Kinematic Analysis of the Triangle-Star Robot with Telescopic Arm and Three Kinematics Chains as T-S Robot (3-PRP)

In this chapter, the limitations and weaknesses of the motion geometry and the workspace of Triangle-Star Robot {T-S (3-PRP)} are diagnosed after research and consideration of the issues at hand. In addition, they are offered in index form. To remove the problems with the abovementioned cases, at first, a robot with telescopic arms and a similar kinematics chain is rendered to give a kinematics analysis approach like Hartenberg-Denavit. Furthermore, in order to increase the workspace, Reuleaux Triangle-Star Robot {RT-S (3-PRP)} with kinematics chains 3-PRP and Circle-Star Robot{C-S (3-PRP)} with kinematics chains 3-PRP and a new improved structure are introduced

The global burden of cancer attributable to risk factors, 2010-19 : a systematic analysis for the Global Burden of Disease Study 2019

Background Understanding the magnitude of cancer burden attributable to potentially modifiable risk factors is crucial for development of effective prevention and mitigation strategies. We analysed results from the Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) 2019 to inform cancer control planning efforts globally. Methods The GBD 2019 comparative risk assessment framework was used to estimate cancer burden attributable to behavioural, environmental and occupational, and metabolic risk factors. A total of 82 risk-outcome pairs were included on the basis of the World Cancer Research Fund criteria. Estimated cancer deaths and disability-adjusted life-years (DALYs) in 2019 and change in these measures between 2010 and 2019 are presented. Findings Globally, in 2019, the risk factors included in this analysis accounted for 4.45 million (95% uncertainty interval 4.01-4.94) deaths and 105 million (95.0-116) DALYs for both sexes combined, representing 44.4% (41.3-48.4) of all cancer deaths and 42.0% (39.1-45.6) of all DALYs. There were 2.88 million (2.60-3.18) risk-attributable cancer deaths in males (50.6% [47.8-54.1] of all male cancer deaths) and 1.58 million (1.36-1.84) risk-attributable cancer deaths in females (36.3% [32.5-41.3] of all female cancer deaths). The leading risk factors at the most detailed level globally for risk-attributable cancer deaths and DALYs in 2019 for both sexes combined were smoking, followed by alcohol use and high BMI. Risk-attributable cancer burden varied by world region and Socio-demographic Index (SDI), with smoking, unsafe sex, and alcohol use being the three leading risk factors for risk-attributable cancer DALYs in low SDI locations in 2019, whereas DALYs in high SDI locations mirrored the top three global risk factor rankings. From 2010 to 2019, global risk-attributable cancer deaths increased by 20.4% (12.6-28.4) and DALYs by 16.8% (8.8-25.0), with the greatest percentage increase in metabolic risks (34.7% [27.9-42.8] and 33.3% [25.8-42.0]). Interpretation The leading risk factors contributing to global cancer burden in 2019 were behavioural, whereas metabolic risk factors saw the largest increases between 2010 and 2019. Reducing exposure to these modifiable risk factors would decrease cancer mortality and DALY rates worldwide, and policies should be tailored appropriately to local cancer risk factor burden. Copyright (C) 2022 The Author(s). Published by Elsevier Ltd. This is an Open Access article under the CC BY 4.0 license.Peer reviewe

Global, regional, and national burden of disorders affecting the nervous system, 1990–2021: a systematic analysis for the Global Burden of Disease Study 2021

