Robustness to Algorithmic Singularities and Sensitivity in Computational Kinematics

A robust approach to computational kinematics intended to cope with algorithmic singularities is introduced in this article. The approach is based on the reduction of the original system of equations to a subsystem of bivariate equations, as opposed to the multivariate polynomial reduction leading to the characteristic univariate polynomial. The effectiveness of the approach is illustrated for the exact function-generation synthesis of planar, spherical, and spatial four-bar linkages. Some numerical examples are provided for the case of the spherical four-bar function generator with six precision points to show the benefits of the proposed method with respect to methods reported in the literature.The first author acknowledges the support of Universidad Politecnica de Valencia, research project PAID-00-09. The second author acknowledges the support of McGill University by means of a James McGill Professorship.Gracia Calandin, LI.; Angeles, J. (2011). Robustness to Algorithmic Singularities and Sensitivity in Computational Kinematics. Proceedings of the Institution of Mechanical Engineers part C - Journal of Mechanical Engineering Science. 225(4):987-999. doi:10.1243/09544062JMES2464S9879992254Raghavan, M., & Roth, B. (1993). Inverse Kinematics of the General 6R Manipulator and Related Linkages. Journal of Mechanical Design, 115(3), 502-508. doi:10.1115/1.2919218Lee, H. Y., Woernle, C., & Hiller, M. (1991). A Complete Solution for the Inverse Kinematic Problem of the General 6R Robot Manipulator. Journal of Mechanical Design, 113(4), 481-486. doi:10.1115/1.2912808Innocenti, C., & Parenti-Castelli, V. (1993). Echelon form solution of direct kinematics for the general fully-parallel spherical wrist. Mechanism and Machine Theory, 28(4), 553-561. doi:10.1016/0094-114x(93)90035-tGosselin, C. M., Sefrioui, J., & Richard, M. J. (1994). On the Direct Kinematics of Spherical Three-Degree-of-Freedom Parallel Manipulators of General Architecture. Journal of Mechanical Design, 116(2), 594-598. doi:10.1115/1.2919419Alizade, R. I., & Kilit, Ö. (2005). Analytical synthesis of function generating spherical four-bar mechanism for the five precision points. Mechanism and Machine Theory, 40(7), 863-878. doi:10.1016/j.mechmachtheory.2004.12.010Cervantes-Sánchez, J. J., Gracia, L., Rico-Martínez, J. M., Medellín-Castillo, H. I., & González-Galván, E. J. (2009). A novel and efficient kinematic synthesis approach of the spherical 4R function generator for five and six precision points. Mechanism and Machine Theory, 44(11), 2020-2037. doi:10.1016/j.mechmachtheory.2009.05.006Angeles, J. (2007). Fundamentals of Robotic Mechanical Systems. Mechanical Engineering Series. doi:10.1007/978-0-387-34580-2Bai, S., Hansen, M. R., & Angeles, J. (2009). A robust forward-displacement analysis of spherical parallel robots. Mechanism and Machine Theory, 44(12), 2204-2216. doi:10.1016/j.mechmachtheory.2009.07.005Sommese, A. J., & Wampler, C. W. (2005). The Numerical Solution of Systems of Polynomials Arising in Engineering and Science. doi:10.1142/5763Forsythe, G. E. (1970). Pitfalls in Computation, or why a Math Book isn’t Enough. The American Mathematical Monthly, 77(9), 931. doi:10.2307/2318109Angeles, J., Hommel, G., & Kovács, P. (Eds.). (1993). Computational Kinematics. Solid Mechanics and Its Applications. doi:10.1007/978-94-015-8192-9Yang, A. T., & Freudenstein, F. (1964). Application of Dual-Number Quaternion Algebra to the Analysis of Spatial Mechanisms. Journal of Applied Mechanics, 31(2), 300-308. doi:10.1115/1.3629601Gupta, K. C., & Beloiu, A. S. (1998). Branch and circuit defect elimination in spherical four-bar linkages. Mechanism and Machine Theory, 33(5), 491-504. doi:10.1016/s0094-114x(97)00078-

