For chromosome abnormalities(CAs),such as Down syndrome(DS),the influence of genomic variations on chromosome conformation and gene transcription remains elusive.Based on the complete genomic sequences from the parent...For chromosome abnormalities(CAs),such as Down syndrome(DS),the influence of genomic variations on chromosome conformation and gene transcription remains elusive.Based on the complete genomic sequences from the parents of a DS trisomy patient,we systematically delineated an atlas of parental-specific,haplotype-resolved single nucleotide polymorphisms(SNPs),copy number variations(CNVs),threedimensional(3D)genome architecture,and RNA expression profiles in the diencephalon of the DS patient.The integrated haplotype-resolved multi-omics analysis demonstrated that one-dimensional(1D)genomic variations including SNPs and CNVs in the DS patient are highly correlated with the alterations in the 3D genome organization and the subsequent changes in gene transcription.This correlation remains valid at the haplotype level.Moreover,we revealed the 3D genome alteration-associated dysregulation of DS-related genes,which facilitates understanding the pathogenesis of CAs.Together,our study contributes to deciphering the coding from 1D genomic variations to 3D genome architecture and the subsequent gene transcription outcomes in both health and disease.展开更多
Joint roughness coefficient(JRC)is the most commonly used parameter for quantifying surface roughness of rock discontinuities in practice.The system composed of multiple roughness statistical parameters to measure JRC...Joint roughness coefficient(JRC)is the most commonly used parameter for quantifying surface roughness of rock discontinuities in practice.The system composed of multiple roughness statistical parameters to measure JRC is a nonlinear system with a lot of overlapping information.In this paper,a dataset of eight roughness statistical parameters covering 112 digital joints is established.Then,the principal component analysis method is introduced to extract the significant information,which solves the information overlap problem of roughness characterization.Based on the two principal components of extracted features,the white shark optimizer algorithm was introduced to optimize the extreme gradient boosting model,and a new machine learning(ML)prediction model was established.The prediction accuracy of the new model and the other 17 models was measured using statistical metrics.The results show that the prediction result of the new model is more consistent with the real JRC value,with higher recognition accuracy and generalization ability.展开更多
Self-centering systems are increasingly studied after devastating earthquakes in the 2010s that caused irreparable damage to buildings.Currently,there is conflicting evidence as to whether the re-centering(restoring)c...Self-centering systems are increasingly studied after devastating earthquakes in the 2010s that caused irreparable damage to buildings.Currently,there is conflicting evidence as to whether the re-centering(restoring)capabilities are gained at the expense of hysteretic damping,potentially leading to larger peak displacements and damage to non-structural elements.This study examines the earthquake response of self-centering and non-self-centering systems through analyses of 4-storey and 8-storey steel-braced frames.The Resilient Slip Friction Joint(RSFJ)dampers,combined with steel braces in series,represent the self-centering bracing system,whereas the Buckling Restrained Braces(BRBs)represent the non-self-centering bracing system.Results suggest that peak displacements,base shears,and floor accelerations were comparable between the two systems.A possible explanation is that the peak response occurs on the first major excursion;similar peaks result from similar backbone curves in the run-up to the peak.Conversely,the amount of hysteretic damping only begins to affect the post-peak behavior.For instance,the RSFJ system reintroduces seismic energy into the structure post-peak(rather than dissipating it like the BRB).Subsequently,it leads to larger vibration amplitudes about the central position,increasing the risk of secondary peaks.This contrasts with the BRB system,which exhibits smaller vibration amplitudes about an increasingly deformed position due to seismic ratcheting.Unsurprisingly,residual deformations were high for the BRBs(1.7%on average)and negligible for the RSFJ.However,RSFJ produced smaller peak inter-storey drifts between 13%–18%but higher peak accelerations by 4%–5%.The results suggest that multi-storey braced frames could be designed with similar or smaller forces when self-centering systems are used.展开更多
In the practical slope engineering,the stability of lower sliding mass(region A)with back tensile cracks of the jointed rock slope attracts more attentions,but the upper rock mass(region B)may also be unstable.Therefo...In the practical slope engineering,the stability of lower sliding mass(region A)with back tensile cracks of the jointed rock slope attracts more attentions,but the upper rock mass(region B)may also be unstable.Therefore,in this study,based on the stepped failure mode of bedding jointed rock slopes,considering the influence of the upper rock mass on the lower stepped sliding mass,the improved failure model for analyzing the interaction force(F_(AB))between two regions is constructed,and the safety factors(F_(S))of two regions and whole region are derived.In addition,this paper proposes a method to determine the existence of F_(AB) using their respective acceleration values(a_(A) and a_(B))when regions A and B are unstable.The influences of key parameters on two regions and the whole region are analyzed.The results show that the variation of the F_(AB) and F_(S) of two regions can be obtained accurately based on the improved failure model.The accuracy of the improved failure model is verified by comparative analysis.The research results can explain the interaction mechanism of two regions and the natural phenomenon of slope failure caused by the development of cracks.展开更多
The connection efficiency of composite pre-tightened multi-tooth joint is low because of uneven load distribution and single load transmission path.In this paper,based on the principle of bio-tooth(suture)structure,co...The connection efficiency of composite pre-tightened multi-tooth joint is low because of uneven load distribution and single load transmission path.In this paper,based on the principle of bio-tooth(suture)structure,combining soft material with fractal,a composite pre-tightened multi-hierarchy tooth joint is proposed,and the bearing performance and failure process of the joint through experiments and finite element method under tensile load.First,the ultimate bearing capacity,load distribution ratio,and failure process of different hierarchies of teeth joints are studied through experiments.Then,the progressive damage models of different hierarchies of tooth joints are established,and experiments verify the validity of the finite element model.Finally,the effects of soft material and increasing tooth hierarchy on the failure process and bearing capacity of composite pre-tightened tooth joints are analyzed by the finite element method.The following conclusions can be drawn:(1)The embedding of soft materials changed the failure process of the joint.Increasing the tooth hierarchy can give the joint more load transfer paths,but the failure process of the joint is complicated.(2)Embedding soft materials and increasing the tooth hierarchy simultaneously can effectively improve the bearing capacity of composite pre-tightened tooth joints,which is 87.8%higher than that of traditional three-tooth joints.展开更多
