bluuebunny/crossref_metadata_2025 huggingface dataset:
Through the looking glass: Ethnic racial socialization among children and adolescents
Authors: Ruck Martin D. , Hughes Diane L. , Niwa Erika Y.
Published: December 2021

Ethnicity and race are critical in how children and youth experience, negotiate, and navigate development. A robust literature has illustrated that ethnic‐racial socialization (ERS) in particular plays an important role in how children develop an understanding of ethnicity and race. The majority of research has typically focused on parents as agents of socialization and ERS during adolescence. In addition, most studies use survey approaches and focus on US‐based populations. We highlight conceptual, theoretical, and empirical work that seeks to push forward knowledge about the myriad ways in which individuals, interactions, and settings communicate messages to youth about ethnicity and race. Here we provide a brief overview of the literature on ERS, followed by a set of core commitments that guided our solicitation and selection of articles for this special issue. The articles represent a range of theoretical frameworks and methodologies; cover ERS of children across the developmental spectrum; examine children from multiple ethnic‐racial groups; elaborate issues related to intersectionality and co‐constructed identities; and consider socialization of ethnicity‐race as it occurs across multiple settings, inclusive of families. We conclude with a description of the articles included in this special issue and how they map onto our core commitments.
Plasma sodium and potassium concentrations after hypophysectomy in dogs with corticotroph adenomas
Authors: Del Magno Sara , van Rijn Sarah , Azzariti Stefano , Valtolina Chiara , l' Ami Jiske , Meij Björn P.
Published: December 2021

Background

Electrolyte abnormalities, especially hypernatremia, are frequent complications after transsphenoidal hypophysectomy in dogs with pituitary‐dependent hypercortisolism.

Objectives

To describe electrolyte abnormalities after transsphenoidal hypophysectomy and to investigate possible associations between postoperative hypernatremia and clinical and surgical variables as well as with postoperative outcome.

Animals

One hundred and twenty‐seven client‐owned dogs.

Methods

Dogs with pituitary corticotroph adenomas that underwent transsphenoidal hypophysectomy were retrospectively included. Plasma sodium and potassium concentrations were measured −2, +2, +8, +24, and +48 hours from hypophysectomy. Clinical (breed, age, body weight, skull type, urinary cortisol/creatinine ratio, percentage of suppression to dexamethasone) and surgical variables (duration of anesthesia and surgery, pituitary dimensions) were compared to the development of hypernatremia.

Results

Postoperative hypernatremia developed in 46.5% (57/127) of dogs and hyponatremia in 6.3% (8/127). Plasma sodium concentration increased after surgery and peaked at 8 hours after surgery, normalizing after 24 to 48 hours. Plasma potassium concentration increased without exceeding the reference limit.

No significant associations were found between clinical and surgical variables and hypernatremia, or between hypernatremia and postoperative death, long‐term survival or recurrence.

Surgery time was significantly longer in dogs that developed persistent diabetes insipidus (P = .02) and persistent diabetes insipidus occurred more frequently in dogs with enlarged pituitary glands (P = .01).

Conclusion and Clinical Importance

Hypernatremia remains a frequent postoperative complication after transsphenoidal hypophysectomy but did not appear to have an impact on postoperative outcome. No predisposing factor to postoperative hypernatremia was identified. Variations in plasma potassium concentrations do not seem to influence postoperative outcome.
Indirect selection on cuticular hydrocarbon divergence in Drosophila melanogaster populations evolving under different operational sex ratios
Authors: Dutta R. , Chechi T. S. , Yadav A. , Prasad N. G.
Published: December 2021

In experimental evolutionary studies, altering sex ratio in populations imposes sex‐biased intrasexual and intersexual interactions, which is useful to study the effect of sexual selection and sexual conflict in such populations. We studied cuticular hydrocarbon (CHC) patterns of 170 generations‐old operational sex ratio‐altered Drosophila melanogaster population to investigate the evolutionary outcomes of such selection lines. Our results indicate that the competing sex in each of the selection lines has less variable CHC profile than the less abundant sex, potentially due to sexual selection. The intensity of sexual selection is possibly influenced by intense competition among the abundant sex as well as potential mate choice due to easy availability of mates for the rarer sex in the population. This result is even more striking since the male‐biased replicates were previously shown to have diverged in terms of mate preferences due to sexually antagonistic coevolution (SAC). The precopulatory isolating mechanism underlying such divergent mate preference could be sexual signals such as CHCs since they evolve rapidly and are involved in D. melanogaster mate recognition. Therefore, we also investigate whether CHC profiles diverged in male‐biased replicates in comparison to female‐biased replicates. We found no evidence that cuticular hydrocarbon profiles of male‐biased and female‐biased populations have evolved due to SAC. This study indicates that the differentiation of sexual traits may not be credited to sexual conflict despite populations isolated due to high sexual conflict evolve divergent cuticular hydrocarbon profiles.
An oomycete effector targets a plant RNA helicase involved in root development and defense
Authors: Camborde Laurent , Kiselev Andrei , Pel Michiel J. C. , Le Ru Aurélie , Jauneau Alain , Pouzet Cécile , Dumas Bernard , Gaulin Elodie
Published: December 2021

Oomycete plant pathogens secrete effector proteins to promote disease. The damaging soilborne legume pathogen Aphanomyces euteiches harbors a specific repertoire of Small Secreted Protein effectors (AeSSPs), but their biological functions remain unknown. Here we characterize AeSSP1256.

