Optimal mechanical design, model-based control, and robot dynamic calibration mainly rely on the analytical formulation of robot dynamics. In this paper, the kinematics equations of a general 3-UPU translational parallel manipulator (TPM) are derived, and then, by using the principle of the virtual work theorem, the full implicit dynamic model is derived. Furthermore, by making some modifications, the explicit dynamic formulation of the robot is attained, which is the basis of a wide range of advanced model-based controllers. To validate the proposed formulation, a prototype of the 3-UPU TPM is modeled in MSC-ADAMS® software, and the results of the dynamic formulation are validated using this model. The results show the high accuracy of the proposed dynamic formulation presented in this article.

Malnutrition among adolescents is often associated with inadequate dietary diversity (DD). We aimed to explore the prevalence of inadequate DD and its socio-economic determinants among adolescent girls and boys in Bangladesh. A cross-sectional survey was conducted during the 2018–19 round of national nutrition surveillance in Bangladesh. Univariate and multivariable logistic regression was performed to identify the determinants of inadequate DD among adolescent girls and boys separately. This population-based survey covered eighty-two rural, non-slum urban and slum clusters from all divisions of Bangladesh. A total of 4865 adolescent girls and 4907 adolescent boys were interviewed. The overall prevalence of inadequate DD was higher among girls (55⋅4 %) than the boys (50⋅6 %). Moreover, compared to boys, the prevalence of inadequate DD was higher among the girls for almost all socio-economic categories. Poor educational attainment, poor maternal education, female-headed household, household food insecurity and poor household wealth were associated with increased chances of having inadequate DD in both sexes. In conclusion, more than half of the Bangladeshi adolescent girls and boys consumed an inadequately diversified diet. The socio-economic determinants of inadequate DD should be addressed through context-specific multisectoral interventions.

A non-iterative analytical approach is investigated to plan the safe wire tension distribution along with the cables in the redundant cable-driven parallel robots. The proposed algorithm considers not only tracking the desired trajectory but also protecting the system against possible failures. This method is used to optimize the non-negative wire tensions through the cables which are constrained based on the workspace conditions. It also maintains both actuators’ torque and cables’ tensile strength boundary limits. The pseudo-inverse problem solution leads to an n-dimensional convex problem, which is related to the robot degrees of redundancy. In this paper, a comprehensive solution is presented for a 1–3 degree(s) of redundancy in wire-actuated robots. To evaluate the effectiveness of this method, it is verified through an experimental study on the RoboCab cable robot in the infinity trajectory tracking task. As a matter of comparison, some standard methods like Active-set and sequential quadratic programming are also presented and the average elapsed time for each method is compared to the proposed algorithm.

A spectral method is developed to study the steady and unsteady flow of fluid into a line sink from a horizontally confined aquifer, and the results are compared to solutions obtained implementing the finite element package COMSOLTM. The aquifer or drain is considered to be confined below so that the solutions are fundamentally unsteady. Comparison is made between the two methods in determining the drawdown of the surface.

Camber morphing is an effective way to control the lift generated by any aerofoil and potentially improve the range (as measured by the lift-to-drag ratio) and endurance (as measured by $C_l^{3/2}/C_d$ ). This can be especially useful for fixed-wing Unmanned Aerial Vehicles (UAVs) undergoing different flying manoeuvres and flight phases. This work investigates the aerodynamic characteristics of the NACA0012 aerofoil morphed using a Single Corrugated Variable-Camber (SCVC) morphing approach. Structural analysis and morphed shapes are obtained based on small-deformation beam theory using chain calculations and validated using finite-element software. The aerofoil is then reconstructed from the camber line using a Radial Basis Function (RBF)-based interpolation method (J.H.S. Fincham and M.I. Friswell, “Aerodynamic optimisation of a camber morphing aerofoil,” Aerosp. Sci. Technol., 2015). The aerodynamic analysis is done by employing two different finite-volume solvers (OpenFOAM and ANSYS-Fluent) and a panel method code (XFoil). Results reveal that the aerodynamic coefficients predicted by the two finite-volume solvers using a fully turbulent flow assumption are similar but differ from those predicted by XFoil. The aerodynamic efficiency and endurance factor of morphed aerofoils indicate that morphing is beneficial at moderate to high lift requirements. Further, the optimal morphing angle increases with an increase in the required lift. Finally, it is observed for a fixed angle-of-attack that an optimum morphing angle exists for which the aerodynamic efficiency becomes maximum.