Background:Physiological and biochemical processes across tissues of the body are regulated in response to the high demands of intense physical activity in several occupations,such as firefighting,law enforcement,mili...Background:Physiological and biochemical processes across tissues of the body are regulated in response to the high demands of intense physical activity in several occupations,such as firefighting,law enforcement,military,and sports.A better understanding of such processes can ultimately help improve human performance and prevent illnesses in the work environment.Methods:To study regulatory processes in intense physical activity simulating real-life conditions,we performed a multi-omics analysis of 3 biofluids(blood plasma,urine,and saliva)collected from 11 wildland firefighters before and after a 45 min,intense exercise regimen.Omics profiles post-vs.pre-exercise were compared by Student’s t-test followed by pathway analysis and comparison between the different omics modalities.Results:Our multi-omics analysis identified and quantified 3835 proteins,730 lipids and 182 metabolites combining the 3 different types of samples.The blood plasma analysis revealed signatures of tissue damage and acute repair response accompanied by enhanced carbon metabolism to meet energy demands.The urine analysis showed a strong,concomitant regulation of 6 out of 8 identified proteins from the renin-angiotensin system supporting increased excretion of catabolites,reabsorption of nutrients and maintenance of fluid balance.In saliva,we observed a decrease in 3 pro-inflammatory cytokines and an increase in 8 antimicrobial peptides.A systematic literature review identified 6 papers that support an altered susceptibility to respiratory infection.Conclusions:This study shows simultaneous regulatory signatures in biofluids indicative of homeostatic maintenance during intense physical activity with possible effects on increased infection susceptibility,suggesting that caution against respiratory diseases could benefit workers on highly physical demanding jobs.展开更多
Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical...Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.展开更多
The dynamic influence of joints in aero-engine rotor systems is investigated in this paper.Firstly,the tangential stiffness and loss factor are obtained from an isolated lap joint setup with dynamic excitation experim...The dynamic influence of joints in aero-engine rotor systems is investigated in this paper.Firstly,the tangential stiffness and loss factor are obtained from an isolated lap joint setup with dynamic excitation experiments.Also,the influence of the normal contact pressure and the excitation level are examined,which revel the uncertainty in joints.Then,the updated Thin Layer Elements(TLEs)method with fitted parameters based on the experiments is established to simulate the dynamic properties of joints on the interface.The response of the rotor subjected to unbalance excitation is calculated,and the results illustrate the effectiveness of the proposed method.Meanwhile,using the Chebyshev inclusion function and a direct iteration algorithm,a nonlinear interval analysis method is established to consider the uncertainty of parameters in joints.The accuracy is proved by comparison with results obtained using the Monte-Carlo method.Combined with the updated TLEs,the nonlinear Chebyshev method is successfully applied on a finite model of a rotor.The study shows that substantial attention should be paid to the dynamical design for the joint in rotor systems,the dynamic properties of joints under complex loading and the corresponding interval analysis method need to be intensively studied.展开更多
Four different structural models of artificial joints were developed and the finite element method （FEM） was employed to investigate their mechanical characteristics under static and dynamic conditions. The material...Four different structural models of artificial joints were developed and the finite element method （FEM） was employed to investigate their mechanical characteristics under static and dynamic conditions. The materials used in the FEM calculation were ultra-high molecular weight polyethylene （UHMWPE）, 316L stainless steel, CoCrMo alloy and Ti6A14V alloy. The stress distribution, strain, and elastic deformation under static and dynamic conditions were obtained. Analysis and comparison of the ~alculation results of different models were conducted. It is shown that with the same parameters the model of a metallic femur head covered with an artificial cartilage layer is more similar to the structure of the natural human joint and its mechanical characteristics are the best of the four models.展开更多
Since most current seismic capacity evaluations of reinforced concrete （RC） frame structures are implemented by either static pushover analysis （PA） or dynamic time history analysis, with diverse settings of the p...Since most current seismic capacity evaluations of reinforced concrete （RC） frame structures are implemented by either static pushover analysis （PA） or dynamic time history analysis, with diverse settings of the plastic hinges （PHs） on such main structural components as columns, beams and walls, the complex behavior of shear failure at beam-column joints （BCJs） during major earthquakes is commonly neglected. This study proposes new nonlinear PA procedures that consider shear failure at BCJs and seek to assess the actual damage to RC structures. Based on the specifications of FEMA-356, a simplified joint model composed of two nonlinear cross struts placed diagonally over the location of the plastic hinge is established, allowing a sophisticated PA to be performed. To verify the validity of this method, the analytical results for the capacity curves and the failure mechanism derived from three different full-size RC frames are compared with the experimental measurements. By considering shear failure at BCJs, the proposed nonlinear analytical procedures can be used to estimate the structural behavior of RC frames, including seismic capacity and the progressive failure sequence of joints, in a precise and effective manner.展开更多
Stress Joint （SJ） plays a key role in the Top Tensioned Riser （TTR） system for deep water engineering. A preliminary design method of tapered SJ is proposed in the paper, which could help designers obtain accurate...Stress Joint （SJ） plays a key role in the Top Tensioned Riser （TTR） system for deep water engineering. A preliminary design method of tapered SJ is proposed in the paper, which could help designers obtain accurate design data. After a further sensitive analysis is carried out, the related parameters choice and control methods are recommended in the engineering practice. By taking the extreme environment conditions into consideration, the effects of bending stress reduction and curve control are analyzed, and the 3-D FE models are established by ABQOUS for numerical evaluation to verify the correctness of design results. At last, dynamic analysis and fatigue analysis, based on actual project, are carried out with designed stress joint. The analysis results prove the feasibility and guidance of this method in the practical engineering applications.展开更多