The function of AeSSP1256 is investigated by physiological and molecular characterization of Medicago truncatula roots expressing the effector. A potential protein target of AeSSP1256 is identified by yeast‐two hybrid, co‐immunoprecipitation, and fluorescent resonance energy transfer–fluorescence lifetime imaging microscopy (FRET–FLIM) assays, as well as promoter studies and mutant characterization.

AeSSP1256 impairs M. truncatula root development and promotes pathogen infection. The effector is localized to the nucleoli rim, triggers nucleoli enlargement and downregulates expression of M. truncatula ribosome‐related genes. AeSSP1256 interacts with a functional nucleocytoplasmic plant RNA helicase (MtRH10). AeSSP1256 relocates MtRH10 to the perinucleolar space and hinders its binding to plant RNA. MtRH10 is associated with ribosome‐related genes, root development and defense.

This work reveals that an oomycete effector targets a plant RNA helicase, possibly to trigger nucleolar stress and thereby promote pathogen infection.
Heritable variation in host quality as measured through an ectoparasite's performance
Authors: Fracasso Gerardo , Matthysen Erik , Heylen Dieter
Published: December 2021

Obligate parasites need one or more hosts to complete their life cycle. However, hosts might show intraspecific variation in quality with respect to the parasites themselves, thus affecting on‐host and off‐host parasite performance. High heritability in host quality for the parasite may therefore exert long‐lasting selective pressures on the parasite and influence host–parasite coevolution. However, the amount of variation and heritability in host quality are unknown for most parasite species, especially in wild populations of hosts. Both measures were estimated in a wild‐caught birdParus majorthat was experimentally infested by two developmental stages (larva and nymph) of a ectoparasite (the tickIxodes arboricola). We examined variation in host quality through variation in tick performance, namely the on‐host performance (attachment success, feeding time, engorgement weight and feeding success) and the off‐host performance (moulting time, moulting success and overall survival). Herein we also investigated the influence on tick performance of host traits linked with the bird's life history and physiology such as body condition, sex, age and haematocrit. By correlating tick performance variables between larvae and nymphs feeding on the same bird at different times, we found a significant correlation in attachment success, suggesting consistent among‐host variation for this performance measure, but no significant larva‐nymph correlations for the other tick variables. Animal models relating tick performance variables to the host pedigree showed a strong heritable signal for host quality as measured through tick feeding time, and lower but substantial estimates in other performance variables. With regard to the host traits, feeding success and survival of tick larvae were lower on female birds, and nymphal survival was higher on older birds. Larval feeding time was negatively correlated with host haematocrit. This is one of the first studies showing consistent intraspecific variation and heritability of host quality for a multi‐stage ectoparasite.
A Bakhtinian reconsideration of Joachim Ringelnatz's postwar poetry: Grotesque materialism instead of disinterested unresponsiveness
Authors: Duleba Maxim
Published: December 2021

Despite being a popular classic of German humorous twentieth‐century literature, Joachim Ringelnatz's work has received little scholarly attention. The following study questions the widely accepted stereotypical views that led to the scholarly marginalization of his work—namely the belief that his grotesque, humorous poetry is trivial and non‐reactive to the pressing issues of its time. By demonstrating Ringelnatz’s inclination towards the Rabelaisian chronotope as a specific literary time‐space reconstructed by Mikhail Bakhtin in Forms of Time and of the Chronotope in the Novel, this paper argues that Ringelnatz’s humorous poetry is neither historically irrelevant nor socially non‐reactive, because his adaptation of the Rabelaisian method confronts the traumatizing situatedness within the “painful time” of postwar Germany. Relating to Rabelais, Ringelnatz not only processes, but also recontextualizes the collective experience of postwar trauma, offering a “corrective” in the form of a “generative” (contra‐annihilative), “bodily‐oriented” time.
A New Simple and Practical Clinical Classification for Tenosynovial Giant Cell Tumors of the Knee
Authors: Zheng Kai , Yu Xiu‐chun , Hu Yong‐cheng , Xu Ming , Zhang Jing‐yu
Published: December 2021

Objective

To propose a simple and practical clinical classification for tenosynovial giant cell tumor (TGCT) of the knee.

Methods

A retrospective study was conducted to verify the value and significance of this clinical classification. TGCT growth patterns, knee joint capsule, and bone erosion were applied to establish this novel clinical classification. Seventy‐eight patients who underwent surgery for TGCT from 2008 to 2016 were identified. This novel clinical classification was retrospectively applied to patients' existing classification, and patients with different TGCT types were statistically compared to verify the significance of the clinical classification.

