Systematic Elastostatic Stiffness Model of Over-Constrained Parallel Manipulators Without Additional Constraint Equations

The establishment of an elastostatic stiffness model for over constrained parallel manipulators(PMs),particularly those with over constrained subclosed loops,poses a challenge while ensuring numerical stability.This study addresses this issue by proposing a systematic elastostatic stiffness model based on matrix structural analysis(MSA)and independent displacement coordinates(IDCs)extraction techniques.To begin,the closed-loop PM is transformed into an open-loop PM by eliminating constraints.A subassembly element is then introduced,which considers the flexibility of both rods and joints.This approach helps circumvent the numerical instability typically encountered with traditional constraint equations.The IDCs and analytical constraint equations of nodes constrained by various joints are summarized in the appendix,utilizing multipoint constraint theory and singularity analysis,all unified within a single coordinate frame.Subsequently,the open-loop mechanism is efficiently closed by referencing the constraint equations presented in the appendix,alongside its elastostatic model.The proposed method proves to be both modeling and computationally efficient due to the comprehensive summary of the constraint equations in the Appendix,eliminating the need for additional equations.An example utilizing an over constrained subclosed loops demonstrate the application of the proposed method.In conclusion,the model proposed in this study enriches the theory of elastostatic stiffness modeling of PMs and provides an effective solution for stiffness modeling challenges they present.

Study on Independent Supervision Function of Design Assurance System

The effective operation of a design assurance system cannot be achieved without the effective performance of the independent supervision function.As one of the core functions of the design assurance system,the purpose of the independent supervision function is to ensure that the system operates within the scope of procedures and manuals.At present,the function of independent supervision is a difficult and confusing issue for various original equipment manufacturers as well as suppliers,and there is an urgent requirement to put forward relevant requirements and form relevant methods.Based on the above mentioned objective,the basic requirements of the independent supervision function of design assurance system were studied,the problems and deficiencies in the organization,staffing,and methods existing in the current independent supervision function were analyzed,the improvement suggestions and measures for the performance of the independent supervision function from the aspects of the organization,staffing,procedures,and suppliers were put forward.The present work and conclusions provide guidance and direction for the effective operation of the design assurance system.

Projecting Wintertime Newly Formed Arctic Sea Ice through Weighting CMIP6 Model Performance and Independence

Precipitous Arctic sea-ice decline and the corresponding increase in Arctic open-water areas in summer months give more space for sea-ice growth in the subsequent cold seasons. Compared to the decline of the entire Arctic multiyear sea ice,changes in newly formed sea ice indicate more thermodynamic and dynamic information on Arctic atmosphere–ocean–ice interaction and northern mid–high latitude atmospheric teleconnections. Here, we use a large multimodel ensemble from phase 6 of the Coupled Model Intercomparison Project(CMIP6) to investigate future changes in wintertime newly formed Arctic sea ice. The commonly used model-democracy approach that gives equal weight to each model essentially assumes that all models are independent and equally plausible, which contradicts with the fact that there are large interdependencies in the ensemble and discrepancies in models' performances in reproducing observations. Therefore, instead of using the arithmetic mean of well-performing models or all available models for projections like in previous studies, we employ a newly developed model weighting scheme that weights all models in the ensemble with consideration of their performance and independence to provide more reliable projections. Model democracy leads to evident bias and large intermodel spread in CMIP6 projections of newly formed Arctic sea ice. However, we show that both the bias and the intermodel spread can be effectively reduced by the weighting scheme. Projections from the weighted models indicate that wintertime newly formed Arctic sea ice is likely to increase dramatically until the middle of this century regardless of the emissions scenario.Thereafter, it may decrease(or remain stable) if the Arctic warming crosses a threshold(or is extensively constrained).

An Integrated Control Framework for Torque Vectoring and Active Suspension System

Four-wheel independently driven electric vehicles(FWID-EV)endow a flexible and scalable control framework to improve vehicle performance.This paper integrates the torque vectoring and active suspension system(ASS)to enhance the vehicle’s longitudinal and vertical motion control performance.While the nonlinear characteristic of the tire model leads to a relatively heavier computational burden.To facilitate the controller design and ease the load,a half-vehicle dynamics system is built and simplified to the linear-time-varying(LTV)model.Then a model predictive controller is developed by formulating the objective function by comprehensively considering the safety,energy-saving and comfort requirements.The in-wheel motor efficiency and the power loss of tire slip are treated as optimization indices in this work to reduce energy consumption.Finally,the effectiveness of the proposed controller is verified through the rapid-control-prototype(RCP)test.The results demonstrate the enhancement of the energy-saving as well as comfort on the basis of vehicle stability.

