bluuebunny/crossref_metadata_2025_split huggingface dataset:
A Kinematic Structure Based Classification of Six-DOF Industrial Robots and a Method of Inverse Kinematic Solution
Authors: Balkan Tuna , Özgören M. Kemal , Arikan M. A. Sahir , Baykurt H. Murat 
Published: February 2021

Abstract
A kinematic structure based classification of six degree-of-freedom industrial robotic manipulators is introduced, and sample compact kinematic equations are given according to this classification. For the classification, one hundred industrial robots are surveyed. These robots are first classified into main groups and then into subgroups under each main group, and nine kinematic main groups, each having one to ten subgroups are obtained. The main groups are based on the end-effector rotation matrices and characterized by the twist angles. On the other hand, the subgroups are based on the wrist point positions and characterized by the link lengths and offsets. Compact kinematic equations are derived for one main group and one of its subgroups by utilizing the properties of exponential rotation matrices. In the inverse kinematic solutions, most of these simplified compact equations can be solved analytically and the remaining few of them can be solved semi-analytically through a single univariate equation. In these solutions, the singularities and the multiple configurations of the manipulators can be determined easily. Utilizing the method introduced in this study, the kinematic analysis of any manipulator or designed-to-be manipulator can be performed and using the solutions, the inverse kinematics can also be computerized by means of short and fast algorithms. As an example for, the demonstration of the presented method, Unimate 4000 industrial robot is selected which has five revolute joints and one prismatic joint and its compact forward kinematic equations are given as well as the inverse kinematic solution. To generalize the solution for the corresponding subgroup, a structural parameter related to the prismatic joint is assumed to have two different possible values leading to a closed-form or a semi-analytical solution.
Information Architecture for Design Tolerancing: From Conceptual to the Detail Design
Authors: Roy U. , Sudarsan R. , Sriram R. D. , Lyons K. W. , Duffey M. R. 
Published: February 2021

Abstract
Tolerance design is the process of deriving a description of geometric tolerance specifications for a product from a set of specifications on the desired properties of the product. Existing approaches to tolerance analysis and synthesis entail detailed knowledge of geometry of assemblies and are mostly applicable during advanced stages of design, leading to a less than optimal design process. During the design process of assemblies, both assembly structure and associated tolerance information evolve continuously and significant gains can be achieved by effectively using this information to influence the design of an assembly. Any pro-active approach to the assembly or tolerance analysis in the early design stages will involve decision making with incomplete information models. In order to carry out early tolerance synthesis and analysis in the conceptual stages of the product design, we need to devise techniques for representing function-behavior-assembly models that will allow analysis and synthesis of tolerances, even with the incomplete data set.
A ‘function’ (what the system is for) is associated with the transformation of an input physical entity into an output physical entity by the system. The problem or customer’s need, initially described by functional requirements on an assembly, and associated constraints on the functional requirements derives the concept of an assembly. This specification of functional requirements and constraints define a functional model for the assembly. Many researchers have studied functional representation (function based taxonomy and ontology), function to form mapping, and behavior representation (behavior means how the system/product works). However, there is no comprehensive function-assembly-behavior (FAB) integrated model.
In this paper, we discuss the integration of function, assembly, and behavior representation into a comprehensive information model (FAB models). To do this, we need to develop appropriate assembly models and tolerance models that would enable the designer to incrementally understand the build-up or propagation of tolerances (i.e., constraints) and optimize the layout, features, or assembly realizations. This will ensure ease of tolerance delivery.
A0-Wave and A-Wave in Cylindrical Shell Immersed in Water: Influence on the Acoustic Scattering
Authors: Maze Gérard , Touraine Nicolas , Baillard André , Decultot Dominique , Latard Véronique , Derbesse Laurent , Pernod Philippe , Merlen Alain 
Published: February 2021