Results

The clinical classification included three types and four subtypes. Type 1: localized TGCT, Subtype 1a: localized intra‐articular TGCT, Subtype 1b: localized extra‐articular TGCT. Type 2: diffuse TGCT, Subtype 2a: diffuse intra‐articular TGCT with bone normal, Subtype 2b: diffuse intra‐articular TGCT with bone destruction. Type 3: diffuse TGCT across the knee joint capsule. The mean follow‐up time for the 78 patients was 59.6 months. Twenty‐one patients were in Subtype 1a, four were Subtype 1b, 38 were Subtype 2a, seven were Subtype 2b, and eight were Type 3. Oncological results and surgical complications differed significantly (P = 0.000, P = 0.000). The mean Musculoskeletal Tumor Society functional scores differed significantly at 27.8 for Type 1 patients, 22.9 for Type 2 patients, and 17.0 for Type 3 patients (P = 0.000).

Conclusions

This clinical classification can be easily used to evaluate TGCT of all knees prior to surgery or other treatments and can help determine surgical options.
Orthodontic treatment of an adolescent with cerebral palsy – A case report
Authors: Chhatwani Sachin , Johannsen Eva , Möhlhenrich Stephan Christian , Schulte Andreas Gerhard , Danesh Gholamreza , Schmidt Peter
Published: December 2021

Cerebral palsy is a common cause of chronic motor neuron impairment. A constant prevalence of 2 to 3/1000 births in industrialized countries has been described.

This case report describes the treatment of a 9 year old boy presenting this form of motor neuron impairment and class II malocclusion with an overjet of 14 mm, hyperdivergent growth pattern and various habits.

Orthodontic treatment consisted mainly of a two‐phase treatment. The first phase was treated with removable appliances and followed by a phase with fixed appliances.

Treatment duration with removable appliances was 4 years and 5 months and for the fixed appliance phase, 1 year and 7 months.

A class I occlusion could be achieved in this case by removable and fixed orthodontic appliances combined with adjunctive treatment for the hypotonic orofacial musculature.
The novel HLA‐A allele, HLA‐A*02:01:202, first described in a Brazilian individual
Authors: Vianna Romulo , Secco Danielle , Lopes Giovanna , Santos Angela , Porto Luís Cristóvão
Published: December 2021

The novel HLA‐A*02:01:202 allele, first described in a potential bone marrow donor from Brazil.
Characterization of the novel HLA‐A*11:383N and HLA‐A*11:388N alleles by next‐generation sequencing
Authors: You Xuan , Wang Jielin , He Yanmin , He Ji , Zhu Faming
Published: December 2021

Compared with HLA‐A*11:01:01:01, the alleles HLA‐A*11:383N, and HLA‐A*11:388N each show one single nucleotide substitution.
Learning Communicative Acts in Children's Conversations: A Hidden Topic Markov Model Analysis of the CHILDES Corpora
Authors: Bergey Claire , Marshall Zoe , DeDeo Simon , Yurovsky Daniel
Published: December 2021

Over their first years of life, children learn not just the words of their native languages, but how to use them to communicate. Because manual annotation of communicative intent does not scale to large corpora, our understanding of communicative act development is limited to case studies of a few children at a few time points. We present an approach to automatic identification of communicative acts using a hidden topic Markov model, applying it to the conversations of English‐learning children in the CHILDES database. We first describe qualitative changes in parent–child communication over development, and then use our method to demonstrate two large‐scale features of communicative development: (a) children develop a parent‐like repertoire of our model's communicative acts rapidly, their learning rate peaking around 14 months of age, and (b) this period of steep repertoire change coincides with the highest predictability between parents' acts and children's, suggesting that structured interactions play a role in learning to communicate.
Error Analysis on the Malaysian Students’ Writing for ESL Classroom
Authors: Wan Ibrahim Wan Khairunnisa’ , Othman Zarina
Published: December 2021

English has been regarded as one of the core subjects in the Malaysian Certificate of Education or known as the Sijil Pelajaran Malaysia (SPM). There has been a concern over the writing components in English language papers at the SPM level. Writing requires students’ competence in syntax, coherence, developing and arranging ideas, mechanics in writing and appropriate use of vocabulary. A concern over students who produce very limited number of words in their essays has resulted in the lack of content to be assessed which then led to low scores. This paper presents an error analysis focusing on the types of errors found in students’ written test scripts to identify the weaknesses of students' writing abilities. The study adopts a qualitative approach where the students’ written assessment texts were collected. A total of 18 upper secondary Year Four students (aged 16 years old) were selected as the research participants.  The selection of participants was carried out in a secondary school in one of the states in Malaysia. The students’ written tests were analysed to identify the emerging categories of language use, focusing on language and grammar inaccuracies. It is found that students have the idea on how to write the answers to the task but seem to have difficulties putting the ideas in the correct structure.
WhatsApp Emoji in Business Interactions: The Case of Malaysian and Iranian Interactions
Authors: Kahar Rohayah , Habil Hadina
Published: December 2021

