bluuebunny/crossref_metadata_2025_split huggingface dataset:
Of Bumping and Bending: Foreign Universities’ FDI Strategies in Malaysia
Authors: Schulze Marc Philipp 
Published: December 2020

AbstractUniversities from varying institutional and geographical contexts have increasingly invested in offshore subsidiaries in the Malaysian private higher education sector. Literature on transnational education policy and management as well as economic‐geographic accounts of firms’ transnationalisation or public service provision have not investigated foreign providers’ direct investment and market access strategies in the higher education sector. This paper addresses these gaps, showing how and why foreign actors’ investment and market involvement in Malaysia have changed. Empirical data is drawn from qualitative interviews and policy documents. The research reveals that foreign universities have strategically modified their business partnerships and bi‐national accreditation to bypass and bend state regulation of market access as well as to restructure internal organisation and geographical configuration. The paper proposes conceptualising foreign higher education providers as transnationalising, reflexive networks within networks that respond to dynamic market access regulation by adopting firm‐like investment strategies.
A Mechatronics Approach to Safe, Stable Teleoperation in Medical Applications
Authors: Wang David , Lai Gilbert , Caradima Carmen 
Published: December 2020

Abstract
Currently, remote interactions between patient and surgeon/doctor are limited to visual and audio aspects only. The general objective of the research presented in this paper is to explore force feedback teleoperation to improve the doctor/surgeon’s abilities. A control strategy is proposed which transmits forces, does not need expensive force sensors, and can be shown to be always stable. This technique should work for all “linear” haptic devices. The mechatronics approach has been taken in the mechanical design of the haptic devices to ensure linearity. The work presented in this paper will focus on the interactions between two haptic devices: the Virtual Reality Mouse 1 (VR Mouse), and a 5-bar linkage robot. Time delay issues involved in the teleoperation will also be discussed. The technique proposed in this paper will result in a very inexpensive workstation for teleoperation applications.
An Active Steering Device for Endoscopes
Authors: Szewczyk Jérôme , Troisfontaine Nelly , Bidaud Philippe 
Published: December 2020

Abstract
This paper describes an original active steering device for endoscopes and horoscopes. Its mechanical structure is based on a tubular hyper-redundant mechanism. Distributed SMA actuators with their own local controller are integrated in this structure for producing bending forces in reaction to the interaction detected between the instrument and its environment.
The SMA actuators are two thin NiTi springs in an antagonist configuration. Joint actuation relies on martensite/austenite phase transformation in NiTi alloys. The global behavior of the endoscope is controlled through a multi-agent approach.
Design and Control of a Shape Memory Alloy Wire Bundle Actuator
Authors: Mosley Michael J. , Mavroidis Constantinos 
Published: December 2020

Abstract
In this paper, the design and control of a novel shape memory alloy (SMA) actuator that possesses impressive payload lifting capabilities are presented. The actuator consists of 48 nickel-titanium SMA wires mechanically bundled in parallel forming one powerful artificial muscle. This new linear actuator can apply up to 100 lbf (445 N), which is approximately 300 times its weight, over a maximum distance of 0.5 in. (1.27 cm). The actuator was tested in two different loading configurations — linear displacement and operation of a revolute joint. A PID based controller with the addition of an input shaping function was developed for each loading configuration with excellent results, maintaining steady state error within ± 0.004 in. (0.1 mm) for linear motion and ± 1° for revolute joint rotation. This powerful, compact, and lightweight actuator shows promise for use in space, medical, and other macro-robotic applications.
Trajectory Control of Two DOF Closed-Chain Mechanical Systems
Authors: Guo L. S. , Li Y. F. , Zhang W. J. 
Published: December 2020

