to counter with present security methods.As a result,several safe communication protocols designed to enhance the secure interaction among MANET nodes.In this research,we offer a reputed optimal routing value among network nodes,secure computations,and misbehavior detection predicated on node’s trust levels with a Hybrid Trust based Reputation Mechanism(HTRM).In addition,the study designs a robust Public Key Infrastructure(PKI)system using the suggested trust evaluation method in terms of“key”generation,which is a crucial component of a PKI cryptosystem.We also concentrate on the solid node authenticating process that relies on pre-authentication.To ensure edge-to-edge security,we assess safe,trustworthy routes to secure computations and authenticate mobile nodes,incorporating uncertainty into the trust management solution.When compared to other protocols,our recommended approach performs better.Finally,we use simulations data and performance evaluation metrics to verify our suggested approach’s validity Our approach outperformed the competing systems in terms of overall end-to-end delay,packet delivery ratio,performance,power consumption,and key-computing time by 3.47%,3.152%,2.169%,and 3.527%,3.762%,significantly.