Abstract
In low frequencies (ka &lt; 200), the A-wave (Scholte-Stoneley wave) and the S0-wave (first symmetrical Lamb wave) are the subject of a particular attention in the study of the acoustic scattering from empty cylindrical shells immersed in water. If the tube is in water, the A0-wave (flexural Lamb wave) which circumnavigates in the shell in vacuum, does not originate resonances in the backscattered pressure spectrum while the two others are active. Images of the acoustic scattering from cylindrical or spherical targets obtained from the “Schlieren” visualization using a high-speed camera show the typical re-radiation of the A0+-wave in water. Moreover, the backscattered signal recorded with one emitter-receiver transducer shows one echo which cannot attributed to the A- or S0-waves. In this paper, the propagation of the A0+-wave has been especially studied to explain the experimental results. This A0+-wave has a great impact if it crosses over a structure inhomogeneity after a short propagation in the shell, before its complete attenuation.
High-precision U-Pb age constraints on the Permian floral turnovers, paleoclimate change, and tectonics of the North China block
Authors: Wu Qiong , Ramezani Jahandar , Zhang Hua , Wang Jun , Zeng Fangui , Zhang Yichun , Liu Feng , Chen Jun , Cai Yaofeng , Hou Zhangshuai , Liu Chao , Yang Wan , Henderson Charles M. , Shen Shu-zhong 
Published: February 2021

Abstract
The Permian marine-terrestrial system of the North China block provides an exceptional window into the evolution of northern temperate ecosystems during the critical transition from icehouse to greenhouse following the late Paleozoic ice age (LPIA). Despite many studies on its rich hydrocarbon reserves and climate-sensitive fossil flora, uncertain temporal constraints and correlations have hampered a thorough understanding of the records of geologic, biologic, and climatic change from the North China block. We present a new chronostratigraphy based on high-precision U-Pb chemical abrasion–isotope dilution–thermal ionization mass spectrometry (CA-ID-TIMS) geochronology of tuffs from a near-complete latest Carboniferous–Permian succession in North China. The results indicate that the predominance of continental red beds, climate aridification, and the disappearance of coals and characteristic tropical flora were well under way during the Cisuralian (Early Permian) in the North China block, significantly earlier than previously thought. A nearly 20 m.y. hiatus spanning the early Kungurian to the mid-Guadalupian (or later) is revealed in the northern North China block to have close temporal and spatial associations with the closure and/or subduction of the Paleo-Asian Ocean and its related tectonic convergence. This long hiatus was concomitant with the prominent loss of the highly diverse and abundant Cathaysian floras and the widespread invasion of the monotonous Angaran floras under arid climate conditions in the North China block. Similarities in the floral and climate shift histories between Euramerica and North China suggest that aside from the regional tectonic controls and continental movement, extensive volcanism during the Cisuralian may have played a major role in the global warming and aridification in the aftermath of the LPIA.
From Ordovician nascent to early Permian mature arc in the southern Altaids: Insights from the Kalatage inlier in the Eastern Tianshan, NW China
Authors: Mao Qigui , Wang Jingbin , Xiao Wenjiao , Windley Brian F. , Schulmann Karel , Ao Songjian , Yu Mingjing , Zhang Ji’en , Fang Tonghui 
Published: February 2021

