---

The design of earthquake-resistant structures and the reduction of damages caused by them have always been considered. One of the ways to reduce earthquake vibrations in steel frames is to use cable braces. In addition, one of the ways to improve the behavior of the structure against seismic loads is the use of dampers. In this research, magnetorheological damper and cable brace are used simultaneously. To check the effectiveness of the proposed system, four steel frames including, a steel frame without cables and dampers, a steel frame with cable braces, a steel frame with magnetorheological dampers and, a steel frame with cable braces along with magnetorheological dampers, which have one-span and two spans, were selected and the behavior of this frame Assuming different conditions, under nonlinear static lateral load and seismic loads, it has been checked in SAP2000 software. By examining the results obtained from the nonlinear static analysis of the case of a one span, it is concluded that the steel frame with cable brace and magnetorheological damper reduces the lateral displacement of the frame and often the internal forces of the beam and column more than other frames. gives by examining the results of the time-history dynamic analysis of one-span and two-span conditions, it is concluded that the proposed system reduces the lateral displacement of the frame and the internal forces of the beam and column more than other frames in most of the investigated earthquakes. In other words, using the proposed systems improves the performance of the structure against lateral loads.

 

---

---

Ahmad Shamloo, one of the Iranian contemporary poets, has a very short poem with remarkable hidden potentials. At first glance, the brevity and the simplicity of this poem may lead readers to underestimate its true value and the critics to ignore the impact of its analysis. But this article is determined to reveal how this brilliant poet has succeeded to create within few words, a newfound image for a worn and deadened notion which is the fatigue and disappointment.
To prove this claim, first we studied the suggestive role of phonemes, armed by the theories of French linguist and phonetician: Maurice Grammont. And then, by dint of a structural analysis, based on the theories of Roman Jakobnson, the famous Russian linguist, we found out that the parallelism is the key factor of this poem which creates its poles and so the possibility of a circular movement. This movement leads to the idea of an independent whole, which is the ultimate purpose of all artistic and literal productions. The guarantor of this unity is the body of the enunciator. A semiotic analysis helped at last to see how this body provides, with his sensations, the rhythm and the direction of the meaning. Due to its evocable phonemes and its parallel structure, this poem awakens sensations of the enunciator’s body and leads him toward the production of a peerless meaning.
           
1. Introduction
Ahmad Shamloo, one of the Iranian contemporary poets, has a very short poem with remarkable hidden potentials. At first glance, the brevity and the simplicity of this poem may lead readers to underestimate its true value and the critics to ignore the impact of its analysis. But this article is determined to reveal how this brilliant poet, without prolonging, has succeeded to create within few words, a newfound image for a worn and deadened notion which is the fatigue and disappointment.
 
2. Methodology
The present paper consists of three parts. In the first part, we will examine the suggestive role of phonemes and sounds based on the theories of Maurice Grammon. The second part will be devoted to the analysis of poetic structure based on Roman Jakobsen's theories. And in the last part, there will be a semiotic analysis based on theoretical framework of Paris schools of semiotics, focusing on the subject of body and senses. Each of these three sections, separately and finally together, examines and highlights the process of the meaning production in the selected poem.
 
3. Results
Due to its evocable phonemes and its parallel structure, this poem awakens sensations of the reader’s body and leads him forward to reach a peerless meaning. To prove this claim, we did a linguistic-structural analysis of this poem in the first section of the present paper. In this part, we are armed by the theories of the French linguist and phonetician: Maurice Grammont, who has spent several years of his scientific life to study the suggestive role of phonemes and to approve his theories he studied the phonemes of so many languages. He categorizes the phonemes in to different sensational groups and explains the characteristics of each category and evaluates at last how they contribute to the production of the enunciator’s desirable meaning. Examining the suggestive role of repeated sounds (vowels and consonants) of this poem and their combinations, we can see how the poet tries to suggest the feeling of an ecstatic calm, caused by a coldness that has taken over his existence, paralyzed him and stopped him from moving. Choosing words with appropriate phonetic echoes and their effective repetition may be the first trick of any poet to create a lasting work, but more important is the creative arrangement and composition of these words in the body of the poem. As we have learned lots of things from the combination of phonemes and sounds in the heart of a word, a phrase, or a verse, examining other overt and covert relationships between the elements of a structure can also be a great help in better understanding of the meaning and mysteries of this very short poem of Shamloo.
So in the second part of this paper, we based our analysis on the theories of Roman Jakobnson, the famous Russian linguist and the pioneer of structural analysis, in order to verify how much the structure of this poem can influence or fortifies its meaning. According to Jakobson, parallelism is the most important feature of a poetic structure. It is true that the repetition and return of similar phonetic, lexical, and grammatical elements are the first manifestations of a parallel structure, but the parallelism is not limited to repetition and there must be, in any parallel pattern, a coefficient of similarity as well as a coefficient of contrast. Although the parallelism of Shamloo's poem owes much to repetition, it does not rely solely on repetition. Therefore, after analyzing the effect of structural repetitions, we examined the similar and contrasting relationships that play a role especially in the lexical body of the poem, words that seem to be chained together and follow each other. This study permitted us to see that the parallelism in this poem is not only due to the repetition of sounds and words, but also stems more from a kind of similarity and semantic contrast between each of its constituent elements. The notion of the parallelism is the key factor of this poem which creates its poles and so the possibility of a circular movement within the words, phrases and parts of the poem. This movement leads with no doubt to the idea of an independent whole, which is the ultimate purpose of all artistic and literal productions. And the guarantor of this fullness and this unity is with no doubt, the body of the enunciator. This body provides, with his sensations, the rhythm and the direction of the meaning. In fact, the study of the sounds and the structure of the poem made it possible to go beyond and study the role of the senses and emotions in the process of producing the meaning. By examining the sensory-perceptual process of this poem, we found out how the poet's body becomes a place of emotional pressures and a scene of fight against the outside world. This emotional excitement eventually leads to isolation, disconnection and lac of interaction with the world, and so to the inactivity and stillness. Such a state evokes undoubtedly the meaning of nothingness and death. Therefore no matter from which angle we look at this short poem, it is always the repetition of the same bitter message, the same hidden resonance of surrender and death of the poet's soul.
 