BackgroundDisorders affecting the nervous system are diverse and include neurodevelopmental disorders, late-life neurodegeneration, and newly emergent conditions, such as cognitive impairment following COVID-19. Previous publications from the Global Burden of Disease, Injuries, and Risk Factor Study estimated the burden of 15 neurological conditions in 2015 and 2016, but these analyses did not include neurodevelopmental disorders, as defined by the International Classification of Diseases (ICD)-11, or a subset of cases of congenital, neonatal, and infectious conditions that cause neurological damage. Here, we estimate nervous system health loss caused by 37 unique conditions and their associated risk factors globally, regionally, and nationally from 1990 to 2021.MethodsWe estimated mortality, prevalence, years lived with disability (YLDs), years of life lost (YLLs), and disability-adjusted life-years (DALYs), with corresponding 95% uncertainty intervals (UIs), by age and sex in 204 countries and territories, from 1990 to 2021. We included morbidity and deaths due to neurological conditions, for which health loss is directly due to damage to the CNS or peripheral nervous system. We also isolated neurological health loss from conditions for which nervous system morbidity is a consequence, but not the primary feature, including a subset of congenital conditions (ie, chromosomal anomalies and congenital birth defects), neonatal conditions (ie, jaundice, preterm birth, and sepsis), infectious diseases (ie, COVID-19, cystic echinococcosis, malaria, syphilis, and Zika virus disease), and diabetic neuropathy. By conducting a sequela-level analysis of the health outcomes for these conditions, only cases where nervous system damage occurred were included, and YLDs were recalculated to isolate the non-fatal burden directly attributable to nervous system health loss. A comorbidity correction was used to calculate total prevalence of all conditions that affect the nervous system combined.FindingsGlobally, the 37 conditions affecting the nervous system were collectively ranked as the leading group cause of DALYs in 2021 (443 million, 95% UI 378–521), affecting 3·40 billion (3·20–3·62) individuals (43·1%, 40·5–45·9 of the global population); global DALY counts attributed to these conditions increased by 18·2% (8·7–26·7) between 1990 and 2021. Age-standardised rates of deaths per 100 000 people attributed to these conditions decreased from 1990 to 2021 by 33·6% (27·6–38·8), and age-standardised rates of DALYs attributed to these conditions decreased by 27·0% (21·5–32·4). Age-standardised prevalence was almost stable, with a change of 1·5% (0·7–2·4). The ten conditions with the highest age-standardised DALYs in 2021 were stroke, neonatal encephalopathy, migraine, Alzheimer's disease and other dementias, diabetic neuropathy, meningitis, epilepsy, neurological complications due to preterm birth, autism spectrum disorder, and nervous system cancer.InterpretationAs the leading cause of overall disease burden in the world, with increasing global DALY counts, effective prevention, treatment, and rehabilitation strategies for disorders affecting the nervous system are needed

Global burden of 288 causes of death and life expectancy decomposition in 204 countries and territories and 811 subnational locations, 1990–2021: a systematic analysis for the Global Burden of Disease Study 2021