WhatsApp emoji has been widely used by users all over the world especially entrepreneurs during their business interactions. In these interactions, WhatsApp emoji has been discovered to be intriguing. Emoji, among other things, were used to replace non-verbal expressions in face-to-face interactions especially during business communications. However, studies related to the usage of WhatsApp emoji in business interactions were found to be limited, particularly in the Malaysian setting. Thus, the purpose of this research was to examine the use of WhatsApp emoji in business communications between a Malaysian entrepreneur and three Iranian counterparts. Content Analysis was used to interpret the messages in the business conversations, and the data was analysed using De Vito's Five-Stage Model of Conversation. The findings revealed that WhatsApp emoji performed a range of functions in business interactions in a BELF setting. In short, WhatsApp has clearly added some useful and valuable features for a variety of uses, including business communications.
A Systematic Literature Review on Key Elements of Branding Through Facebook
Authors: Abdul Malek Norazmah Suhailah , Ibrahim Noor Aireen , Hassan Hanita , Wan Adnan Wan Nur Asyura
Published: December 2021

Branding is defined as the process of which a company, an organisation a product or a service becomes identical with a set of values, aspirations or states. It promotes ubiquity, visibility, functions and emotional bond with customers. Branding can be communicated using a variety of media. Through Facebook, branding can be communicated across its visual and textual components. This study examines how Facebook components are used to communicate branding among selected universities.  Prior to analysing the components, the key elements of branding that were apt needed to be identified. To identify these, a systematic review on academic articles was conducted. This review was adapted from the Reporting Standards for Systematic Evidence Synthesis (ROSES) protocol. To conduct this review, 256 articles were collected from two databases. Two strategies which were selection and analysis were employed in choosing the most suitable articles and extracting the key elements. Selection was conducted to identify, screen and review all academic articles that were selected from Scopus and Google databases.  Once selection was done, analysis was then conducted. This was done to extract key elements of branding that became the unit of analysis in examining the ways of selected universities’ Facebook postings were employed in communicating branding.
Joint Correction of Tropospheric and Orbital Errors in SAR Differential Interferograms
Authors: Hasni Kamel , Gourine Bachir , Namaoui Houaria , Larabi Mohammed El Amin , Allal Saddam Housseyn
Published: December 2021

Synthetic Aperture Radar (SAR) satellite imagery is a source of data widely employed in the quantification and analysis of an earthquake coseismic displacement. However, due to the signal path along the atmosphere and to other sources, the interferometric phase becomes compromised. In this work, a methodology for the correction of tropospheric and orbital errors in the differential interferogram is presented. This methodology was applied to a couple of Sentinel-1A data. The phenomenon studied was the 11th November 2018 Zeribet el Oued earthquake, Mw. 5.2 (The state of Biskra, South East of Algeria). It was possible to correct both tropospheric and orbital errors, where the dominant one was the tropospheric delay, a displacement error of 4 cm was added to the differential interferogram by this noise source. The correction of orbital error led to a better interpretation of the coseismic displacement.
Digital Archiving and Data Stewardship in French Archaeology
Authors:   Inrap, Marx Amala , Salas Rossenbach Kai ,   Inrap, Bryas Emmanuelle ,   Inrap
Published: December 2021

In France, the archaeological sector has undergone a major shift in the last 10 years in terms of digital data creation and management. The digital transformation of the profession and its practices is still in progress and is not uniform. If general policies and laws are now clearly adopted at a national level, then institutional or individual situations are more complex. We can clearly separate the development-led and academic sectors, with reference to the volume of data produced and the challenges faced. A critical overview of the barriers highlights the fact that, beyond technical issues, data management (specifically sharing) is a human challenge in terms of scientific priority and in the adoption of new practices. This article gives an overview of the main questions and issues with reference to major nationwide initiatives.
Curation of Digital Archaeological Data in Norway
Authors:   Museum of Cultural History, University of Oslo, Matsumoto Mieko , Uleberg Espen ,   Museum of Cultural History, University of Oslo
Published: December 2021

Archaeological documentation from surveys and excavations in Norway are created by a limited number of actors. Excavations are mainly carried out by the five university museums. NIKU (Norwegian Institute for Cultural Research) is responsible for excavations of medieval cities and churches. Maritime museums excavate in lakes, rivers, and below past and present sea level. Archaeological surveys are mainly the responsibility of the counties. Riksantikvaren (Directorate of National Heritage) is responsible for the national Historic Environment Records (HER), Askeladden, which offers the possibility to upload or insert links to reports from archaeological investigations. Riksantikvaren also archives excavation documentation from churches and medieval cities. The Norwegian university museums have, since the 1990s, cooperated on digitising a national repository and making the collections available online. Presently there are also repositories at the maritime museums, Riksantikvaren and the counties. The infrastructure ADED (Archaeological Digital Excavation Documentation) is a repository for detailed excavation documentation, and the BItFROST infrastructure project contributes to better storage and availability of 3D data. Future development will be more complete national databases, and towards closer international cooperation, creating better integration and availability of several repositories.
Computing Natural Frequencies and Mode Shapes of an Axially Moving Nonuniform Beam
Authors: Sinha Alok
Published: December 2021