Mitochondrial Data in Monocot Phylologenetics

Mitochondrial sequences are an important source of data in animal phylogenetics, equivalent in importance to plastid sequences in plants. However, in recent years plant systematists have begun exploring the mitochondrial genome as a source of phylogenetically useful characters. The plant mitochondrial genome is renowned for its variability in size, structure, and gene organization, but this need not be of concern for the application of sequence data in phylogenetics. However, the incorporation of reverse transcribed mitochondrial genes ( processed paralogs ) and the recurring transfer of genes from the mitochondrion to the nucleus are evolutionary events that must be taken into account. RNA editing of mitochondrial genes is sometimes considered a problem in phylogenetic reconstruction, but we regard it only as a mechanism that may increase variability at edited sites and change the codon position bias accordingly. Additionally, edited sites may prove a valuable tool in identifying processed paralogs. An overview of genes and sequences used in phylogenetic studies of angiosperms is presented. In the monocots, a large amount of mitochondrial sequence data is being collected together with sequence data from plastid and nuclear genes, thus offering an opportunity to compare data from different genomic compartments. The mitochondrial and plastid data are incongruent when organelle gene trees are reconstructed. Possible reasons for the observed incongruence involve sampling of paralogous sequences and highly divergent substitution rates, potentially leading to longbranch attraction. The above problems are addressed in Acorales, Alismatales, Poales, Liliaceae, the Anthericum clade (in Agavaceae), and in some achlorophyllous taxa

Interpersonal psychotherapy (IPT) for late-life depression in general practice: uptake and satisfaction by patients, therapists and physicians

<p>Abstract</p> <p>Background</p> <p>Interpersonal Psychotherapy (IPT) is recommended in most depression treatment guidelines and proved to be a suitable treatment for elderly depressed patients. Despite the favorable results of IPT in research populations, the dissemination to general practice is surprisingly limited. Little is known about uptake and satisfaction when this therapy is introduced into real-life general practice.</p> <p>Methods</p> <p>Motivation and evaluation of patients, GPs and therapists were recorded and organizational barriers described alongside a randomized controlled trial. IPT, given by mental health workers, was compared with usual general practitioner (GP) care. Included were patients (≥55 years) who met the DSM-IV criteria for major depressive disorder.</p> <p>Results</p> <p>Patients were motivated for the psychotherapy intervention: of the 205 eligible patients, 143 (70%) entered the study, and of the 69 patients who were offered IPT, 77% complied with the treatment. IPT proved to be an attractive therapy for patients as well as for therapists from mental health organizations. General practitioners evaluated the intervention positively afterwards, mainly because of the time-limited and structured approach. Organizational barriers: no IPT therapists were available; an IPT trainer and supervisor had to be trained and training materials had to be developed and translated. Additionally, there was a lack of office space in some general practices; for therapists from private practices it was not feasible to participate because of financial reasons. IPT was superior to usual care in patients with moderate to severe depression.</p> <p>Conclusion</p> <p>As we succeeded in delivering IPT in primary care practice, and as IPT was superior to usual care, there are grounds to support the implementation of IPT for depressed elderly patients within general practice, as long as the practices have room for the therapists and financial barriers can be overcome. Consolidation may be achieved by making this intervention available through practice nurses or community psychiatric nurses who deliver IPT as part of a more comprehensive depression management program.</p

Plastid phylogenomics resolves ambiguous relationships within the orchid family and provides a solid timeframe for biogeography and macroevolution