BACKGROUND Regular, detailed reporting on population health by underlying cause of death is fundamental for public health decision making. Cause-specific estimates of mortality and the subsequent effects on life expectancy worldwide are valuable metrics to gauge progress in reducing mortality rates. These estimates are particularly important following large-scale mortality spikes, such as the COVID-19 pandemic. When systematically analysed, mortality rates and life expectancy allow comparisons of the consequences of causes of death globally and over time, providing a nuanced understanding of the effect of these causes on global populations. METHODS The Global Burden of Diseases, Injuries, and Risk Factors Study (GBD) 2021 cause-of-death analysis estimated mortality and years of life lost (YLLs) from 288 causes of death by age-sex-location-year in 204 countries and territories and 811 subnational locations for each year from 1990 until 2021. The analysis used 56 604 data sources, including data from vital registration and verbal autopsy as well as surveys, censuses, surveillance systems, and cancer registries, among others. As with previous GBD rounds, cause-specific death rates for most causes were estimated using the Cause of Death Ensemble model-a modelling tool developed for GBD to assess the out-of-sample predictive validity of different statistical models and covariate permutations and combine those results to produce cause-specific mortality estimates-with alternative strategies adapted to model causes with insufficient data, substantial changes in reporting over the study period, or unusual epidemiology. YLLs were computed as the product of the number of deaths for each cause-age-sex-location-year and the standard life expectancy at each age. As part of the modelling process, uncertainty intervals (UIs) were generated using the 2·5th and 97·5th percentiles from a 1000-draw distribution for each metric. We decomposed life expectancy by cause of death, location, and year to show cause-specific effects on life expectancy from 1990 to 2021. We also used the coefficient of variation and the fraction of population affected by 90% of deaths to highlight concentrations of mortality. Findings are reported in counts and age-standardised rates. Methodological improvements for cause-of-death estimates in GBD 2021 include the expansion of under-5-years age group to include four new age groups, enhanced methods to account for stochastic variation of sparse data, and the inclusion of COVID-19 and other pandemic-related mortality-which includes excess mortality associated with the pandemic, excluding COVID-19, lower respiratory infections, measles, malaria, and pertussis. For this analysis, 199 new country-years of vital registration cause-of-death data, 5 country-years of surveillance data, 21 country-years of verbal autopsy data, and 94 country-years of other data types were added to those used in previous GBD rounds. FINDINGS The leading causes of age-standardised deaths globally were the same in 2019 as they were in 1990; in descending order, these were, ischaemic heart disease, stroke, chronic obstructive pulmonary disease, and lower respiratory infections. In 2021, however, COVID-19 replaced stroke as the second-leading age-standardised cause of death, with 94·0 deaths (95% UI 89·2-100·0) per 100 000 population. The COVID-19 pandemic shifted the rankings of the leading five causes, lowering stroke to the third-leading and chronic obstructive pulmonary disease to the fourth-leading position. In 2021, the highest age-standardised death rates from COVID-19 occurred in sub-Saharan Africa (271·0 deaths [250·1-290·7] per 100 000 population) and Latin America and the Caribbean (195·4 deaths [182·1-211·4] per 100 000 population). The lowest age-standardised death rates from COVID-19 were in the high-income super-region (48·1 deaths [47·4-48·8] per 100 000 population) and southeast Asia, east Asia, and Oceania (23·2 deaths [16·3-37·2] per 100 000 population). Globally, life expectancy steadily improved between 1990 and 2019 for 18 of the 22 investigated causes. Decomposition of global and regional life expectancy showed the positive effect that reductions in deaths from enteric infections, lower respiratory infections, stroke, and neonatal deaths, among others have contributed to improved survival over the study period. However, a net reduction of 1·6 years occurred in global life expectancy between 2019 and 2021, primarily due to increased death rates from COVID-19 and other pandemic-related mortality. Life expectancy was highly variable between super-regions over the study period, with southeast Asia, east Asia, and Oceania gaining 8·3 years (6·7-9·9) overall, while having the smallest reduction in life expectancy due to COVID-19 (0·4 years). The largest reduction in life expectancy due to COVID-19 occurred in Latin America and the Caribbean (3·6 years). Additionally, 53 of the 288 causes of death were highly concentrated in locations with less than 50% of the global population as of 2021, and these causes of death became progressively more concentrated since 1990, when only 44 causes showed this pattern. The concentration phenomenon is discussed heuristically with respect to enteric and lower respiratory infections, malaria, HIV/AIDS, neonatal disorders, tuberculosis, and measles. INTERPRETATION Long-standing gains in life expectancy and reductions in many of the leading causes of death have been disrupted by the COVID-19 pandemic, the adverse effects of which were spread unevenly among populations. Despite the pandemic, there has been continued progress in combatting several notable causes of death, leading to improved global life expectancy over the study period. Each of the seven GBD super-regions showed an overall improvement from 1990 and 2021, obscuring the negative effect in the years of the pandemic. Additionally, our findings regarding regional variation in causes of death driving increases in life expectancy hold clear policy utility. Analyses of shifting mortality trends reveal that several causes, once widespread globally, are now increasingly concentrated geographically. These changes in mortality concentration, alongside further investigation of changing risks, interventions, and relevant policy, present an important opportunity to deepen our understanding of mortality-reduction strategies. Examining patterns in mortality concentration might reveal areas where successful public health interventions have been implemented. Translating these successes to locations where certain causes of death remain entrenched can inform policies that work to improve life expectancy for people everywhere. FUNDING Bill & Melinda Gates Foundation

Crisis Components in EU-US Relations during the Trump (2017-2018)

The position of transatlantic relations in the structure of the international system and the role of these relations in the processes of power structures is of great importance. The two power spectra that have the greatest degree of coordination in the international system structures, but the relations have taken on a different form during the Tramp era, and in some cases it has been instable. What has been pointed out in this study is the critical components of the relationship between the two sides, the United States and the European Union, during the Tramp era, which can be expressed in the Paris Agreement, the common security and defense ties and the Middle East peace process. Research question: What are the critical components of EU-US relations during the Tramp era? The research hypothesis; what is more apparent in the foreign policy of Trump is a divergence in various fields with the European Union that the most important components of the crisis in its foreign policy; defense and security policies, the nuclear agreement, the Middle East peace deal and the Paris agreement. The research method in this article is descriptive-analytical and for information gathering, it is mainly used in library and site studies

Presenting a mapping method based on fuzzy Logic and TOPSIS multi criteria decision-making methods to detect promising porphyry copper mineralization areas in the east of the Sarcheshmeh copper metallogenic district