Abstract
In this study, we develop some control algorithms for trajectory tracking of two DOF closed-chain mechanical systems separately driven by two servomotors (closed-chain robot), as well as by one CV motor and the other servomotor (so-called hybrid machine) based on their dynamic model. For the former, the exponential stability and validation of PD computed-torque control algorithm are verified for trajectory tracking of both joints and the end-effector of the system. For the latter, a complex PD computed-torque control algorithm with a closed-loop feedback for the servomotor and an open-loop feedforward for the CV motor is proposed. Simulation studies show that the complex PD computed-torque control algorithm is effective when the velocity fluctuation of the CV motor is reduced to 5% by attaching a flywheel on the CV motor shaft.
Design of Actuator Endurance and Reliability Testbed
Authors: Kang Seong-Ho , Cox Daniel J. , Tesar Delbert 
Published: December 2020

Abstract
This paper presents a novel test bed devised for the testing of various types of next generation robot actuators, especially modular actuators. Requirements for actuator tests are different from motor testing because actuators for robotic application are highly unique and specialized devices with numerous parameters and conditions to be considered. To meet the high demand of a particular application, the actuator must be carefully tested using highly advanced measurement equipment. The first section introduces the 4-test bed suite for the evaluation environment of modern actuators with their purposes and measurement parameters. General information on the performance testing of actuators is also given. The hardware and software environment of the Actuator Endurance and Reliability Test Bed (AERTB) is then described in depth. Preliminary tests have been done to verify and check the proper operation of the test bed. Test results show that the developed test bed offers excellent testing capability of robot actuators with ease of use.
On the Implementation of a DCLL Digital Controller for a Robotic Manipulator With Cartesian Trajectory Description
Authors: Martinez-Alfaro Horacio , Pacheco-Cabrera Miguel A. 
Published: December 2020

Abstract
This article shows implementation results of a digital DCLL controller for a Scorbot robotic arm with Cartesian trajectory description. The performance of the DCLL controller was compared with a PD one. The global performance of the DCLL controller was substantially better than the PD showing complete convergence in about two trajectory cycles. In addition, the DCLL controller does not require the computation of inverse kinematics to perform the tracking of the working trajectory.
Rigid Body Dynamical Equations With Lie Algebra
Authors: Gupta Krishna C. 
Published: December 2020

Abstract
A direct derivation is presented for the Generalized Euler’s equation in the translated base system that is located at the center of mass of the body. The use of Lie algebra reveals an interesting property of the time-variant inertia matrix I(t) — its rate of change is the Lie product [Ω, I], where [Ω] is the skew-symmetric representation of the angular velocity ω. This observation also simplifies the derivation. The standard body system form and the ZRP-form are then deduced. With differing meanings of terms, all three forms have a similar appearance: MG = [I] α + [Ω] [I] ω.
Finite Element Analysis of Circular Wedge Connections
Authors: Grossmann Christoph , Tegel Oliver 
Published: December 2020

Abstract
In this paper, the finite element analysis of circular wedge connections is described, and conclusions for the performance of the connection are derived. In the foreground of the examinations are stresses and deformations while tightening of the connection. Starting with the general structural performance, the influences on power transmission like slope, number of wedges, coefficient of sliding friction and outer hub diameter are discussed. An analytic function to describe the gap pressure within the tightened joint is introduced and rates to explain the problem of centering of circular wedge connections are shown. Finally two concepts for dimensioning are presented and recommendations for application of this connection are given.
A Computer Aided Cam Synthesis Tool for Arbitrary Follower Motion Functions
Authors: Li Zhe , Kota Sridhar 
Published: December 2020

Abstract
This paper describes a cam mechanism synthesis and analysis software CamSyn based on Matlab platform. The key feature of this software is its ability to synthesize a cam system with arbitrary follower motion functions. In particular, CamSyn can synthesize a cam profile for multi-rise and multi-return follower displacement functions and is therefore not restricted to typical single dwell-rise-return motion functions. Design examples are given to demonstrate the effectiveness of the software. The underlying design methods and strategies implemented in this software are well known in the published literature.
Investigating Design Methods Through the Design of an Automated Soap Wrapper
Authors: Sundberg Jason S. , Shooter Steven B. 
Published: December 2020