In this paper, forward/inverse dynamics of a continuum robotic arm is developed using a data-driven approach, which could tackle uncertainties and extreme nonlinearities to obtain reliable solutions. By establishing a direct mapping between the actuator and task spaces, the unnecessary mappings of actuator-to-configuration then configuration-to-task are eliminated, to reduce extra computational cost. The proposed approach is validated through simulation (based on Cosserat rod theory) and experimental tests on RoboArm. Next, path tracking in the presence/absence of obstacles as well as load carrying maneuver are investigated. Finally, the obtained results concerning repeatability, scalability, and disturbance rejection performance of the approach are discussed.

The World Health Organization set a target of a 15% relative reduction in the prevalence of insufficient physical activity (IPA) by 2025 among adolescents and adults globally. In Bangladesh, there are no national estimates of the prevalence of IPA among adolescents. The aim of this study was to estimate the prevalence of and risk factors associated with IPA among adolescent girls and boys. Data for 4865 adolescent girls and 4907 adolescent boys, collected as a part of a National Nutrition Surveillance in 2018–19, were analysed for this study. A modified version of the Global Physical Activity Questionnaire (GPAQ) was used to collect physical activity data. The World Health Organization recommended cut-off points were used to estimate the prevalence of IPA. Bivariate and multivariable logistic regression was performed to identify factors associated with IPA. Prevalences of IPA among adolescent girls and boys were 50.3% and 29.0%, respectively, and the prevalence was significantly higher among early adolescents (10–14 years) than late adolescents (15–19 years) among both boys and girls. The IPA prevalence was highest among adolescents living in non-slum urban areas (girls: 77.7%; boys: 64.1%). For both boys and girls, younger age, non-slum urban residence, higher paternal education and increased television viewing time were significantly associated with IPA. Additionally, residing in slums was significantly associated with IPA only among the boys. Higher maternal education was associated with IPA only among the girls. This study identified several modifiable risk factors associated with IPA among adolescent boys and girls in Bangladesh. These factors should be addressed through comprehensive public health interventions to promote physical activity among adolescent girls and boys.

The Arabian Shield of Saudi Arabia represents part of the Arabian–Nubian Shield and forms an exposure of juvenile continental crust on the eastern side of the Red Sea rift. Gabbroic intrusions in Saudi Arabia constitute a significant part of the mafic magmatism in the Neoproterozoic Arabian Shield. This study records the first detailed geological, mineralogical and geochemical data for gabbroic intrusions located in the Gabal Samra and Gabal Abd areas of the Hail region in the Arabian Shield of Saudi Arabia. Geological field relations and investigations, supported by mineralogical and geochemical data, indicate that the gabbroic intrusions are generally unmetamorphosed and undeformed, and argue for their post-collisional emplacement. Their mineralogical and geochemical features reveal crystallization from hydrous, mainly tholeiitic, mafic magmas with arc-like signatures, which were probably inherited from the previous subduction event in the Arabian–Nubian Shield. The gabbroic rocks exhibit sub-chondritic Nb/U, Nb/Ta and Zr/Hf ratios, revealing depletion of their mantle source. Moreover, the high ratios of (Gd/Yb)N and (Dy/Yb)N indicate that their parental mafic melts were derived from a garnet-peridotite source with a garnet signature in the mantle residue. This implication suggests that the melting region was at a depth exceeding ∼70–80 km at the garnet stability field. They have geochemical characteristics similar to other post-collisional gabbros of the Arabian–Nubian Shield. Their origin could be explained by adiabatic decompression melting of depleted asthenosphere that interacted during ascent with metasomatized lithospheric mantle in an extensional regime, likely related to the activity of the Najd Fault System, at the end of the Pan-African Orogeny.