AbstractThe Kalatage inlier in the Dananhu-Haerlik arc is one of the most important arcs in the Eastern Tianshan, southern Altaids (or Central Asian orogenic belt). Based on outcrop maps and core logs, we report 16 new U-Pb dates in order to reconstruct the stratigraphic framework of the Dananhu-Haerlik arc. The new U-Pb ages reveal that the volcanic and intrusive rocks formed in the interval from the Ordovician to early Permian (445–299 Ma), with the oldest diorite dike at 445 ± 3 Ma and the youngest rhyolite at 299 ± 2 Ma. These results constrain the ages of the oldest basaltic and volcaniclastic rocks of the Ordovician Huangchaopo Group, which were intruded by granite-granodiorite-diorite plutons in the Late Ordovician to middle Silurian (445–426 Ma). The second oldest components are intermediate volcanic and volcaniclastic rocks of the early Silurian Hongliuxia Formation (S1h), which lies unconformably on the Huangchaopo Group and is unconformably overlain by Early Devonian volcanic rocks (416 Ma). From the mid- to late Silurian (S2-3), all the rocks were exhumed, eroded, and overlain by polymictic pyroclastic deposits. Following subaerial to shallow subaqueous burial at 416–300 Ma by intermediate to felsic volcanic and volcaniclastics rocks, the succession was intruded by diorites, granodiorites, and granites (390–314 Ma). The arc volcanic and intrusive rocks are characterized by potassium enrichment, when they evolved from mafic to felsic and from tholeiitic via transitional and calc-alkaline to final high-K calc-alkaline compositions with relatively low initial Sr values, (87Sr/86Sr)i = 0.70391–0.70567, and positive εNd(t) values, +4.1 to +9.2. These new data suggest that the Dananhu-Haerlik arc is a long-lived arc that consequently requires a new evolutionary model. It began as a nascent (immature) intra-oceanic arc in the Ordovician to early Silurian, and it evolved into a mature island arc in the middle Silurian to early Permian. The results suggest that the construction of a juvenile-to-mature arc, in combination with its lateral attachment to an incoming arc or continent, was an important crustal growth mechanism in the southern Altaids.
Suprasubduction zone ophiolite fragments in the central Appalachian orogen: Evidence for mantle and Moho in the Baltimore Mafic Complex (Maryland, USA)
Authors: Guice George L. , Ackerson Michael R. , Holder Robert M. , George Freya R. , Browning-Hanson Joseph F. , Burgess Jerry L. , Foustoukos Dionysis I. , Becker Naomi A. , Nelson Wendy R. , Viete Daniel R. 
Published: February 2021

AbstractSuprasubduction zone (SSZ) ophiolites of the northern Appalachians (eastern North America) have provided key constraints on the fundamental tectonic processes responsible for the evolution of the Appalachian orogen. The central and southern Appalachians, which extend from southern New York to Alabama (USA), also contain numerous ultramafic-mafic bodies that have been interpreted as ophiolite fragments; however, this interpretation is a matter of debate, with the origin(s) of such occurrences also attributed to layered intrusions. These disparate proposed origins, alongside the range of possible magmatic affinities, have varied potential implications for the magmatic and tectonic evolution of the central and southern Appalachian orogen and its relationship with the northern Appalachian orogen. We present the results of field observations, petrography, bulk-rock geochemistry, and spinel mineral chemistry for ultramafic portions of the Baltimore Mafic Complex, which refers to a series of ultramafic-mafic bodies that are discontinuously exposed in Maryland and southern Pennsylvania (USA). Our data indicate that the Baltimore Mafic Complex comprises SSZ ophiolite fragments. The Soldiers Delight Ultramafite displays geochemical characteristics—including highly depleted bulk-rock trace element patterns and high Cr# of spinel—characteristic of subduction-related mantle peridotites and serpentinites. The Hollofield Ultramafite likely represents the “layered ultramafics” that form the Moho. Interpretation of the Baltimore Mafic Complex as an Iapetus Ocean–derived SSZ ophiolite in the central Appalachian orogen raises the possibility that a broadly coeval suite of ophiolites is preserved along thousands of kilometers of orogenic strike.
Study protocol of a randomised controlled trial on SISU, a software agent providing a brief self-help intervention for adults with low psychological well-being
Authors: Bendig Eileen , Meißner Echo , Erb Benjamin , Weger Lena , Küchler Ann-Marie , Bauereiss Natalie , Ebert David , Baumeister Harald 
Published: February 2021

Introduction
Only a minority of people living with mental health problems are getting professional help. As digitalisation moves on, the possibility of providing internet/mobile-based interventions (IMIs) arises. One type of IMIs are fully automated conversational software agents (chatbots). Software agents are computer programs that can hold conversations with a human by mimicking a human conversational style. Software agents could deliver low-threshold and cost-effective interventions aiming at promoting psychological well-being in a large number of individuals. The aim of this trial is to evaluate the clinical effectiveness and acceptance of the brief software agent-based IMI SISU in comparison with a waitlist control group.