The partial differential equation of motion of an axially moving beam with spatially varying geometric, mass, and material properties has been derived. Using the theory of linear time-varying systems and numerical optimization, a general algorithm has been developed to compute complex eigenvalues/natural frequencies, mode shapes, and the critical speed for stability. Numerical results from the new method are presented for beams with spatially varying rectangular cross sections with sinusoidal variation in thickness and sine-squared variation in width. They are also compared to those from the Galerkin method. It has been found that critical speed of the beam can be significantly reduced by nonuniformity in a beam's cross section.
Pre-Operative Motion Planner for Steerable Needles Using Cost Map Based on Repulsive Field and Empirical Model of Needle Deflection
Authors: Jiang Shan , Jiang Bowen , Fang Peina , Yang Zhiyong
Published: December 2021

Needle insertion is a common procedure in percutaneous puncture. A motion planner for a steerable needle that considers the risk level of the path in anatomical environment and the actual deflection of clinical needle is necessary. A novel pre-operative motion planner for a steerable needle controlled by robot is proposed. Our method utilizes sampling-based planner to compute candidate path in the reachable region, and the path solutions are optimized by calculating the cost of a path based on a cost map. The cost map, which is built based on repulsive field theory from CT image, encodes the information of the obstacle locations and the criticality of the anatomical environment. The empirical formula that can predict needle trajectory is obtained by insertion experiments. Experiments show that under the guidance of our planner, the positioning error in phantom made with gelatin and three-dimensional (3D) printed models is less than 1.1 mm. Comparing with the straight-line insertion method in the same phantom, the positioning error was reduced by 80%. The results indicate that the motion planner has the potential to provide effective guidance for robot-assisted puncture surgery while enhancing the position precision and patient safety.
Tactile Texture Presentation by Vibratory Pin Arrays Based on Surface Height Maps
Authors: Ikei Yasushi , Yamada Mariko , Fukuda Shuichi
Published: December 2021

The authors introduce a method for presenting tactile textures by using vibratory pin arrays, which is based on a surface-height map. The method utilizes a histogram transformation to obtain a sensation intensity map, which produces simulated tactile stimuli of real texture sample patches on display devices. Parameters of histogram transformation were determined by an experiment in which data from six candidates were gathered and compared. Five different wallpaper patches were examined on two displays, the Texture Display and the Optacon II. In the case of the Texture Display, subjects showed small variation in parameter selection; in addition, the evaluation of display presentation in the roughness-smoothness dimension exhibited a result close to that of the direct touch of textures. In the case of the Optacon II, a sensation scaling was performed first on the basis of vibration probability control. Although the control mode possessed severe restrictions derived from the original design of the Optacon II, the sample textures were perceived properly by the same method as that employed with the Texture Display.
Modelling of Surface Identifying Characteristics Using Fourier Series
Authors: Wall Steven A. , Harwin William S.
Published: December 2021

Texture and small-scale surface details are widely recognised as playing an important role in the haptic identification of objects. In order to simulate realistic textures in haptic virtual environments, it has become increasingly necessary to identify a robust technique for modelling of surface profiles. This paper describes a method whereby Fourier series spectral analysis is employed in order to describe the measured surface profiles of several characteristic surfaces. The results presented suggest that a bandlimited Fourier series can be used to provide a realistic approximation to surface amplitude profiles.
Combining a Multirate Repetitive Learning Controller With Command Shaping for Improved Flexible Manipulator Control
Authors: Rhim Sungsoo , Hu Ai-Ping , Sadegh Nader , Book Wayne J.
Published: December 2021

Command shaping, a feedforward approach used to control flexible manipulators, performs most effectively when applied to a linear system. In practice, various nonlinearities are present in a given system that will deteriorate the performance of command shaping. In this work, a multirate repetitive learning controller (MRLC) is used in conjunction with a command shaping method known as the optimal arbitrary time-delay filter (OATF) for discrete-time joint control of a single flexible link manipulator containing nonlinearities. With very little a priori knowledge of the given system, a MRLC is able to cancel the nonlinearities at select frequencies and achieve near-perfect tracking of a periodic desired trajectory. By doing this, a MRLC controls the joint to follow a given shaped command more closely, thus allowing the OATF to more effectively attenuate residual tip vibrations. It is shown both analytically and experimentally that this controller is more effective than a conventional PID and OATF controller at attenuating residual tip vibrations.
Control of Camless Intake Process: Part II
Authors: Ashhab M.-S. S. , Stefanopoulou A. G. , Cook J. A. , Levin M. B.
Published: December 2021