Based on the major gene and polygene mixed inheritance model for multiple correlated quantitative traits, the authors proposed a new joint segregation analysis method of major gene controlling multiple correlated quan...Based on the major gene and polygene mixed inheritance model for multiple correlated quantitative traits, the authors proposed a new joint segregation analysis method of major gene controlling multiple correlated quantitative traits, which include major gene detection and its effect and variation estimation. The effect and variation of major gene are estimated by the maximum likelihood method implemented via expectation-maximization （EM） algorithm. Major gene is tested with the likelihood ratio （LR） test statistic. Extensive simulation studies showed that joint analysis not only increases the statistical power of major gene detection but also improves the precision and accuracy of major gene effect estimates. An example of the plant height and the number of tiller of F2 population in rice cross Duonieai x Zhonghua 11 was used in the illustration. The results indicated that the genetic difference of these two traits in this cross refers to only one pleiotropic major gene. The additive effect and dominance effect of the major gene are estimated as -21.3 and 40.6 cm on plant height, and 22.7 and -25.3 on number of tiller, respectively. The major gene shows overdominance for plant height and close to complete dominance for number of tillers.展开更多
Objective:To conduct the meta-analysis and trial sequential analysis(TSA) on clinical trials of fire needling therapy in treatment of gouty arthritis and review systematically the clinical therapeutic effect of fire n...Objective:To conduct the meta-analysis and trial sequential analysis(TSA) on clinical trials of fire needling therapy in treatment of gouty arthritis and review systematically the clinical therapeutic effect of fire needling therapy on gouty arthritis so as to provide the medical evidences of the extensive application of this therapy in treatment of gouty arthritis.Methods:The relevant clinical trials of fire needling therapy for treatment of gouty arthritis were searched from China National knowledge Infrastructure,Wanfang Data Knowledge Service Platform,Chinese Science and Technology Journal Database,American Medical Online,Dutch Medical Literature Database and International Evidence-Based Medical library.Using Review Manager 5.3 software,the quality of the included trials was assessed and meta-analysis was performed.With TSA v0.9 software,the trial sequential analysis was conduced on the appropriate outcomes.Results:A total of 10 trials were included with 775 patients involved.The analysis results showed that compared with the western medication,the total effective rate(RR=1.14’95%CI [1.09,1.20]),the curative rate(RR=1.59’95%CI [1.33,1.89]),the reduced VAS score(MD=-1.44’ 95%CI [-1.93,-0.951]) and the reduced incidence of adverse reaction(RR=0.27’ 95% CI [0.09,0.76]) of the fire needling therapy were different significantly(all P <0.05).Regarding the reduction of blood uric acid(MD=-40.47’ 95%CI [-80.21,-0.72]) and the score of symptoms and physical signs(MD=-1.38’95% CI [-3.71,0.95]),the effect of fire needling therapy was similar to that of western medication group(both P≥0.05).The trial sequential analysis suggested that the result was reliable,in which,the total effective rate of fire needling therapy was much higher than the western medication.But,it was potentially a false-positive finding,in which,fire needling therapy was much more advantageous at reducing blood uric acid as compared with the western medication.Conclusion:Based on the analytic results,it can be determined that fire needling therapy,as an effective approach to the treatment of gouty arthritis,has a certain advantage as compared with western medication.Given the low overall quality of trials,it still needs high-quality clinical trial to verify the findings of this study results.展开更多
AIM To analyze how various implants placement variables affect sacroiliac(SI) joint range of motion. METHODS An experimentally validated finite element model of the lumbar spine and pelvis was used to simulate a fusio...AIM To analyze how various implants placement variables affect sacroiliac(SI) joint range of motion. METHODS An experimentally validated finite element model of the lumbar spine and pelvis was used to simulate a fusion of the SI joint using various placement configurations of triangular implants(iF use Implant System~?). Placement configurations were varied by changing implant orientation, superior implant length, and number of implants. The range of motion of the SI joint was calculated using a constant moment of 10 N-m with a follower load of 400 N. The changes in motion were compared between the treatment groups to assess how the different variables affected the overall motion of the SI joint. RESULTS Transarticular placement of 3 implants with superior implants that end in the middle of the sacrum resulted in the greatest reduction in range of motion(flexion/extension = 73%, lateral bending = 42%, axial rotation = 72%). The range of motions of the SI joints were reduced with use of transarticular orientation(9%-18%) when compared with an inline orientation. The use of a superior implant that ended mid-sacrum resulted in median reductions of(8%-14%) when compared with a superior implant that ended in the middle of the ala. Reducing the number of implants, resulted in increased SI joint range of motions for the 1 and 2 implant models of 29%-133% and 2%-39%, respectively,when compared with the 3 implant model.CONCLUSION Using a validated finite element model we demonstrated that placement of 3 implants across the SI joint using a transarticular orientation with superior implant reaching the sacral midline resulted in the most stable construct. Additional clinical studies may be required to confirm these results.展开更多
Objective:Triple-negative breast cancer(TNBC)is a highly aggressive subtype that lacks targeted therapies,leading to a poorer prognosis.However,some patients achieve long-term recurrence-free survival(RFS),offering va...Objective:Triple-negative breast cancer(TNBC)is a highly aggressive subtype that lacks targeted therapies,leading to a poorer prognosis.However,some patients achieve long-term recurrence-free survival(RFS),offering valuable insights into tumor biology and potential treatment strategies.Methods:We conducted a comprehensive multi-omics analysis of 132 patients with American Joint Committee on Cancer(AJCC)stage III TNBC,comprising 36 long-term survivors(RFS≥8 years),62 moderate-term survivors(RFS:3-8 years),and 34 short-term survivors(RFS<3 years).Analyses investigated clinicopathological factors,whole-exome sequencing,germline mutations,copy number alterations(CNAs),RNA sequences,and metabolomic profiles.Results:Long-term survivors exhibited fewer metastatic regional lymph nodes,along with tumors showing reduced stromal fibrosis and lower Ki67 index.Molecularly,these tumors exhibited multiple alterations in genes related to homologous recombination repair,with higher frequencies of germline mutations and somatic CNAs.Additionally,tumors from long-term survivors demonstrated significant downregulation of the RTK-RAS signaling pathway.Metabolomic profiling revealed decreased levels of lipids and carbohydrate,particularly those involved in glycerophospholipid,fructose,and mannose metabolism,in long-term survival group.Multivariate Cox analysis identified fibrosis[hazard ratio(HR):12.70,95%confidence interval(95%CI):2.19-73.54,P=0.005]and RAC1copy number loss/deletion(HR:0.22,95%CI:0.06-0.83,P=0.026)as independent predictors of RFS.Higher fructose/mannose metabolism was associated with worse overall survival(HR:1.30,95%CI:1.01-1.68,P=0.045).Our findings emphasize the association between biological determinants and prolonged survival in patients with TNBC.Conclusions:Our study systematically identified the key molecular and metabolic features associated with prolonged survival in AJCC stage III TNBC,suggesting potential therapeutic targets to improve patient outcomes.展开更多