Abstract
In the past decade a proliferation of design methodologies have emerged. Each of these have a slightly different approach ranging from highly-structured methods to more open and creative techniques. This paper describes the design of a real-world system, an automated soap wrapping machine. Throughout the design process, several of the formal methodologies were employed. Some of these techniques proved more beneficial than others. Also, some new techniques were developed to best use some of the features of present computer aided design (CAD) packages.
Modelling and Control of a Closed Chain Flexible Linkage
Authors: Caracciolo R. , Giovagnoni M. , Rossi A. , Trevisani A. 
Published: December 2020

Abstract
The objective of this paper is to describe and numerically test a control scheme for a flexible four-bar linkage. The dynamic response of the mechanism is reproduced by means of an accurate finite element model accounting for geometric and inertial nonlinearities. A reduced number of measured variables is selected to control both rigid-body motion and vibration separately without implementing an estimator of the state of the system. Rigid-body motion control is performed by means of a PID-like regulator while proportional controllers are employed to damp link oscillations. Appropriate devices are proposed to avoid coupling effects among variables. Numerical results demonstrate the effectiveness of the control when it operates at different sampling times.
A Spatial Dynamic Analysis of an Excavator to Determine Bucket/Load Weight
Authors: Duffy Joseph , Crane Carl D. 
Published: December 2020

Abstract
This is essentially a report of the final phase of a major study undertaken for the Caterpillar Technical Center, Peoria, Illinois to determine to a high degree of accuracy the bucket/load weight of an excavator under dynamic conditions.
It was quite remarkable that a relatively simple solution was obtained using a least squares approach (as opposed to using a highly non-linear optimization method) considering that there are a total of nine unknown moments and cross moments of inertia of the bucket/load together with the unknown location of the center of mass and the bucket/load weight in the range of 1200–1650 kg which was finally computed to an accuracy of about 0.15%.
Application of Spatial and Fourier Transforms to the Synthesis of Motion Generation Mechanisms
Authors: Wandling George R. , Qamhiyah Abir , Flugrad Donald R. 
Published: December 2020

Abstract
This work presents an approach for the invariant characterization, storage, and search of planar motion generation mechanisms. The motion of the planar mechanisms is defined by the trace point path and by the relative angle of the linkage to which the trace point is attached. Spatial transformations and Fourier descriptors are used to characterize the motion of planar mechanisms. The invariant characteristic information is then stored in a database. Solution comparison and matching techniques are discussed and implemented. A description of each method and the relative performance of file development and search methods are developed for four-bar mechanisms. Each method may be applied to any motion generation planar mechanism since the output motion is characterized and stored in a database for solution comparison. The specific type of mechanism that generates the motion is not necessarily required for identification of candidate solutions.
Kinematic Analysis of an RSPC Agitator Mechanism
Authors: Fischer Ian S. 
Published: December 2020

Abstract
The displacements of an RSPC mechanism used as a washing-machine agitator is analyzed using a numerical method which can consider the motions in the revolute, ball, prismatic and cylindrical joints of the mechanism. The analysis not only computes the output motions of this spatial mechanism, but also the motions at the intermediate joints.
Inverse Static Analysis of a Planar System With Spiral Springs
Authors: Carricato Marco , Duffy Joseph , Parenti-Castelli Vincenzo 
Published: December 2020

Abstract
In this article the inverse static analysis of a two degrees of freedom planar mechanism equipped with spiral springs is presented. Such analysis aims to detect the entire set of equilibrium configurations of the mechanism once the external load is assigned. While on the one hand the presence of flexural pivots represents a novelty, on the other it extremely complicates the problem, since it brings the two state variables in the solving equations to appear as arguments of both trigonometric and linear functions. The proposed procedure eliminates one variable and leads to write two equations in one unknown only. The union of the root sets of such equations constitutes the global set of solutions of the problem.
Particular attention has been reserved to the analysis of the “reliability” of the final equations: it has been sought the existence of critical situations, in which the solving equations hide solutions or yield false ones. A numerical example is provided. Also, in Appendix it is shown a particular design of the mechanism that offers computational advantages.
Design, Simulation and SFF Techniques for Functional Components
Authors: Langrana Noshir , Qiu Dan , Wu Guohua , Higgins Kathryn , Hsieh Cheng Tiao 
Published: December 2020