A model-based control scheme is designed to regulate the cylinder air charge of a camless multicylinder engine for unthrottled operation. The controller consists of a feedforward and an adaptive feedback scheme based on a control-oriented model of the breathing process of an engine equipped with electro-hydraulic springless valve-train. The nonlinear control scheme is designed to achieve cylinder-to-cylinder balancing, fast cycle-to-cycle response, and minimization of pumping losses. The algorithm uses conventional sensor measurements of intake manifold pressure and mass air flow to the intake manifold, and intake valve duration measurement. Closed loop simulation results are shown for a four cylinder engine.
Computational Delay and Free Mode Environment Design for Haptic Display
Authors: Miller Brian E. , Colgate J. Edward , Freeman Randy A.
Published: December 2021

This paper develops a technique for the design of haptic systems that guarantees the absence of oscillations. Valid components of the haptic system are general devices, virtual couplings and virtual environments, linear or nonlinear, however the current work focuses on linear components. Once developed, the method will be applied to a haptic system to investigate stability conditions for passive environments versus those for non-passive environments. Examples of computational delay and free mode environment design will be developed as meaningful design problems that fall into the category of non-passive environments.
A Novel Tendon Driven 5-Bar Linkage With a Large Isotropic Workspace
Authors: Prisco Giuseppe Maria , Frisoli Antonio , Salsedo Fabio , Bergamasco Massimo
Published: December 2021

An innovative, tension-tendon drive system is proposed to increase the kinematically isotropic workspace and the average force transmission ratio of the closed chain 5-bar linkage. Tendons ran from the grounded actuators all along the mechanism closed chain and terminate on the ground. In this way, each of the two actuators transmits torques to all the five joints of the mechanism. A careful choice of the radii of the joint pulleys which route the tendons allows to improve the global kinematic isotropy performance up to 1.5.3 times and the average force transmission ratio up to 2.97 times with respect to drive of base joints.

The advantages and disadvantages of such a system for the realization of a Highly Isotropic Haptic Interface are discussed.
Preliminary Investigation of Mesh Stability for Linear Systems
Authors: Seiler Pete , Pant Aniruddha , Hedrick J. K.
Published: December 2021

Damping of disturbances as they propagate through a chain of interconnected systems, termed string stability, has been the subject of significant research. In this paper, we investigate mesh stability, which is the two-dimensional extension of string stability. We review the key results used for string stability analysis and then generalize the conditions for MIMO systems. These results are then applied to a simple class of linear systems which form a mesh in two-dimensions. It is shown (as in the one-dimensional case) that communicating the velocity and acceleration of the lead vehicle to all subsystems is sufficient for mesh stability. This result is then verified by simulation.
Intelligent Cruise Control Systems and Traffic Flow Behavior
Authors: Swaroop Darbha , Rajagopal K. R.
Published: December 2021

In analogy to the flow of fluids, it is expected that the aggregate density and the velocity of vehicles in a section of a freeway adequately describe the traffic flow dynamics. The conservation of mass equation together with the aggregation of the vehicle following dynamics of controlled vehicles describes the evolution of the traffic density and the aggregate speed of a traffic flow. There are two kinds of stability associated with traffic flow problems — string stability (or car-following stability) and traffic flow stability. We make a clear distinction between traffic flow stability and string stability, and such a distinction has not been recognized in the literature, thus far. String stability is stability with respect to intervehicular spacing; intuitively, it ensures the knowledge of the position and velocity of every vehicle in the traffic, within reasonable bounds of error, from the knowledge of the position and velocity of a vehicle in the traffic. String stability is analyzed without adding vehicles to or removing vehicles from the traffic. On the other hand, traffic flow stability deals with the evolution of traffic velocity and density in response to the addition and/or removal of vehicles from the flow. Traffic flow stability can be guaranteed only if the velocity and density solutions of the coupled set of equations is stable, i.e., only if stability with respect to automatic vehicle following and stability with respect to density evolution is guaranteed. Therefore, the flow stability and critical capacity of any section of a highway is dependent not only on the vehicle following control laws and the information used in their synthesis, but also on the spacing policy employed by the control system. Such a dependence has practical consequences in the choice of a spacing policy for adaptive cruise control laws and on the stability of the traffic flow consisting of vehicles equipped with adaptive cruise control features on the existing and future highways. This critical dependence is the subject of investigation in this paper. This problem is analyzed in two steps: The first step is to understand the effect of spacing policy employed by the Intelligent Cruise Control (ICC) systems on traffic flow stability. The second step is to understand how the dynamics of ICC system affects traffic flow stability. Using such an analysis, it is shown that cruise control systems that employ a constant time headway policy lead to unacceptable characteristics for the traffic flows.
Measuring Stiffness During Arm Movements in Various Dynamic Environments
Authors: Burdet E. , Osu R. , Franklin D. , Milner T. E. , Kawato M.
Published: December 2021

The technique presented in this paper enables a simple, accurate and unbiased measurement of hand stiffness during human arm movements. Using a computer-controlled mechanical interface, the hand is shifted relative to a prediction of the undisturbed trajectory. Stiffness is then computed as the restoring force divided by the position amplitude of the perturbation. A precise prediction algorithm insures the measurement quality.