Research on Innovation of Fair Competition Review System in Shenzhen

The Shenzhen Fair Competition Review System has experienced internal review and cross-examination since its inception.However,it is still dominated by the self-review of policy-making organs,with a lack of effective control and restraint mechanisms.In addition,insufficient compensatory effect of the external review has led to weak effectiveness of social supervision.Shenzhen is currently the pilot of an independent fair competition review system.The Fair Competition Commission can be set up as an independent review body.Then,the operational mechanism should be improved and the constraints and incentives should be set up scientifically.Last but not the least,by strengthening the social supervision network for fair competition review,the legality and rationality of a wide range of local regulations,rules,and normative documents will be reviewed,thereby regulating the behavior of policy-making organs.

Origin of the Dashuigou independent tellurium deposit at Qinghai–Xizang Plateau: constraints from the light stable isotopes C, O, and H

By studying the light isotopic compositions of carbon,oxygen,and hydrogen,combined with previous research results on the ore-forming source of the deposit,the authors try to uncover its metallogenic origin.The δ^(18)O and δ^(13)C isotope signatures of dolomite samples vary between 10.2 and 13.0‰,and between−7.2 and−5.2‰,respectively,implying that the carbon derives from the upper mantle.δD and δ^(18) O of quartz,biotite,and muscovite from diff erent ore veins of the deposit vary between−82 and−59‰,and between 11.6 and 12.4‰,respectively,implying that the metallogenic solutions are mainly magmatic.According to the relevant research results of many isotope geologists,the fractionation degree of hydrogen isotopes increases as the depth to the Earth’s core increases,and the more diff erentiated the hydrogen isotopes are,the lower their values will be.In other words,mantle-derived solutions can have extremely low hydrogen isotope values.This means that the δD‰ value−134 of the pyrrhotite sample numbered SD-34 in this article may indicate mantle-derived oreforming fl uid of the deposit.The formation of the Dashuigou tellurium deposit occurred between 91.71 and 80.19 Ma.

Transformation of French Governance Model for Oceanian Overseas Territories

The governance of France's overseas territories in Oceania has undergone a significant model transformation since the end of World War Ⅱ. In recent years, it has further highlighted its determination to pursue strategic autonomy. Through strict governance and legal mechanisms, France has promoted local autonomy and economic transformation, and has shifted the governance of these territories from colonial control to political cooperation and from predatory development to localized sustainable development. France's overseas territories in Oceania have increasingly become the fulcrum of its foreign strategy, serving the overall interests of its country and its overseas security. In recent years, France's governance policies in the region have become increasingly diversified, such as promoting economic diversification, strengthening regional security cooperation, weakening its independence tendencies, and promoting changes in the regional situation and relevant national policies.

Are cities greener because of innovation?Independent innovation policy and green economic efficiency

The national independent innovation demonstration zone(NIIDZ)is an independent innovation policy that plays a crucial role in implementing strategies.Given the importance of the NIIDZ,this study uses panel data of 278 prefecture-level cities in China from 2006 to 2020 and empirically examines the effect and internal mechanism of the NIIDZ on green economic efficiency(GEE)using the difference-in-difference model(DID).The results show that the NIIDZ effectively enhances the growth of GEE,and the results remain valid through several robustness tests,such as year-by-year propensity score matching.The transmission mechanism suggests that the NIIDZ indirectly drives GEE by accelerating scientific and technological investment,promoting talent concentration,and optimizing the industrial structure.Moreover,heterogeneity analysis reveals that the promotion effect of the NIIDZ on GEE is more prominent in the eastern region and high green development level areas.The study’s findings can serve as a reference for China to further utilize the policy effectiveness of the NIIDZ and accelerate the high-quality development of the green economy in the future.