Abstract
Development of Solid Freeform Fabrication (SFF) systems has created the opportunity for new approaches in design of functional components, which leverages the inherent strengths of both experiment and numerical simulation. This paper describes an approach in which the computational models are integrated with the rapid prototyping fabrication processes. The parts are fabricated using different materials including wax, PZT, silicone nitride, and 17-4PH stainless steel powders for the SFF hardware (Langrana et al, 2000, Qiu et al, 1999, Danforth et al, 1998) and Ciba-Geigy SL-resin for SLA hardware (Higgins and Langrana, 1998, Higgins and Langrana 1999). The components such as turbine blades, actuators, and fixtures have been designed, simulated and fabricated. The properties of parts have been and are being quantified in terms of accuracy and quality.
A Empirical Tire Model of Non-Steady State Cornering Properties Considering Carcass Elasticity
Authors: Hou Yongping , Hu Yujin , Li Chenggang , Guo Konghui 
Published: December 2020

Abstract
The purpose of this paper is to present two empirical tire models of non-steady state cornering property with respect to yaw angle input in low frequency region on the basis of existing tire model and considering the elasticity of the carcass. Verified by test, theoretical values meet well with test data. Comparing with existing tire models, the models described in the paper have more advantages, and they also have high precision. They can be applied for vehicle dynamics studies.
Mobile Robot Rough-Terrain Control (RTC) for Planetary Exploration
Authors: Iagnemma Karl , Dubowsky Steven 
Published: December 2020

Abstract
Mobile robots are increasingly being developed for high-risk missions in rough terrain situations, such as planetary exploration. Here a rough-terrain control (RTC) methodology is presented that exploits the actuator redundancy found in multi-wheeled mobile robot systems to improve ground traction and reduce power consumption. The methodology “chooses” an optimization criterion based on the local terrain profile. A key element of the method is to be able to estimate the wheel-ground contact angles. A method using an extended Kalman filter is presented for estimating these angles using simple on-board sensors. Simulation results for a wheeled micro-rover traversing Mars-like terrain demonstrate the effectiveness of the algorithms.
An Efficient, Geometric Approach to Rigid Body Motion Interpolation
Authors: Belta Calin , Kumar Vijay 
Published: December 2020

Abstract
This paper develops a method for generating trajectories for a rigid body with specified boundary conditions at the end points.
We consider SE(n–1) to be a submanifold (and a subgroup) of the GL(n, R). Our method involves the generation of optimal trajectories in GL(n, R), and then projecting the trajectories to SE(n–1). We use standard algorithms for deriving the optimal curves in the ambient space. The projection operator allows us to project the optimal curves onto SO(n) and SE(n) to yield motions that are near optimal. Results that illustrating the near optimality of the projected curves are included.
KEYNOTE-022 part 3: a randomized, double-blind, phase 2 study of pembrolizumab, dabrafenib, and trametinib in BRAF-mutant melanoma
Authors: Ferrucci Pier Francesco , Di Giacomo Anna Maria , Del Vecchio Michele , Atkinson Victoria , Schmidt Henrik , Schachter Jacob , Queirolo Paola , Long Georgina V , Stephens Rosalie , Svane Inge Marie , Lotem Michal , Abu-Amna Mahmoud , Gasal Eduard , Ghori Razi , Diede Scott J , Croydon Elizabeth S , Ribas Antoni , Ascierto Paolo Antonio 
Published: December 2020