We used this technique to measure stiffness in free movements and after adaptation to a linear velocity dependent force field. The subjects compensated for the external force by co-contracting muscles selectively. The stiffness geometry changed with learning and stiffness tended to increase in the direction of the external force.
Control of Nonholonomic System
Authors: Larin Vladimir B.
Published: December 2021

Nonlinear algorithms of stabilization of program modes of movement of controlled wheel system are presented. The problem of control of vehicles is considered in kinematic and in dynamic statements.
Development of a Track Tension Monitoring System in Tracked Vehicles
Authors: Huh Kunsoo , Cho Byung Hee , Choi Jin Hwan
Published: December 2021

The mobility of tracked vehicles is mainly influenced by the characteristics of the track assembly and by the interaction between tracks and soil. In particular, the track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to prevent the peal-off of tracks from the road wheels, it is required to maintain the optimum track tension throughout the maneuver. However, the track tension cannot be easily measured due to the limitation in the sensor technology, harsh environment, etc. In this paper an indirect track tension monitoring system is developed based on idler assembly models, a geometric relation around the idler, and the tractive force estimated by using the Extended Kalman Filter. The performance of the tension monitoring system is verified with the results obtained from the Multi-Body Dynamics model.
Neural Network-Based Adaptive Monitoring System for Power Transformer
Authors: Ottele Andy , Shoureshi Rahmat , Torgerson Duane , Work John
Published: December 2021

Power transformers are major elements of the electric power transmission and distribution infrastructure. Transformer failure has severe economical impacts from the utility industry and customers. This paper presents analysis, design, development and experimental results of a robust failure diagnostic technique. Hopfield neural networks are used to identify variations in physical parameters of the system in a systematic way, and adapt the transformer model based on the state of the system. In addition, the Hopfield network is used to design an observer which provides accurate estimates of the internal states of the transformer that can not be accessed or measured during operation. The estimated physical parameters are then passed to a neural network to be classified into regions representing various parameter patterns. Analytical and experimental results of this adaptive observer for power transformer diagnostics are presented.
Towards an Energy-Based Linear Analysis of Nonholonomic Systems
Authors: Bikdash Marwan , Layton Richard A.
Published: December 2021

Guidelines toward an energy-based, linear analysis of discrete physical systems are presented, based on previous work in systematic modeling using Lagrangian differential-algebraic equations (DAEs). Recent work in this area is extended by accommodating nonholonomic constraints and explicit inputs. An equilibrium postulate is proposed and equilibrium is characterized for static and steady-state conditions. Lagrangian DAEs are linearized using a local, indirect approach. Alternate descriptor formulations leading to different linear singular systems are compared and one formulation is determined to be a good foundation for future work in linear analysis using Lagrangian DAEs.
Robot-Aided Neuro-Rehabilitation in Stroke: Neuro-Recovery for Thalamic Lesion
Authors: Krebs Hermano I. , Hogan Neville , Volpe Bruce , Aisen Mindy , Edelstein Lisa , Diels Christa
Published: December 2021

We are applying robotics and information technology to assist, enhance, and quantify neuro-rehabilitation. Our goal is a new class of interactive, user-affectionate clinical devices designed not only for evaluating patients, but also for delivering meaningful therapy via engaging “video games.” Notably, the novel robot MIT-MANUS has been designed and programmed for clinical neurological applications, and has undergone extensive clinical trials for more than four years at Burke Rehabilitation Hospital – White Plains, NY. This paper will review the main result of the pilot clinical trial of the 20 patients focusing on the consequences of thalamic lesions.
Truss Analyses by DQEM
Authors: Chen Chang-New
Published: December 2021

A new numerical approach for solving generic three-dimensional truss problems having nonprismatic members is developed. This approach employs the differential quadrature (DQ) technique to discretize the element-based governing differential equations, the transition conditions at joints and the boundary conditions on the domain boundary. A global algebraic equation system can be obtained by assembling all of the discretized equations. A numerically rigorous solution can be obtained by solving the global algebraic equation system. Mathematical formulations for two-dimensional differential quadrature element method (DQEM) truss model are carried out. By using this DQEM model, accurate results of two-dimensional truss problems can efficiently be obtained. Numerical results demonstrate this DQEM model.
Intelligent Control of Parallel Hybrid Electric Vehicles
Authors: Glenn Bradley , Washington Gregory , Rizzoni Giorgio
Published: December 2021

Currently Hybrid Electric Vehicles (HEV) are being considered as an alternative to conventional automobiles in order to improve efficiency and reduce emissions. To demonstrate the potential of an advanced control strategy for HEV’s, a fuzzy logic control strategy has been developed and implemented in simulation in the National Renewable Energy Laboratory’s simulator Advisor (version 2.0.2). The Fuzzy Logic Controller (FLC) utilizes the electric motor in a parallel hybrid electric vehicle (HEV) to force the ICE (66KW Volkswagen TDI) to operate at or near its peak point of efficiency or at or near its best fuel economy. Results with advisor show that the vehicle with the Fuzzy Logic Controller can achieve (56) mpg in the city, while maintaining a state of charge of .68 for the battery pack, compared to (43) mpg for a conventional vehicle. This scheme has also brought to light various rules of thumb for the design and operation of HEV’s.
Systematic Machine Tool Error Identification and Compensation Through Test Part
Authors: Huh Ilkyu , Yuan Jingxia , Koren Yoram
Published: December 2021