ABSTRACT IMPACT: Better understanding of the factors impacting disease severity and immunological response of MS patients on disease modifying therapy will enable better recommendations for vaccination options and risk mitigation strategies OBJECTIVES/GOALS: The Coronavirus Disease 2019 (COVID-19) and global health crisis has raised health concerns for patients with multiple sclerosis (MS). We aim to study the clinical characteristics, immunological laboratory data, and immunoglobulin response in patients with MS and COVID-19, to identify factors impacting disease severity and immune response. METHODS/STUDY POPULATION: Database search was done using DataDirect to search for MS patients who had tested positive for COVID-19 at the University of Michigan hospital. Patients with a positive nasopharyngeal swab polymerase chain reaction (PCR) for COVID-19 between March 1 and September 2020 were included. The primary outcome was the immunological laboratory data and immunoglobulin levels and the secondary outcome was their disease severity. We collected demographics, neurological history, MS treatment, Expanded Disability Scale Score (EDSS), comorbidities, and COVID-19 characteristics. A 7-point ordinal scale previously used to assess disease severity was used. Univariate and multivariate analyses will be performed to assess relationships between the collected variables. RESULTS/ANTICIPATED RESULTS: A total of 17 patients, mean age 53 (SD 11.6) years, mean disease duration, 6.2(SD 4.1) years were analyzed. 41% of patients had relapsing remitting multiple sclerosis, 17% had primary progressive MS. (88%) patients were on Disease Modifying Therapy (DMT) at the time of COVID-19 diagnosis. 2 patients died from COVID-19 complications. There was a higher proportion of patients with higher disease severity receiving Ocrelizumab. Only one patient showed positive IgG to SARS-CoV-2 after the resolution of infection. CBC with differential was obtained and a longitudinal follow-up of labs will be done. Regression analysis will be done to check the association between the use of DMT, immunological response, and COVID disease severity in them. The impact of COVID-19 on MS relapse, EDSS, and MRI activities will also be studied. DISCUSSION/SIGNIFICANCE OF FINDINGS: Recommendations to continue current DMT have been made, however, the immune response has not been correlated with the individual’s risk profile. Certain therapies may interfere with mounting a protective immune response of COVID-19 and this knowledge is crucial when advising patients regarding the choice of vaccine and risk mitigation strategies.

Bovine respiratory disease (BRD) is the leading natural cause of death in US beef and dairy cattle, causing the annual loss of more than 1 million animals and financial losses in excess of $700 million. The multiple etiologies of BRD and its complex web of risk factors necessitate a herd-specific intervention plan for its prevention and control on dairies. Hence, a risk assessment is an important tool that producers and veterinarians can utilize for a comprehensive assessment of the management and host factors that predispose calves to BRD. The current study identifies the steps taken to develop the first BRD risk assessment tool and its components, namely the BRD risk factor questionnaire, the BRD scoring system, and a herd-specific BRD control and prevention plan. The risk factor questionnaire was designed to inquire on aspects of calf-rearing including management practices that affect calf health generally, and BRD specifically. The risk scores associated with each risk factor investigated in the questionnaire were estimated based on data from two observational studies. Producers can also estimate the prevalence of BRD in their calf herds using a smart phone or tablet application that facilitates selection of a true random sample of calves for scoring using the California BRD scoring system. Based on the risk factors identified, producers and herd veterinarians can then decide the management changes needed to mitigate the calf herd's risk for BRD. A follow-up risk assessment after a duration of time sufficient for exposure of a new cohort of calves to the management changes introduced in response to the risk assessment is recommended to monitor the prevalence of BRD.