A contact bolt model is proposed as a new modeling technique to investigate the complex structure with bolted joints for modal analysis and compared with the coupled bolt model, and the test results are given. Among t...A contact bolt model is proposed as a new modeling technique to investigate the complex structure with bolted joints for modal analysis and compared with the coupled bolt model, and the test results are given. Among these models, the coupled bolt model provides the best accurate responses compared with the experimental results. The contact bolt model shows the best effectiveness and usefulness in view of operational time. The bolt models proposed in this study are adopted for a dynamic characteristic analysis of a large diesel engine consisting of several parts which are connected by many bolts. The dynamic behavior of the entire engine structure was investigated by experiment. The coupled bolt model and the contact bolt model were applied to model the assembly of engine with high preload. The experimental results are in good agreement with the finite element method （FEM） results. Compared with the other models, the contact bolt model presented in this paper is more effective and useful in view of operational time and experience of analysts.展开更多
The growth in computer processing power has made it possible to use time-consuming analysis methods such as incremental dynamic analysis（IDA） with higher accuracy in less time.In an IDA study,a series of earthquake ...The growth in computer processing power has made it possible to use time-consuming analysis methods such as incremental dynamic analysis（IDA） with higher accuracy in less time.In an IDA study,a series of earthquake records are applied to a structure at successively increasing intensity levels,which causes the structure to shift from the elastic state into the inelastic state and finally into collapse.In this way,the limit-states and capacity of a structure can be determined.In the present research,the IDA of a concrete gravity dam considering a nonlinear concrete behavior,and sliding planes within the dam body and at the dam-foundation interface,is performed.The influence of the friction angle and lift joint slope on the response parameters are investigated and the various limit-states of the dam are recognized.It is observed that by introducing a lift joint,the tensile damage can be avoided for the dam structure.The lift joint sliding is essentially independent of the base joint friction angle and the upper ligament over the inclined lift joint slides into the upstream direction in strong earthquakes.展开更多
Distinguishing geochemical anomalies from background is a basic task in exploratory geochemistry. The derivation of geochemical anomalies from stream sediment geochemical data and the decomposition of these anomalies ...Distinguishing geochemical anomalies from background is a basic task in exploratory geochemistry. The derivation of geochemical anomalies from stream sediment geochemical data and the decomposition of these anomalies into their component patterns were described. A set of stream sediment geochemical data was obtained for 1 880 km 2 of the Pangxidong area, which is in the southern part of the recently recognized Qinzhou-Hangzhou joint tectonic belt. This belt crosses southern China and tends to the northwest (NE) direction. The total number of collected samples was 7 236, and the concentrations of Ag, Au, Cu, As, Pb and Zn were measured for each sample. The spatial combination distribution law of geochemical elements and principal component analysis (PCA) were used to construct combination models for the identification of combinations of geochemical anomalies. Spectrum-area (S-A) fractal modeling was used to strengthen weak anomalies and separate them from the background. Composite anomaly modeling was combined with fractal filtering techniques to process and analyze the geochemical data. The raster maps of Au, Ag, Cu, As, Pb and Zn were obtained by the multifractal inverse distance weighted (MIDW) method. PCA was used to combine the Au, Ag, Cu, As, Pb, and Zn concentration values. The S-A fractal method was used to decompose the first component pattern achieved by the PCA. The results show that combination anomalies from a combination of variables coincide with the known mineralization of the study area. Although the combination anomalies cannot reflect local anomalies closely enough, high-anomaly areas indicate good sites for further exploration for unknown deposits. On this basis, anomaly and background separation from combination anomalies using fractal filtering techniques can provide guidance for later work.展开更多
The relationship between the Hoek-Brown parameters and the mechanical response of circular tunnels is il-lustrated. Closed-form and approximate solutions are given for the extent of the plastic zone and the stress and...The relationship between the Hoek-Brown parameters and the mechanical response of circular tunnels is il-lustrated. Closed-form and approximate solutions are given for the extent of the plastic zone and the stress and dis-placement fields under axisymmetrical and asymmetric stress conditions. For the same rock masses and under axisym-metrical stress conditions,the radius of the plastic zone in terms of Hoek-Brown criterion is generally an approximation of the radius in terms of the Mohr-Coulomb criterion. The radius in terms of the Hoek-Brown criterion is larger under low stress conditions. For poor quality rock masses (GSI<25),measures (such as grouting,setting rock bolts,etc.) that improve the GSI of rock masses are effective in improving the stability of tunnels. It is not advisable to improve the sta-bility of the tunnels by providing a small support resistance p through shotcrete,except for very poor quality jointed rock masses. Without reference to the quality of the rock mass,the disturbance factor D should not less than 0.5. Meas-ures which disturb rock masses during tunnel construction should be taken carefully when the tunnel depth increases.展开更多
The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints.Compared with the method of changing the mobility by physical locking joints,the geometric constrai...The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints.Compared with the method of changing the mobility by physical locking joints,the geometric constraint has good controllability,and the constructed parallel mechanism has more configurations and wider application range.This paper presents a reconfigurable axis(rA)joint inspired and evolved from Rubik’s Cubes,which have a unique feature of geometric and physical constraint of axes of joint.The effectiveness of the rA joint in the construction of the limb is analyzed,resulting in a change in mobility and topology of the parallel mechanism.The rA joint makes the angle among the three axes inside the groove changed arbitrarily.This change in mobility is completed by the case illustrated by a 3(rA)P(rA)reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations,pure rotations.The underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors,leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute joint.The reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different phases.The prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.32221005 to Gang Cao and 81900063 to He Long)the Natural Science Foundation of Hubei Province,China(Grant No.2022CFB180 to Zhijun Zhang).