BackgroundIn the KEYNOTE-022 study, pembrolizumab with dabrafenib and trametinib (triplet) improved progression-free survival (PFS) versus placebo with dabrafenib and trametinib (doublet) without reaching statistical significance. Mature results on PFS, duration of response (DOR), and overall survival (OS) are reported.MethodsThe double-blind, phase 2 part of KEYNOTE-022 enrolled patients with previously untreated BRAFV600E/K-mutated advanced melanoma from 22 sites in seven countries. Patients were randomly assigned 1:1 to intravenous pembrolizumab (200 mg every 3 weeks) or placebo plus dabrafenib (150 mg orally two times per day) and trametinib (2 mg orally one time a day). Primary endpoint was PFS. Secondary endpoints were objective response rate, DOR, and OS. Efficacy was assessed in the intention-to-treat population, and safety was assessed in all patients who received at least one dose of study drug. This analysis was not specified in the protocol.ResultsBetween November 30, 2015 and April 24, 2017, 120 patients were randomly assigned to triplet (n=60) or doublet (n=60) therapy. With 36.6 months of follow-up, median PFS was 16.9 months (95% CI 11.3 to 27.9) with triplet and 10.7 months (95% CI 7.2 to 16.8) with doublet (HR 0.53; 95% CI 0.34 to 0.83). With triplet and doublet, respectively, PFS at 24 months was 41.0% (95% CI 27.4% to 54.2%) and 16.3% (95% CI 8.1% to 27.1%); median DOR was 25.1 months (95% CI 14.1 to not reached) and 12.1 months (95% CI 6.0 to 15.7), respectively. Median OS was not reached with triplet and was 26.3 months with doublet (HR 0.64; 95% CI 0.38 to 1.06). With triplet and doublet, respectively, OS at 24 months was 63.0% (95% CI 49.4% to 73.9%) and 51.7% (95% CI 38.4% to 63.4%). Grade 3–5 treatment-related adverse events (TRAEs) occurred in 35 patients (58%, including one death) receiving triplet and 15 patients (25%) receiving doublet.ConclusionIn BRAFV600E/K-mutant advanced melanoma, pembrolizumab plus dabrafenib and trametinib substantially improved PFS, DOR, and OS with a higher incidence of TRAEs. Interpretation of these results is limited by the post hoc nature of the analysis.
South West England leadership training survey (2019)
Authors: Hayward Samuel , McGlade Sophie , Cockburn Samantha , Ballisat Ben , Smith-Jack Freya , Fleming Carla , Everleigh Mark , Thurlow Jane 
Published: December 2020

IntroductionThe National Health Service Long Term Plan recognises that excellent quality care requires great leadership. Understanding junior doctor experiences of leadership development can inform organisations to improve trainee leadership skills.MethodsA survey of South West (SW) England trainees was conducted to capture views on leadership and management training.ResultsResults came from 190 trainees across both SW deaneries, areas of practice and all training stages. Respondents agreed that leadership skills are important for doctors (n=186; 99%). Lack of time was indicated as a barrier to developing leadership skills (n=139; 75.5%). Audits and quality improvement projects were used for developing leadership skills. Colleagues were the main source of support.DiscussionSW trainees recognise the importance of developing leadership skills, underlining the need to prioritise opportunities for leadership development. Respondents had ideas to improve areas of practice, where ideas were supported, they were implemented.ConclusionCompared with national findings SW trainee experiences are positive, with more ideas implemented, more time for developing skills and more resources used. Activities engaged in closely aligned to the 70:20:10 model of leadership. Trainees should be encouraged to access support from peers and create networks of opportunity. Additional research in this area is needed.
What can we learn about systems leadership from the building of a Welsh surge hospital and how might this be applied beyond the current COVID-19 response?
Authors: Beharrell William , Richards Len , Driscoll Martin , Gray Jonathon 
Published: December 2020

BackgroundMethodsIt draws on a series of 20 interviews with key protagonists and employs a Bakhtinian approach to narrative analysis, which explores the interplay between individual accounts and larger sociocultural themes.ResultsConclusionsIt concludes that the success in managing the complexity of this project can largely be attributed to a systems leader approach that draws on the power of an agile network to be replenished and redeployed against rapidly evolving strategic objectives. This effectively constitutes a parallel operating structure, which is devoted to the design and implementation of strategy based on a continual assessment of the organisation and serves to strengthen rather than supersede established hierarchical structures of authority.