Methods and analysis
Within a two-group randomised controlled trial, a total of 120 adult participants living with low well-being (Well-being Scale/WHO-5) will be recruited in Germany, Austria and Switzerland. SISU is based on therapeutic writing and acceptance and commitment therapy-based principles. The brief intervention consists of three modules. Participants work through the intervention on 3 consecutive days. Assessment takes place before (t1), during (t2) and after (t3) the interaction with SISU, as well as 4 weeks after randomisation (t4). Primary outcome is psychological well-being (WHO-5). Secondary outcomes are emotional well-being (Flourishing Scale), psychological flexibility (Acceptance and Action Questionnaire-II), quality of life (Assessment of Quality of Life -8D), satisfaction with the intervention (Client Satisfaction Questionnaire-8) and side effects (Inventory for the assessment of negative effectsof psychotherapy). Examined mediators and moderators are sociodemographic variables, personality (Big Five Inventory-10), emotion regulation (Emotion Regulation Questionnaire), alexithymia (Toronto Alexithymia Scale-20), centrality of events (Centrality of Events Scale), treatment expectancies (Credibility Expectancy Questionnaire) and technology alliance (Inventory of Technology Alliance–Online Therapy). Data analysis will be based on intention-to-treat principles. SISU guides participants through a 3-day intervention.

Ethics and dissemination
This trial has been approved by the ethics committee of the Ulm University (No. 448/18, 18.02.2019). Results will be submitted for publication in a peer-reviewed journal and presented at conferences.

Trial registration
The trial is registered at the WHO International Clinical Trials Registry Platform via the German Clinical Trials Register (DRKS): DRKS00016799 (date of registration: 25 April 2019). In case of important protocol modifications, trial registration will be updated. This is protocol version number 1.
Strategies used by emergency care professionals to handle interpersonal difficulties with patients: a qualitative study
Authors: Charrier Philippe , Occelli Pauline , Buchet-Poyau Karine , Douplat Marion , Delaroche-Gaudin Marine , Fayard-Gonon Florence , Jacquin Laurent , Potinet Véronique , Sigal Alain , Tazarourte Karim , Touzet Sandrine 
Published: February 2021

ObjectivesIdentify the strategies implemented by emergency care professionals when facing tension and interpersonal violence from patients and their friends and family.DesignDescriptive qualitative study based on 38 semidirective interviews.ParticipantsDoctors, nurses, nursing assistants and administrative staff.SettingFour emergency departments (EDs) from three French university hospitals.ResultsAccording to the medical professionals interviewed, the difficulties that they encounter with patients or their accompanying family members can be explained by a lack of understanding of the functioning of EDs, by a general increase in individualistic behaviours leading to a lack of civility or by deviant behaviours (related to toxic substance abuse or mental illness). While managing deviant behaviours may sometimes require a collective intervention, ED staff also implement what are essentially individual communication strategies (with the use of rational explanation, seduction and empathy), confrontation or flight to deal with interpersonal difficulties.ConclusionsStrategies used by staff members tend to be individualised for the most part, and some, such as confrontational or escape strategies, may not be adapted to all situations. In the face of difficulties between staff and patients, mediators, specialised in resolving conflict, could entrust some cases to professionals.Trial registration numberClinicalTrials.gov Registry (NCT03139110).
Protocol for an observational study to identify potential predictors of an acute exacerbation in patients with chronic obstructive pulmonary disease (the PACE Study)
Authors: Kenn Klaus , Gloeckl Rainer , Leitl Daniela , Schneeberger Tessa , Jarosch Inga , Hitzl Wolfgang , Alter Peter , Sczepanski Bernd , Winterkamp Sandra , Boensch Martina , Schade-Brittinger Carmen , Skevaki Chrysanthi , Holz Olaf , Jones Paul W , Vogelmeier Claus F , Koczulla Andreas R 
Published: February 2021