The Rise and Impacts of Kenya’s Hustler Movement

On December 12,2023,Kenya celebrated its 60th anniversary of independence.Since independence,Kenya’s political operations have long been characterized by tribal politics,and during the 2022 elections,United Democratic Alliance(UDA)presidential candidate William Samoei Ruto advocated a Hustler Movement with a platform focused on serving the interests of the underprivileged.The Movement,with its policy orientation of responding to the concerns of the hustler(refer to those forced to squeeze out a meagre living on the margins of society comparing to people from Kenya’s big-name families),seeks to move electoral politics away from the previous competition at the tribal and regional levels,and to construct an issue-oriented mode of political operation,which has given a new meaning to the development of Kenyan politics.Ruto became president in September 2022 after the Hustler Movement gained broad social support.Over the past years,the Ruto government has transformed the Hustler Movement’s policy ideas into a program of governance,reshaping Kenya’s political development agenda in practical terms.The influence of the Hustler Movement has become more and more visible,deeply reflecting the trend of Kenya’s political development over the past 60 years of independence.

Automatic SOC Equalization Strategy of Energy Storage Units with DC Microgrid Bus Voltage Support

In this paper,an improved sag control strategy based on automatic SOC equalization is proposed to solve the problems of slow SOC equalization and excessive bus voltage fluctuation amplitude and offset caused by load and PV power variations in a stand-alone DC microgrid.The strategy includes primary and secondary control.Among them,the primary control suppresses the DC microgrid voltage fluctuation through the I and II section control,and the secondary control aims to correct the P-U curve of the energy storage system and the PV system,thus reducing the steady-state bus voltage excursion.The simulation results demonstrate that the proposed control strategy effectively achieves SOC balancing and enhances the immunity of bus voltage.The proposed strategy improves the voltage fluctuation suppression ability by approximately 39.4%and 43.1%under the PV power and load power fluctuation conditions,respectively.Furthermore,the steady-state deviation of the bus voltage,△U_(dc) is only 0.01–0.1 V,ensuring stable operation of the DC microgrid in fluctuating power environments.

Risk factors and survival prediction model establishment for prognosis in patients with radical resection of gallbladder cancer

BACKGROUND Gallbladder cancer(GBC)is the most common malignant tumor of the biliary system,and is often undetected until advanced stages,making curative surgery unfeasible for many patients.Curative surgery remains the only option for long-term survival.Accurate postsurgical prognosis is crucial for effective treatment planning.tumor-node-metastasis staging,which focuses on tumor infiltration,lymph node metastasis,and distant metastasis,limits the accuracy of prognosis.Nomograms offer a more comprehensive and personalized approach by visually analyzing a broader range of prognostic factors,enhancing the precision of treatment planning for patients with GBC.AIM A retrospective study analyzed the clinical and pathological data of 93 patients who underwent radical surgery for GBC at Peking University People's Hospital from January 2015 to December 2020.Kaplan-Meier analysis was used to calculate the 1-,2-and 3-year survival rates.The log-rank test was used to evaluate factors impacting prognosis,with survival curves plotted for significant variables.Single-factor analysis revealed statistically significant differences,and multivariate Cox regression identified independent prognostic factors.A nomogram was developed and validated with receiver operating characteristic curves and calibration curves.Among 93 patients who underwent radical surgery for GBC,30 patients survived,accounting for 32.26%of the sample,with a median survival time of 38 months.The 1-year,2-year,and 3-year survival rates were 83.87%,68.82%,and 53.57%,respectively.Univariate analysis revealed that carbohydrate antigen 19-9 expre-ssion,T stage,lymph node metastasis,histological differentiation,surgical margins,and invasion of the liver,ex-trahepatic bile duct,nerves,and vessels(P≤0.001)significantly impacted patient prognosis after curative surgery.Multivariate Cox regression identified lymph node metastasis(P=0.03),histological differentiation(P<0.05),nerve invasion(P=0.036),and extrahepatic bile duct invasion(P=0.014)as independent risk factors.A nomogram model with a concordance index of 0.838 was developed.Internal validation confirmed the model's consistency in predicting the 1-year,2-year,and 3-year survival rates.CONCLUSION Lymph node metastasis,tumor differentiation,extrahepatic bile duct invasion,and perineural invasion are independent risk factors.A nomogram based on these factors can be used to personalize and improve treatment strategies.