Recent phylogenomic analyses based on the maternally inherited plastid organelle have enlightened evolutionary relationships between the subfamilies of Orchidaceae and most of the tribes. However, uncertainty remains within several subtribes and genera for which phylogenetic relationships have not ever been tested in a phylogenomic context. To address these knowledge-gaps, we here provide the most extensively sampled analysis of the orchid family to date, based on 78 plastid coding genes representing 264 species, 117 genera, 18 tribes and 28 subtribes. Divergence times are also provided as inferred from strict and relaxed molecular clocks and birth–death tree models. Our taxon sampling includes 51 newly sequenced plastid genomes produced by a genome skimming approach. We focus our sampling efforts on previously unplaced clades within tribes Cymbidieae and Epidendreae. Our results confirmed phylogenetic relationships in Orchidaceae as recovered in previous studies, most of which were recovered with maximum support (209 of the 262 tree branches). We provide for the first time a clear phylogenetic placement for Codonorchideae within subfamily Orchidoideae, and Podochilieae and Collabieae within subfamily Epidendroideae. We also identify relationships that have been persistently problematic across multiple studies, regardless of the different details of sampling and genomic datasets used for phylogenetic reconstructions. Our study provides an expanded, robust temporal phylogenomic framework of the Orchidaceae that paves the way for biogeographical and macroevolutionary studies.Universidad de Costa Rica/[814-B8-257]/UCR/Costa RicaUniversidad de Costa Rica/[814-B6-140]/UCR/Costa RicaIDEA WILD/[]//Estados UnidosSociedad Colombiana de Orquideología/[]/SCO/ColombiaFundação de Amparo à Pesquisa do Estado de São Paulo/[11/08308-9]/FAPESP/BrasilFundação de Amparo à Pesquisa do Estado de São Paulo/[13/19124-1]/FAPESP/BrasilSwiss Orchid Foundation/[]//SuizaRoyal Botanic Gardens, Kew/[]//InglaterraSwedish Research Council/[2019-05191]//SueciaSwedish Foundation for Strategic Research/[FFL15-0196]/SSF/SueciaUCR::Vicerrectoría de Investigación::Unidades de Investigación::Ciencias Agroalimentarias::Jardín Botánico Lankester (JBL

Can the feedback of patient assessments, brief training, or their combination, improve the interpersonal skills of primary care physicians? A systematic review

<p>Abstract</p> <p>Background</p> <p>Improving quality of primary care is a key focus of international health policy. Current quality improvement efforts place a large focus on technical, clinical aspects of quality, but a comprehensive approach to quality improvement should also include interpersonal care. Two methods of improving the quality of interpersonal care in primary care have been proposed. One involves the feedback of patient assessments of interpersonal care to physicians, and the other involves brief training and education programmes. This study therefore reviewed the efficacy of (i) feedback of real patient assessments of interpersonal care skills, (ii) brief training focused on the improvement of interpersonal care (iii) interventions combining both (i) and (ii)</p> <p>Methods</p> <p>Systematic review of randomised controlled trials. Three electronic databases were searched (CENTRAL, Medline and Embase) and augmented by searches of the bibliographies of retrieved articles. The quality of studies was appraised and results summarised in narrative form.</p> <p>Results</p> <p>Nine studies were included (two patient based feedback studies and seven brief training studies). Of the two feedback studies, one reported a significant positive effect. Only one training study reported a significant positive effect.</p> <p>Conclusion</p> <p>There is limited evidence concerning the effects of patient based feedback. There is reasonable evidence that brief training as currently delivered is not effective, although the evidence is not definitive, due to the small number of trials and the variation in the training methods and goals. The lack of effectiveness of these methods may reflect a number of issues, such as differences in the effectiveness of the interventions in experienced practitioners and those in training, the lack of theory linking feedback to behaviour change, failure to provide sufficient training or to use a comprehensive range of behaviour change techniques. Further research into both feedback and brief training interventions is required before these interventions are routinely introduced to improve patient satisfaction with interpersonal care in primary care. The interventions to be tested in future research should consider using insights from the wider literature on communication outside primary care, might benefit from a clearer theoretical basis, and should examine the use of combined brief training and feedback.</p