文摘For chromosome abnormalities(CAs),such as Down syndrome(DS),the influence of genomic variations on chromosome conformation and gene transcription remains elusive.Based on the complete genomic sequences from the parents of a DS trisomy patient,we systematically delineated an atlas of parental-specific,haplotype-resolved single nucleotide polymorphisms(SNPs),copy number variations(CNVs),threedimensional(3D)genome architecture,and RNA expression profiles in the diencephalon of the DS patient.The integrated haplotype-resolved multi-omics analysis demonstrated that one-dimensional(1D)genomic variations including SNPs and CNVs in the DS patient are highly correlated with the alterations in the 3D genome organization and the subsequent changes in gene transcription.This correlation remains valid at the haplotype level.Moreover,we revealed the 3D genome alteration-associated dysregulation of DS-related genes,which facilitates understanding the pathogenesis of CAs.Together,our study contributes to deciphering the coding from 1D genomic variations to 3D genome architecture and the subsequent gene transcription outcomes in both health and disease.
基金funding from the National Natural Science Foundation of China (Grant No.42277175)the pilot project of cooperation between the Ministry of Natural Resources and Hunan Province“Research and demonstration of key technologies for comprehensive remote sensing identification of geological hazards in typical regions of Hunan Province” (Grant No.2023ZRBSHZ056)the National Key Research and Development Program of China-2023 Key Special Project (Grant No.2023YFC2907400).
文摘Joint roughness coefficient(JRC)is the most commonly used parameter for quantifying surface roughness of rock discontinuities in practice.The system composed of multiple roughness statistical parameters to measure JRC is a nonlinear system with a lot of overlapping information.In this paper,a dataset of eight roughness statistical parameters covering 112 digital joints is established.Then,the principal component analysis method is introduced to extract the significant information,which solves the information overlap problem of roughness characterization.Based on the two principal components of extracted features,the white shark optimizer algorithm was introduced to optimize the extreme gradient boosting model,and a new machine learning(ML)prediction model was established.The prediction accuracy of the new model and the other 17 models was measured using statistical metrics.The results show that the prediction result of the new model is more consistent with the real JRC value,with higher recognition accuracy and generalization ability.
文摘Self-centering systems are increasingly studied after devastating earthquakes in the 2010s that caused irreparable damage to buildings.Currently,there is conflicting evidence as to whether the re-centering(restoring)capabilities are gained at the expense of hysteretic damping,potentially leading to larger peak displacements and damage to non-structural elements.This study examines the earthquake response of self-centering and non-self-centering systems through analyses of 4-storey and 8-storey steel-braced frames.The Resilient Slip Friction Joint(RSFJ)dampers,combined with steel braces in series,represent the self-centering bracing system,whereas the Buckling Restrained Braces(BRBs)represent the non-self-centering bracing system.Results suggest that peak displacements,base shears,and floor accelerations were comparable between the two systems.A possible explanation is that the peak response occurs on the first major excursion;similar peaks result from similar backbone curves in the run-up to the peak.Conversely,the amount of hysteretic damping only begins to affect the post-peak behavior.For instance,the RSFJ system reintroduces seismic energy into the structure post-peak(rather than dissipating it like the BRB).Subsequently,it leads to larger vibration amplitudes about the central position,increasing the risk of secondary peaks.This contrasts with the BRB system,which exhibits smaller vibration amplitudes about an increasingly deformed position due to seismic ratcheting.Unsurprisingly,residual deformations were high for the BRBs(1.7%on average)and negligible for the RSFJ.However,RSFJ produced smaller peak inter-storey drifts between 13%–18%but higher peak accelerations by 4%–5%.The results suggest that multi-storey braced frames could be designed with similar or smaller forces when self-centering systems are used.
基金Projects(52208369,52309138,52108320)supported by the National Natural Science Foundation of ChinaProjects(2023NSFSC0284,2025ZNSFSC0409)supported by the Sichuan Science and Technology Program,ChinaProject(U22468214)supported by the Joint Fund Project for Railway Basic Research by the National Natural Science Foundation of China and China State Railway Group Co.,Ltd.
文摘In the practical slope engineering,the stability of lower sliding mass(region A)with back tensile cracks of the jointed rock slope attracts more attentions,but the upper rock mass(region B)may also be unstable.Therefore,in this study,based on the stepped failure mode of bedding jointed rock slopes,considering the influence of the upper rock mass on the lower stepped sliding mass,the improved failure model for analyzing the interaction force(F_(AB))between two regions is constructed,and the safety factors(F_(S))of two regions and whole region are derived.In addition,this paper proposes a method to determine the existence of F_(AB) using their respective acceleration values(a_(A) and a_(B))when regions A and B are unstable.The influences of key parameters on two regions and the whole region are analyzed.The results show that the variation of the F_(AB) and F_(S) of two regions can be obtained accurately based on the improved failure model.The accuracy of the improved failure model is verified by comparative analysis.The research results can explain the interaction mechanism of two regions and the natural phenomenon of slope failure caused by the development of cracks.
基金funded by the National Natural Science Foundation of China(52478138).
文摘The connection efficiency of composite pre-tightened multi-tooth joint is low because of uneven load distribution and single load transmission path.In this paper,based on the principle of bio-tooth(suture)structure,combining soft material with fractal,a composite pre-tightened multi-hierarchy tooth joint is proposed,and the bearing performance and failure process of the joint through experiments and finite element method under tensile load.First,the ultimate bearing capacity,load distribution ratio,and failure process of different hierarchies of teeth joints are studied through experiments.Then,the progressive damage models of different hierarchies of tooth joints are established,and experiments verify the validity of the finite element model.Finally,the effects of soft material and increasing tooth hierarchy on the failure process and bearing capacity of composite pre-tightened tooth joints are analyzed by the finite element method.The following conclusions can be drawn:(1)The embedding of soft materials changed the failure process of the joint.Increasing the tooth hierarchy can give the joint more load transfer paths,but the failure process of the joint is complicated.(2)Embedding soft materials and increasing the tooth hierarchy simultaneously can effectively improve the bearing capacity of composite pre-tightened tooth joints,which is 87.8%higher than that of traditional three-tooth joints.