Neuropathological characteristics of abnormal white matter functional signaling in adolescents with major depression

BACKGROUND Major depression disorder(MDD)constitutes a significant mental health concern.Epidemiological surveys indicate that the lifetime prevalence of depression in adolescents is much higher than that in adults,with a corresponding increased risk of suicide.In studying brain dysfunction associated with MDD in adolescents,research on brain white matter(WM)is sparse.Some researchers even mistakenly regard the signals generated by the WM as noise points.In fact,studies have shown that WM exhibits similar blood oxygen level-dependent signal fluctuations.The alterations in WM signals and their relationship with disease severity in adolescents with MDD remain unclear.AIM To explore potential abnormalities in WM functional signals in adolescents with MDD.METHODS This study involved 48 adolescent patients with MDD and 31 healthy controls(HC).All participants were assessed using the Patient Health Questionnaire-9 Scale and the mini international neuropsychiatric interview(MINI)suicide inventory.In addition,a Siemens Skyra 3.0T magnetic resonance scanner was used to obtain the subjects'image data.The DPABI software was utilized to calculate the WM signal of the fractional amplitude of low frequency fluctuations(fALFF)and regional homogeneity,followed by a two-sample t-test between the MDD and HC groups.Independent component analysis(ICA)was also used to evaluate the WM functional signal.Pearson’s correlation was performed to assess the relationship between statistical test results and clinical scales.RESULTS Compared to HC,individuals with MDD demonstrated a decrease in the fALFF of WM in the corpus callosum body,left posterior limb of the internal capsule,right superior corona radiata,and bilateral posterior corona radiata[P<0.001,family-wise error(FWE)voxel correction].The regional homogeneity of WM increased in the right posterior limb of internal capsule and left superior corona radiata,and decreased in the left superior longitudinal fasciculus(P<0.001,FWE voxel correction).The ICA results of WM overlapped with those of regional homogeneity.The fALFF of WM signal in the left posterior limb of the internal capsule was negatively correlated with the MINI suicide scale(P=0.026,r=-0.32),and the right posterior corona radiata was also negatively correlated with the MINI suicide scale(P=0.047,r=-0.288).CONCLUSION Adolescents with MDD involves changes in WM functional signals,and these differences in brain regions may increase the risk of suicide.

Parameters Estimation of a Bivariate Generalized Poisson Distribution with Applications to Metabolic Syndrome Data

Background: Bivariate count data are commonly encountered in medicine, biology, engineering, epidemiology and many other applications. The Poisson distribution has been the model of choice to analyze such data. In most cases mutual independence among the variables is assumed, however this fails to take into accounts the correlation between the outcomes of interests. A special bivariate form of the multivariate Lagrange family of distribution, names Generalized Bivariate Poisson Distribution, is considered in this paper. Objectives: We estimate the model parameters using the method of maximum likelihood and show that the model fits the count variables representing components of metabolic syndrome in spousal pairs. We use the likelihood local score to test the significance of the correlation between the counts. We also construct confidence interval on the ratio of the two correlated Poisson means. Methods: Based on a random sample of pairs of count data, we show that the score test of independence is locally most powerful. We also provide a formula for sample size estimation for given level of significance and given power. The confidence intervals on the ratio of correlated Poisson means are constructed using the delta method, the Fieller’s theorem, and the nonparametric bootstrap. We illustrate the methodologies on metabolic syndrome data collected from 4000 spousal pairs. Results: The bivariate Poisson model fitted the metabolic syndrome data quite satisfactorily. Moreover, the three methods of confidence interval estimation were almost identical, meaning that they have the same interval width.

Nonparametric Feature Screening via the Variance of the Regression Function

This article develops a procedure for screening variables, in ultra high-di- mensional settings, based on their predictive significance. This is achieved by ranking the variables according to the variance of their respective marginal regression functions (RV-SIS). We show that, under some mild technical conditions, the RV-SIS possesses a sure screening property, which is defined by Fan and Lv (2008). Numerical comparisons suggest that RV-SIS has competitive performance compared to other screening procedures, and outperforms them in many different model settings.

Influence of Energy Policies on Development Path of US Oil Companies

Focused on“energy security”,US energy policies have undergone a multi-stage evolution.The main line has shifted from ensuring the oil and gas supply to achieving energy independence,and then to diversified development under a broader concept of energy security.The development path of US oil and gas companies is guided and influenced by series of policies.Represented by ExxonMobil and Chevron,US oil companies are maintaining a long commitment to the oil and gas business,especially unconventional resources such as shale gas and shale oil.Different from their European counterparts,US oil companies have chosen CCS/CCUS as their primary method for achieving carbon neutrality.As for the new energy business,the US oil giants are showing more interest in raw materials such as lithium resources rather than the power generation business.