Introduction The growing demand for base metals such as iron, copper, lead and zinc on the one hand and the diminishing of surficial and shallow resources of these elements on the other hand have forced explorationists to focus on detecting deep deposits of these metals. As a result, the discovery of such deep deposits requires more advanced and sophisticated methods in the course of preliminary prospecting stages. Since the discovery of new deposits is getting to be increasingly difficult, deploying new prospecting technologies that employ more deposit attributes in the course of combining exploratory evidence may reduce the exploration costs with lower uncertainties. In the past two decades, a number of new data mining and integrating approaches capable of incorporating direct and indirect mineralization indicators, based on expert knowledge, data, or a combination of both, have been proposed )Bonham-Carter, 1994(. In the first step, the input exploratory data layers are corrected and validated through applying some statistical pre-processing algorithms such as background and outlier removal methods. In order to detect a mineralization occurrence, it is necessary to find the proper exploratory geological, geochemical and geophysical data layers which have direct or indirect associations with the governing mineralization followed by constructing these models in an appropriate GIS platform (Malkzewski, 1999). Due to the imperfect available data and a number of unknown parameters affecting the mineralization process, the application of conventional GIS integration methods such as Boolean or weighted overlay or even fuzzy logic methods alone may not produce appropriate results, pointing to a need for deploying multi-criteria decision-making methods such as TOPSIS. In the present study, the pre-processed exploratory data including geological, remotely sensed geophysical and geochemical imagery were used to detect favorable mineralization zones through applying the multi-criteria decision-making method. Finally, the selected favorable areas in the metallogenic strip located at the south to the south-east of the Sarcheshmeh porphyry copper deposit are prioritized and introduced for further follow up ground exploration operations. Methodology In order to solve complex decision-making problems like the problem of mapping favorable porphyry copper mineralization zones under great uncertainties, the TOPSIS method is considered as an appropriate approach offering significant simplicity, flexibility and capability (Ataei., 2010). The TOPSIS method is considered to be an efficient method due to having very high accuracy, speed, sensitivity as well as being easy to implement and interpret the outputted results (Hwang and Yoon, 1981). It has found many applications in important areas of mining industry where there is a need to make decisions under risky conditions and data uncertainties. One basic issue in applying decision-making methods in the field of mineral exploration is to rank and propose the best possible candidates among all potentially favorable areas for the next stage of mineral exploration. In this regard, the best favorable areas are selected based on exploratory data layers including favorable lithologies, alterations, structures plus geochemical and geophysical anomalies (Pazand et al., 2012). Results and discussion In the first step, the area located south to the southeast of one the largest porphyry copper deposits in Iran known as Sarcheshmeh was investigated for favorable areas using all available exploratory data as mentioned in the previous section using fuzzy logic integration approach in the GIS environment. Evaluating the highly favorable areas presented by the fuzzy logic approach showed great consistency with the already known copper mineralization prospects. Next, the first 20 priorities obtained from the fuzzy logic approach were chosen as the best candidates to be ranked using the TOPSIS multi criteria decision-making method. Among these favorable prospects, the one with the highest coefficient close to the ideal solution of 0.796 was found to be coincident with the Darehzar area that is a well known porphyry copper deposit 12 kilometers south of the Sarcheshmeh deposit. The favorable areas numbered 5 and 8 that correspond to well known porphyry copper mineralization prospects called Sereydoon and North Sereydoon were ranked as the second and third priorities with scores of 0.721 and 0.604, respectively. Other favorable areas ranked by the TOPSIS method were also prioritized and presented for further follow up explorations. To assess the sensitivity of the results obtained by the TOPSIS method, an amount of 10% of the values of each of the criteria were added and the outputted ranking results were compared to that of the original TOPSIS results. It was concluded that a slight change in the values of the criteria would not have significant impact on the results. However, 10 percent change of each criteria weight would greatly affect the prospects priorities obtained by re-applying the TOPSIS method. References Ataei, M., 2010. Multi Criteria Decision Making. Shahrood University Publications, Shahrood, 333 pp Bonham–Carter, G.F., 1994. Geographic information system for geoscientists-molding with GIS. Geological Survey of Canada, Ontario, Canada, 398 pp. Hwang, C.L. and Yoon, K., 1981; Multiple Attribute Decision Making: Methods and Applications, Springer-Verlag, Berlin, 228 pp. Malkzewski, J., 1999, GIS and Multi Criteria Decision Analysis. John Whily and Sons, Canada, 387 pp. Pazand, K., Hezarkhani, A. and Ataei, M., 2012. Using TOPSIS approaches for predictive porphyry Cu potential mapping: A case study in Ahar-Arasbaran area (NW, Iran). Computers & Geosciences, 49(1): 62-71

Detection of alteration zones using the Dirichlet process Stick-Breaking model-based clustering algorithm to hyperion data: the case study of Kuh-Panj porphyry copper deposits, Southern Iran