基金supported by the BRAVE Agile Investment from the PNNL
文摘Background:Physiological and biochemical processes across tissues of the body are regulated in response to the high demands of intense physical activity in several occupations,such as firefighting,law enforcement,military,and sports.A better understanding of such processes can ultimately help improve human performance and prevent illnesses in the work environment.Methods:To study regulatory processes in intense physical activity simulating real-life conditions,we performed a multi-omics analysis of 3 biofluids(blood plasma,urine,and saliva)collected from 11 wildland firefighters before and after a 45 min,intense exercise regimen.Omics profiles post-vs.pre-exercise were compared by Student’s t-test followed by pathway analysis and comparison between the different omics modalities.Results:Our multi-omics analysis identified and quantified 3835 proteins,730 lipids and 182 metabolites combining the 3 different types of samples.The blood plasma analysis revealed signatures of tissue damage and acute repair response accompanied by enhanced carbon metabolism to meet energy demands.The urine analysis showed a strong,concomitant regulation of 6 out of 8 identified proteins from the renin-angiotensin system supporting increased excretion of catabolites,reabsorption of nutrients and maintenance of fluid balance.In saliva,we observed a decrease in 3 pro-inflammatory cytokines and an increase in 8 antimicrobial peptides.A systematic literature review identified 6 papers that support an altered susceptibility to respiratory infection.Conclusions:This study shows simultaneous regulatory signatures in biofluids indicative of homeostatic maintenance during intense physical activity with possible effects on increased infection susceptibility,suggesting that caution against respiratory diseases could benefit workers on highly physical demanding jobs.
基金Supported by National Natural Science Foundation of China(Grant No.51305039)Specialized Research Fund for the Doctoral Program of Higher Education,China(Grant No.20110005120004)+1 种基金Fundamental Research Funds for the Central Universities,China(Grant No.2014PTB-00-01)National Basic Research Program of China(973 Program,Grant No.2013CB733000)
文摘Modal analysis is a fundamental and important task for modeling and control of the flexible manipulator. However, almost all of the traditional modal analysis methods view the flexible manipulator as a pure mechanical structure and neglect feedback action of joint controller. In order to study the effects of joint controller on the modal analysis of rotational flexible manipulator, a closed-loop analytical modal analysis method is proposed. Firstly, two exact boundary constraints, namely servo feedback constraint and bending moment constraint, are derived to solve the vibration partial differential equation. It is found that the stiffness and damping gains of joint controller are both included in the boundary conditions, which lead to an unconventional secular term. Secondly, analytical algorithm based on Ritz approach is developed by using Laplace transform and complex modal approach to obtain the natural frequencies and mode shapes. And then, the numerical simulations are performed and the computational results show that joint controller has pronounced influence on the modal parameters： joint controller stiffness reduces the natural frequency, while joint controller damping makes the shape phase non-zero. Furthermore, the validity of the presented conclusion is confirmed through experimental studies. These findings are expected to improve the performance of dynamics simulation systems and model-based controllers.
基金supported by the National Natural Science Foundation of China(Nos.51575022,11772022 and 51475021).
文摘The dynamic influence of joints in aero-engine rotor systems is investigated in this paper.Firstly,the tangential stiffness and loss factor are obtained from an isolated lap joint setup with dynamic excitation experiments.Also,the influence of the normal contact pressure and the excitation level are examined,which revel the uncertainty in joints.Then,the updated Thin Layer Elements(TLEs)method with fitted parameters based on the experiments is established to simulate the dynamic properties of joints on the interface.The response of the rotor subjected to unbalance excitation is calculated,and the results illustrate the effectiveness of the proposed method.Meanwhile,using the Chebyshev inclusion function and a direct iteration algorithm,a nonlinear interval analysis method is established to consider the uncertainty of parameters in joints.The accuracy is proved by comparison with results obtained using the Monte-Carlo method.Combined with the updated TLEs,the nonlinear Chebyshev method is successfully applied on a finite model of a rotor.The study shows that substantial attention should be paid to the dynamical design for the joint in rotor systems,the dynamic properties of joints under complex loading and the corresponding interval analysis method need to be intensively studied.
基金the support from National Nature Science Foundation of China （50535050）.
文摘Four different structural models of artificial joints were developed and the finite element method （FEM） was employed to investigate their mechanical characteristics under static and dynamic conditions. The materials used in the FEM calculation were ultra-high molecular weight polyethylene （UHMWPE）, 316L stainless steel, CoCrMo alloy and Ti6A14V alloy. The stress distribution, strain, and elastic deformation under static and dynamic conditions were obtained. Analysis and comparison of the ~alculation results of different models were conducted. It is shown that with the same parameters the model of a metallic femur head covered with an artificial cartilage layer is more similar to the structure of the natural human joint and its mechanical characteristics are the best of the four models.
文摘Since most current seismic capacity evaluations of reinforced concrete （RC） frame structures are implemented by either static pushover analysis （PA） or dynamic time history analysis, with diverse settings of the plastic hinges （PHs） on such main structural components as columns, beams and walls, the complex behavior of shear failure at beam-column joints （BCJs） during major earthquakes is commonly neglected. This study proposes new nonlinear PA procedures that consider shear failure at BCJs and seek to assess the actual damage to RC structures. Based on the specifications of FEMA-356, a simplified joint model composed of two nonlinear cross struts placed diagonally over the location of the plastic hinge is established, allowing a sophisticated PA to be performed. To verify the validity of this method, the analytical results for the capacity curves and the failure mechanism derived from three different full-size RC frames are compared with the experimental measurements. By considering shear failure at BCJs, the proposed nonlinear analytical procedures can be used to estimate the structural behavior of RC frames, including seismic capacity and the progressive failure sequence of joints, in a precise and effective manner.
基金supported by the National High Technology Research and Development Program of China (863 Program,Grant No. 2008AA09A105-04)
文摘Stress Joint （SJ） plays a key role in the Top Tensioned Riser （TTR） system for deep water engineering. A preliminary design method of tapered SJ is proposed in the paper, which could help designers obtain accurate design data. After a further sensitive analysis is carried out, the related parameters choice and control methods are recommended in the engineering practice. By taking the extreme environment conditions into consideration, the effects of bending stress reduction and curve control are analyzed, and the 3-D FE models are established by ABQOUS for numerical evaluation to verify the correctness of design results. At last, dynamic analysis and fatigue analysis, based on actual project, are carried out with designed stress joint. The analysis results prove the feasibility and guidance of this method in the practical engineering applications.
基金This research was supported by the National Natural Science Foundation of China to Xu Chenwu （39900080, 30270724 and 30370758）.