The Path to Growth and Maturity for Young Students: Embracing Independence and Self- Reliance

Young students are the future of our country and the hope of our nation.The healthy growth of young students must rely on independence and self-reliance.From the perspectives of family,society,and school,this article explores the cultivation of young students’spirit of independence and self-reliance,which should be grasped from three aspects:recognizing the situation,identifying the reasons,and taking effective measures.

Binding Number and Fractional k-Factors of Graphs

In this paper, we consider the relationship between the binding number and the existence of fractional k-factors of graphs. The binding number of G is defined by Woodall as bind(G)=min{ | NG(X) || X |:∅≠X⊆V(G) }. It is proved that a graph G has a fractional 1-factor if bind(G)≥1and has a fractional k-factor if bind(G)≥k−1k. Furthermore, it is showed that both results are best possible in some sense.

Analysis of the Role of Problem-Based Independent Learning Model in Teaching Cerebral Ischemic Stroke First Aid in Emergency Medicine

Objective:To analyze the effect of using a problem-based(PBL)independent learning model in teaching cerebral ischemic stroke(CIS)first aid in emergency medicine.Methods:90 interns in the emergency department of our hospital from May 2022 to May 2023 were selected for the study.They were divided into Group A(45,conventional teaching method)and Group B(45 cases,PBL independent learning model)by randomized numerical table method to compare the effects of the two groups.Results:The teaching effect indicators and student satisfaction scores in Group B were higher than those in Group A(P<0.05).Conclusion:The use of the PBL independent learning model in the teaching of CIS first aid can significantly improve the teaching effect and student satisfaction.

Analysis of the Application Value of Virtual Reality Combined with Flipped Classroom Teaching Mode in Cardiopulmonary Resuscitation Teaching

Objective:To analyze the value of using virtual reality combined with the flipped classroom teaching model in teaching cardiopulmonary resuscitation(CPR).Methods:Two classes of our nursing program were randomly selected for the study from September 2022 to September 2023,Class A(52 students,conventional teaching method)and Class B(52 students,virtual reality combined with flipped classroom teaching mode).The assessment scores and independent learning ability scores of the students in the two classes were compared.Results:CPR theory and operation scores,passing rate,and independent learning ability scores of Class B were higher than those of Class A(P<0.05).Conclusion:the use of virtual reality combined with the flipped classroom teaching mode in CPR teaching is conducive to the improvement of students’assessment scores and independent learning ability.

Improvement of Activities of Daily Living (ADL) for Patients Treated in Skilled Nursing Facilities (SNFs)

Background: Self-care tasks or activities of daily living (ADL)’s performance are often disrupted after an older adult sustains an injury or illness, which can be a determining factor for discharge placement after hospitalization, or it can determine the level of assistance required after discharge from a skilled nursing facility (SNF). We believe that comprehensive rehabilitation can improve a patient’s overall functioning during their short term stay in SNFs. The purpose of this study is to determine if an individual’s level of independence improved after admission to a skilled nursing facility and procurement of rehabilitation services. Methods: This study retrospectively reviewed 4612 nursing home patients in California who underwent rehabilitative services at skilled nursing facilities to determine how the patients responded to their environments, therapy interventions, and any other additional supportive measures. The records of patients who were admitted for short-term rehabilitation were reviewed in a blinded fashion, looking specifically at Section GG of the Minimum Data Set (MDS). Self-Care Section GG scores recorded by rehabilitative staff provide objective data and measure patients’ levels of assistance that were required. Each activity is scored from 1, being completely dependent, to 6, being entirely independent, with varying levels of assistance with scores in between. The admission scores versus the discharge scores can be compared to determine if a patient improved their level of functioning upon discharge. Results: Utilizing the Pearson’s correlation coefficient, a strong correlation of improvement in ADL performance on Section GG between the admission and discharge scores was identified, implying significant improvement in functional independence upon discharge. The average percent improvement for Managed Care patients was ~35.4% and ~39.4% for Medicare patients. Conclusions: The results support the benefits of rehabilitation services in skilled nursing facilities, and the data suggests that admission scores can be used as a predictive tool for functional outcomes.