IntroductionAcute exacerbations of chronic obstructive pulmonary disease (AECOPD) are the most critical events for patients with COPD that have a negative impact on patients’ quality of life, accelerate disease progression, and can result in hospital admissions and death. Although there is no distinct definition or detailed knowledge about AECOPD, it is commonly used as primary outcome in clinical studies. Furthermore, it may be difficult in clinical practice to differentiate the worsening of symptoms due to an AECOPD or to the development of heart failure. Therefore, it is of major clinical importance to investigate the underlying pathophysiology, and if possible, predictors of an AECOPD and thus to identify patients who are at high risk for developing an acute exacerbation.Methods and analysisIn total, 355 patients with COPD will be included prospectively to this study during a 3-week inpatient pulmonary rehabilitation programme at the Schoen Klinik Berchtesgadener Land, Schoenau am Koenigssee (Germany). All patients will be closely monitored from admission to discharge. Lung function, exercise tests, clinical parameters, quality of life, physical activity and symptoms will be recorded, and blood samples and exhaled air will be collected. If a patient develops an AECOPD, there will be additional comprehensive diagnostic assessments to differentiate between cardiac, pulmonary or cardiopulmonary causes of worsening. Follow-up measures will be performed at 6, 12 and 24 months.Exploratory data analyses methods will be used for the primary research question (screening and identification of possible factors to predict an AECOPD). Regression analyses and a generalised linear model with a binomial outcome (AECOPD) will be applied to test if predictors are significant.Ethics and disseminationThis study has been approved by the Ethical Committee of the Philipps University Marburg, Germany (No. 61/19). The results will be presented in conferences and published in a peer-reviewed journal.Trial registration numberNCT04140097.
Use of routine death and illness surveillance data to provide insight for UK pandemic planning: lessons from COVID-19
Authors: Clough Helen E , McIntyre K Marie , Patterson Grace E , Harris John P , Rushton Jonathan 
Published: February 2021

ObjectivesReporting of COVID-19 cases, deaths and testing has often lacked context for appropriate assessment of disease burden within risk groups. The research considers how routine surveillance data might provide initial insights and identify risk factors, setting COVID-19 deaths early in the pandemic into context. This will facilitate the understanding of wider consequences of a pandemic from the earliest stage, reducing fear, aiding in accurately assessing disease burden and ensuring appropriate disease mitigation.SettingUK, 2020.ParticipantsThe study is a secondary analysis of routine, public domain, surveillance data and information from Office for National Statistics (ONS), National Health Service (NHS) 111 and Public Health England (PHE) on deaths and disease.Primary and secondary outcome measuresOur principal focus is ONS data on deaths mentioning COVID-19 on the death certificate. We also consider information provided in NHS 111 and PHE data summaries.ResultsDeaths with COVID-19 significantly contributed to, yet do not entirely explain, abnormally elevated all-cause mortality in the UK from weeks 12–18 of 2020. Early in the UK epidemic, COVID-19 was the greatest threat to those with underlying illness, rarely endangering people aged under 40 years. COVID-19-related death rates differed by region, possibly reflecting underlying population structure. Risk of COVID-19-related death was greater for healthcare and social care staff and black, Asian and minority ethnic individuals, having allowed for documented risk factors.ConclusionEarly contextualisation of public health data is critical to recognising who gets sick, when and why. Understanding at-risk groups facilitates a targeted response considering indirect consequences of society’s reaction to a pandemic alongside disease-related impacts. COVID-19-related deaths mainly mirror historical patterns, and excess non-COVID-19-related deaths partly reflect reduced access to and uptake of healthcare during lockdown. Future outbreak response will improve through better understanding of connectivity between disease monitoring systems to aid interpretation of disease risk patterns, facilitating nuanced mitigation measures.