The enhancement of machine tool accuracy has a direct effect on part quality. The state-of-the-art technology for this is the compensation method based on the measurement of the machine tool error parameters. This technology, however, has two major drawbacks: (i) it requires long calibration time (ii) for many applications this complicated compensation process is over specified because the parts have limited features and dimensions, and hence the compensation of whole working space is not needed. Furthermore, if the compensation of machining systems for high-volume production is considered, then the fast error measurement and subsequent rapid compensation becomes critical, and the current technology obviously cannot meet these requirements. An alternative method that we propose in this paper is to measure the part rather than the machine, and compensate the machine tools according to these measurements. This proposed methodology requires the modeling of the relationship between the machine tool errors and the part errors, which is called here “machine-part error mapping model”. The modeling enables to identify the individual machine tool error parameters that contribute on the part error. In order to use this model to compensate for the machine tool error, test part should be carefully developed. In this paper, several rules in the design of test part are presented first, and as an example, the test part for the flatness error compensation of horizontal machining center was designed. From the measurement result of the machined test part, each error source parameters that are responsible for the chosen machining process were identified, and compensated by using the real time compensation system.
Similarity Conditions for Sandwich Shell-Like Configurations
Authors: Simitses G. J. , Song G. , Birman V. , Frostig Y. “Shuki”
Published: December 2021

There is renewed interest in the use of sandwich construction, especially for future large transport aircraft. The design and manufacture of these aircraft will require extensive experimental evaluation, which consists of the verification of the design before going to production. This step, the experimental verification, requires the production and testing of large components and prototypes, which is very expensive and time consuming. Use of similitude theory to establish similarity among structural systems can reduce the time and expense by testing small-scale models and use their data to predict the behavior of large prototypes.

This paper deals with the derivation of similarity conditions (scaling laws) for shell-like sandwich configurations. These conditions are needed to (a) design the small-scale models and (b) predict the behavior of the large prototype by employing the test data of the small-scale model and the scaling laws. The basis of the derivation of the scaling laws is that both systems are analytically governed by the same equations. Through the use of scale factors (prototype/model parameters) one can find the conditions under which the two systems of governing equations become identical.

Both the symbolic code “MAPLE” and the long hand manipulation of equations were used in the derivation of the similarity conditions. Details of the use of the symbolic code are not given, herein.
Swept-Volume Computation for Virtual Reality Application of Machining Simulation
Authors: Maiteh Bilal Y. , Leu Ming C. , Blackmore Denis , Liu Guangyu , Abdel-Malek Layek
Published: December 2021

Growing interest in Virtual Reality (VR) over the past few years has led to the development of VR techniques for applications such as virtual manufacturing, virtual assembly, virtual training, etc. Most of these applications involve the moving of objects and interaction of them with the environment in virtual space. One foreseeable important application of virtual manufacturing is Numerically Controlled (NC) machining path generation and verification in a VR environment. In this application the efficient computation and accurate representation of swept volumes of the machining cutters is an important issue.

This paper describes a fast and accurate method for generating the swept volume of a moving object undergoing an arbitrary translational and rotational motion, with application to NC machining simulation in a VR setting. The Sweep Differential Equation (SDE) method, which we initially developed for representing and computing the swept volumes of rigid moving objects and subsequently extended to objects that may deform during the course of motion, forms the basis for the VR application of NC cutter path generation and verification. An example is provided to demonstrate the effectiveness of the SDE method for simulation of multi-axis NC machining.
Industrial Virtual Reality Engineering Applications
Authors: Rantzau Dirk , Breining Ralf , Riedel Oliver , Haefner Ulrich , Scharm Holger , Wierse Andreas , Lang Ulrich
Published: December 2021

Virtual Reality (VR) in conjunction with Immersive Projection Technology (IPT) are well introduced and highly accepted in the international society of institutional research. But does the (manufacturing) industry share this excitement about recent stereo projection technology? What are the key factors of successfully creating a VR solution with production quality? How to identify fields of application and how to get return on invest?

These questions will be addressed especially for the automotive industry. While some of the considerations hold for other manufacturing industries as well, some do not.

Problems and solutions will be discussed on sample installations and applications for the automotive industry. These VR systems help engineers to deal with different problems:

• evaluation of exterior car design,

• analysis of thermal comfort in a car cabin,

• visualization of a production line

• acceptance of tools for deep drawing

We will outline the different projection and software technologies used for these engineering tasks as well as the user interface aspects, because there is a special correlation between used projection technology and useful user interaction. The careful design of a special purpose 3D user interface is one of the keys for user productivity and user acceptance.