Detection of hydrothermal alteration zones (HAZs) associated with porphyry copper systems using remote sensing imagery is a crucial stage for discovering high potential zone of ore mineralization. Statistical model-based clustering methods have great potential for automatic and accurate detection of hydrothermal alteration minerals using hyperspectral remote sensing imagery. In this research, the Dirichlet Process based on Stick-Breaking (DPSB) model-based clustering algorithm was implemented to hyperion remote sensing imagery to discriminate HAZs associated with the Kuh-Panj porphyry copper deposit, south, Iran. The DPSB clustering algorithm was implemented and subsequently compared with the k-means algorithm, CLARA clustering, hierarchical clustering, Gaussian finite mixture model (GFMM), Gaussian model for high-dimensional (GMHD) and spectral clustering as well as spectral angle mapping (SAM). Results derived from the DPSB model-based clustering algorithm show 88.6% accuracy in distinguishing propylitic, argillic, advanced argillic, propylitic-argillic and phyllic alteration zones. The DPSB algorithm can be broadly implemented to hyperspectral remote sensing imagery for detecting alteration zones associated with porphyry systems

Application of discriminant analysis and support vector machine in mapping gold potential areas for further drilling in the Sari-Gunay gold deposit, NW Iran

In this contribution, we used discriminant analysis (DA) and support vector machine (SVM) to model subsurface gold mineralization by using a combination of the surface soil geochemical anomalies and earlier bore data for further drilling at the Sari-Gunay gold deposit, NW Iran. Seventy percent of the data were used as the training data and the remaining 30 % were used as the testing data. Sum of the block grades, obtained by kriging, above the cutoff grade (0.5 g/t) was multiplied by the thickness of the blocks and used as productivity index (PI). Then, the PI variable was classified into three classes of background, medium, and high by using fractal method. Four classification functions of SVM and DA methods were calculated by the training soil geochemical data. Also, by using all the geochemical data and classification functions, the general extension of the gold mineralized zones was predicted. The mineral prediction models at the Sari-Gunay hill were used to locate high and moderate potential areas for further infill systematic and reconnaissance drilling, respectively. These models at Agh-Dagh hill and the area between Sari-Gunay and Agh-Dagh hills were used to define the moderate and high potential areas for further reconnaissance drilling. The results showed that the nu-SVM method with 73.8 % accuracy and c-SVM with 72.3 % accuracy worked better than DA methods

Application of Dirichlet Process and Support Vector Machine Techniques for Mapping Alteration Zones Associated with Porphyry Copper Deposit Using ASTER Remote Sensing Imagery

The application of machine learning (ML) algorithms for processing remote sensing data is momentous, particularly for mapping hydrothermal alteration zones associated with porphyry copper deposits. The unsupervised Dirichlet Process (DP) and the supervised Support Vector Machine (SVM) techniques can be executed for mapping hydrothermal alteration zones associated with porphyry copper deposits. The main objective of this investigation is to practice an algorithm that can accurately model the best training data as input for supervised methods such as SVM. For this purpose, the Zefreh porphyry copper deposit located in the Urumieh-Dokhtar Magmatic Arc (UDMA) of central Iran was selected and used as training data. Initially, using ASTER data, different alteration zones of the Zefreh porphyry copper deposit were detected by Band Ratio, Relative Band Depth (RBD), Linear Spectral Unmixing (LSU), Spectral Feature Fitting (SFF), and Orthogonal Subspace Projection (OSP) techniques. Then, using the DP method, the exact extent of each alteration was determined. Finally, the detected alterations were used as training data to identify similar alteration zones in full scene of ASTER using SVM and Spectral Angle Mapper (SAM) methods. Several high potential zones were identified in the study area. Field surveys and laboratory analysis were used to validate the image processing results. This investigation demonstrates that the application of the SVM algorithm for mapping hydrothermal alteration zones associated with porphyry copper deposits is broadly applicable to ASTER data and can be used for prospectivity mapping in many metallogenic provinces around the world

Multivariate regression analysis of lithogeochemical data to model subsurface mineralization: a case study from the Sari Gunay epithermal gold deposit, NW Iran

In this contribution, multivariate regression was applied to surface channel rock and borehole geochemical data from the world-class Sari Gunay epithermal gold deposit, in northwest Iran, to model subsurface mineralization for further drilling. Multiple, factorial, polynomial and response surface regression models were applied to the geochemical data sets from a training mineralized area to evaluate the accuracy of these models using separate geochemical data from a test area. Geochemical data of 31 elements in surface channel rock samples were used as independent variables, and three parameters namely average grade, sum and productivity in individual 25 m by 25 m grid cells, obtained by kriging of borehole data, were used as dependent variables. All the multivariate regression models revealed high determination coefficients for three parameters, among which the response surface regression model yielded the highest values. The response surface regression yielded the best result, followed by the multiple regression, in modeling the geochemical data from the test area. Therefore, the result of the response surface regression was used to model subsurface gold mineralization at the Sari Gunay gold deposit in order to design additional drillings