文摘Based on the major gene and polygene mixed inheritance model for multiple correlated quantitative traits, the authors proposed a new joint segregation analysis method of major gene controlling multiple correlated quantitative traits, which include major gene detection and its effect and variation estimation. The effect and variation of major gene are estimated by the maximum likelihood method implemented via expectation-maximization （EM） algorithm. Major gene is tested with the likelihood ratio （LR） test statistic. Extensive simulation studies showed that joint analysis not only increases the statistical power of major gene detection but also improves the precision and accuracy of major gene effect estimates. An example of the plant height and the number of tiller of F2 population in rice cross Duonieai x Zhonghua 11 was used in the illustration. The results indicated that the genetic difference of these two traits in this cross refers to only one pleiotropic major gene. The additive effect and dominance effect of the major gene are estimated as -21.3 and 40.6 cm on plant height, and 22.7 and -25.3 on number of tiller, respectively. The major gene shows overdominance for plant height and close to complete dominance for number of tillers.
基金Supported by National Natural Science Foundation of China:81460763,81960908.
文摘Objective:To conduct the meta-analysis and trial sequential analysis(TSA) on clinical trials of fire needling therapy in treatment of gouty arthritis and review systematically the clinical therapeutic effect of fire needling therapy on gouty arthritis so as to provide the medical evidences of the extensive application of this therapy in treatment of gouty arthritis.Methods:The relevant clinical trials of fire needling therapy for treatment of gouty arthritis were searched from China National knowledge Infrastructure,Wanfang Data Knowledge Service Platform,Chinese Science and Technology Journal Database,American Medical Online,Dutch Medical Literature Database and International Evidence-Based Medical library.Using Review Manager 5.3 software,the quality of the included trials was assessed and meta-analysis was performed.With TSA v0.9 software,the trial sequential analysis was conduced on the appropriate outcomes.Results:A total of 10 trials were included with 775 patients involved.The analysis results showed that compared with the western medication,the total effective rate(RR=1.14’95%CI [1.09,1.20]),the curative rate(RR=1.59’95%CI [1.33,1.89]),the reduced VAS score(MD=-1.44’ 95%CI [-1.93,-0.951]) and the reduced incidence of adverse reaction(RR=0.27’ 95% CI [0.09,0.76]) of the fire needling therapy were different significantly(all P <0.05).Regarding the reduction of blood uric acid(MD=-40.47’ 95%CI [-80.21,-0.72]) and the score of symptoms and physical signs(MD=-1.38’95% CI [-3.71,0.95]),the effect of fire needling therapy was similar to that of western medication group(both P≥0.05).The trial sequential analysis suggested that the result was reliable,in which,the total effective rate of fire needling therapy was much higher than the western medication.But,it was potentially a false-positive finding,in which,fire needling therapy was much more advantageous at reducing blood uric acid as compared with the western medication.Conclusion:Based on the analytic results,it can be determined that fire needling therapy,as an effective approach to the treatment of gouty arthritis,has a certain advantage as compared with western medication.Given the low overall quality of trials,it still needs high-quality clinical trial to verify the findings of this study results.
文摘AIM To analyze how various implants placement variables affect sacroiliac(SI) joint range of motion. METHODS An experimentally validated finite element model of the lumbar spine and pelvis was used to simulate a fusion of the SI joint using various placement configurations of triangular implants(iF use Implant System~?). Placement configurations were varied by changing implant orientation, superior implant length, and number of implants. The range of motion of the SI joint was calculated using a constant moment of 10 N-m with a follower load of 400 N. The changes in motion were compared between the treatment groups to assess how the different variables affected the overall motion of the SI joint. RESULTS Transarticular placement of 3 implants with superior implants that end in the middle of the sacrum resulted in the greatest reduction in range of motion(flexion/extension = 73%, lateral bending = 42%, axial rotation = 72%). The range of motions of the SI joints were reduced with use of transarticular orientation(9%-18%) when compared with an inline orientation. The use of a superior implant that ended mid-sacrum resulted in median reductions of(8%-14%) when compared with a superior implant that ended in the middle of the ala. Reducing the number of implants, resulted in increased SI joint range of motions for the 1 and 2 implant models of 29%-133% and 2%-39%, respectively,when compared with the 3 implant model.CONCLUSION Using a validated finite element model we demonstrated that placement of 3 implants across the SI joint using a transarticular orientation with superior implant reaching the sacral midline resulted in the most stable construct. Additional clinical studies may be required to confirm these results.
基金supported by grants from the Medical Engineering Jiont Fund of the Fudan University(No.IDH2310117)。
文摘Objective:Triple-negative breast cancer(TNBC)is a highly aggressive subtype that lacks targeted therapies,leading to a poorer prognosis.However,some patients achieve long-term recurrence-free survival(RFS),offering valuable insights into tumor biology and potential treatment strategies.Methods:We conducted a comprehensive multi-omics analysis of 132 patients with American Joint Committee on Cancer(AJCC)stage III TNBC,comprising 36 long-term survivors(RFS≥8 years),62 moderate-term survivors(RFS:3-8 years),and 34 short-term survivors(RFS<3 years).Analyses investigated clinicopathological factors,whole-exome sequencing,germline mutations,copy number alterations(CNAs),RNA sequences,and metabolomic profiles.Results:Long-term survivors exhibited fewer metastatic regional lymph nodes,along with tumors showing reduced stromal fibrosis and lower Ki67 index.Molecularly,these tumors exhibited multiple alterations in genes related to homologous recombination repair,with higher frequencies of germline mutations and somatic CNAs.Additionally,tumors from long-term survivors demonstrated significant downregulation of the RTK-RAS signaling pathway.Metabolomic profiling revealed decreased levels of lipids and carbohydrate,particularly those involved in glycerophospholipid,fructose,and mannose metabolism,in long-term survival group.Multivariate Cox analysis identified fibrosis[hazard ratio(HR):12.70,95%confidence interval(95%CI):2.19-73.54,P=0.005]and RAC1copy number loss/deletion(HR:0.22,95%CI:0.06-0.83,P=0.026)as independent predictors of RFS.Higher fructose/mannose metabolism was associated with worse overall survival(HR:1.30,95%CI:1.01-1.68,P=0.045).Our findings emphasize the association between biological determinants and prolonged survival in patients with TNBC.Conclusions:Our study systematically identified the key molecular and metabolic features associated with prolonged survival in AJCC stage III TNBC,suggesting potential therapeutic targets to improve patient outcomes.
基金Sponsored by the Ministerial Level Foundation(40402020105)
文摘A contact bolt model is proposed as a new modeling technique to investigate the complex structure with bolted joints for modal analysis and compared with the coupled bolt model, and the test results are given. Among these models, the coupled bolt model provides the best accurate responses compared with the experimental results. The contact bolt model shows the best effectiveness and usefulness in view of operational time. The bolt models proposed in this study are adopted for a dynamic characteristic analysis of a large diesel engine consisting of several parts which are connected by many bolts. The dynamic behavior of the entire engine structure was investigated by experiment. The coupled bolt model and the contact bolt model were applied to model the assembly of engine with high preload. The experimental results are in good agreement with the finite element method （FEM） results. Compared with the other models, the contact bolt model presented in this paper is more effective and useful in view of operational time and experience of analysts.
文摘The growth in computer processing power has made it possible to use time-consuming analysis methods such as incremental dynamic analysis（IDA） with higher accuracy in less time.In an IDA study,a series of earthquake records are applied to a structure at successively increasing intensity levels,which causes the structure to shift from the elastic state into the inelastic state and finally into collapse.In this way,the limit-states and capacity of a structure can be determined.In the present research,the IDA of a concrete gravity dam considering a nonlinear concrete behavior,and sliding planes within the dam body and at the dam-foundation interface,is performed.The influence of the friction angle and lift joint slope on the response parameters are investigated and the various limit-states of the dam are recognized.It is observed that by introducing a lift joint,the tensile damage can be avoided for the dam structure.The lift joint sliding is essentially independent of the base joint friction angle and the upper ligament over the inclined lift joint slides into the upstream direction in strong earthquakes.
基金Project(1212010071012) supported by Guangdong Pangxidong Mineral Prospect Investigation, ChinaProject(41004051) supported by the National Natural Science Foundation of ChinaProject ([2007]038-01-18) supported by Nationwide Mineral Resource Potential Evaluation Projects of Ministry of Land and Resources, China
文摘Distinguishing geochemical anomalies from background is a basic task in exploratory geochemistry. The derivation of geochemical anomalies from stream sediment geochemical data and the decomposition of these anomalies into their component patterns were described. A set of stream sediment geochemical data was obtained for 1 880 km 2 of the Pangxidong area, which is in the southern part of the recently recognized Qinzhou-Hangzhou joint tectonic belt. This belt crosses southern China and tends to the northwest (NE) direction. The total number of collected samples was 7 236, and the concentrations of Ag, Au, Cu, As, Pb and Zn were measured for each sample. The spatial combination distribution law of geochemical elements and principal component analysis (PCA) were used to construct combination models for the identification of combinations of geochemical anomalies. Spectrum-area (S-A) fractal modeling was used to strengthen weak anomalies and separate them from the background. Composite anomaly modeling was combined with fractal filtering techniques to process and analyze the geochemical data. The raster maps of Au, Ag, Cu, As, Pb and Zn were obtained by the multifractal inverse distance weighted (MIDW) method. PCA was used to combine the Au, Ag, Cu, As, Pb, and Zn concentration values. The S-A fractal method was used to decompose the first component pattern achieved by the PCA. The results show that combination anomalies from a combination of variables coincide with the known mineralization of the study area. Although the combination anomalies cannot reflect local anomalies closely enough, high-anomaly areas indicate good sites for further exploration for unknown deposits. On this basis, anomaly and background separation from combination anomalies using fractal filtering techniques can provide guidance for later work.
基金Project 50639100 supported by the National Natural Science Foundation of China
文摘The relationship between the Hoek-Brown parameters and the mechanical response of circular tunnels is il-lustrated. Closed-form and approximate solutions are given for the extent of the plastic zone and the stress and dis-placement fields under axisymmetrical and asymmetric stress conditions. For the same rock masses and under axisym-metrical stress conditions,the radius of the plastic zone in terms of Hoek-Brown criterion is generally an approximation of the radius in terms of the Mohr-Coulomb criterion. The radius in terms of the Hoek-Brown criterion is larger under low stress conditions. For poor quality rock masses (GSI<25),measures (such as grouting,setting rock bolts,etc.) that improve the GSI of rock masses are effective in improving the stability of tunnels. It is not advisable to improve the sta-bility of the tunnels by providing a small support resistance p through shotcrete,except for very poor quality jointed rock masses. Without reference to the quality of the rock mass,the disturbance factor D should not less than 0.5. Meas-ures which disturb rock masses during tunnel construction should be taken carefully when the tunnel depth increases.
基金Supported by National Natural Science Foundation of China(Grant No.51775052)Natural Science Basic Research Plan in Shaanxi Province of China(Grant No.2019JM-181)Beijing Municipal Key Laboratory of Spaceground Interconnection and Convergence of China.
文摘The current research of reconfigurable parallel mechanism mainly focuses on the construction of reconfigurable joints.Compared with the method of changing the mobility by physical locking joints,the geometric constraint has good controllability,and the constructed parallel mechanism has more configurations and wider application range.This paper presents a reconfigurable axis(rA)joint inspired and evolved from Rubik’s Cubes,which have a unique feature of geometric and physical constraint of axes of joint.The effectiveness of the rA joint in the construction of the limb is analyzed,resulting in a change in mobility and topology of the parallel mechanism.The rA joint makes the angle among the three axes inside the groove changed arbitrarily.This change in mobility is completed by the case illustrated by a 3(rA)P(rA)reconfigurable parallel mechanism having variable mobility from 1 to 6 and having various special configurations including pure translations,pure rotations.The underlying principle of the metamorphosis of this rA joint is shown by investigating the dependence of the corresponding screw system comprising of line vectors,leading to evolution of the rA joint from two types of spherical joints to three types of variable Hooke joints and one revolute joint.The reconfigurable parallel mechanism alters its topology by rotating or locking the axis of rA joint to turn all limbs into different phases.The prototype of reconfigurable parallel mechanism is manufactured and all configurations are enumerated to verify the validity of the theoretical method by physical experiments.