4. Conclusion
All the constituent elements of this poem, from its phonemes to its parallel structure and finally the position of the sensory-emotional body of its narrator, each serves in a way to produce and reinforce the same meaning and to explain the poet's relationship with the phenomenological scene he describes. Considering the linguistic study of phonemes and structures, along with the semiotic analysis of the senses, this article has shown that this is actually the opposition between the inside and outside worlds, between I and the other that leads to isolation and inactivity and produces the expression of a semiotic experience of despair, hopelessness and death.
 
 
 
 

---

Aims: This study was designed to evaluate the impact of an educational intervention grounded in risk perception theories aimed at the prevention and management of common non-communicable diseases in an urban population.
Materials & Methods: The study employed a semi-experimental design with two groups (intervention and control), utilizing a pre- and post-test approach. It incorporated protection motivation theory and the health belief model within an urban population in Hashtruod, focusing on non-communicable disease prevention and care in 2023. The participant population consisted of 426 individuals, with 213 assigned to the intervention group and 213 to the control group, all randomly selected from the comprehensive health centers in Hashtrood. A questionnaire assessing personal risk perception regarding non-communicable diseases was used, which included five dimensions: Perceived sensitivity, perceived barriers, perceived benefits, perceived self-efficacy, and behavioral intentions to change. The educational intervention, designed to enhance personal risk perception, was implemented over two sessions within a two-week period for the intervention group.
Findings: The intervention based on risk perception theories significantly improved the intervention group's perceived sensitivity, perceived severity, perceived benefits, self-efficacy, and guidance for action.
Conclusion: An educational intervention based on the health belief model and protection motivation theory effectively enhanced awareness constructs, behavioral intentions, perceived sensitivity, perceived severity, perceived benefits, perceived barriers, self-efficacy, response self-efficacy, and guidance for adopting healthy behaviors.

---

A modified measure for the parallel cable driven robots is presented in this paper. These robots have additional advantages compared to other robots and even the parallel structures, but they are readily exposed to disturbances. The presence of external wrench (Force-Moment) may be the cause of violation against the motion constraint. The stability measure proposes a number between zero and one that could be the criterion for the evaluation of the robot's ability while returning to its original equilibrium which was influenced by external disturbances. To offer a stability measure, Gibbs-Appell equations and acceleration energy are used. Robot kinematic and dynamic modeling based on Newton-Euler’s method calculates the measure. To illustrate the capabilities of the proposed measure, a 6 DOF cable robot with six cables is simulated. The results of the two simulations are presented and analyzed. The stability measure is depended to kinematic parameters and also to kinetics parameters as cables tension at the beginning of motion. Therefore using the proposed measure one can better evaluate the stability within the wider range of parallel cable robots.

---

During modal testing, the test structure is connected to its surroundings by a suspension system. Cable suspension system is one of the most common suspension systems which is used to simulate the free-free condition, due to its low stiffness. In this condition, the measured modal properties are assumed to be free-free dynamic properties of the test structure. But in situations in which the test structure is big and flexible, the stiffness of the suspension system is comparable with the stiffness of the test structure and cannot be neglected. In this paper, the suspension effects are eliminated from measured modal frequencies of a flexible structure which is suspended by a cable suspension system. The eigenvalue sensitivity analysis is done and then, the effective stiffness of the cable suspension system is derived. Based on the eigenvalue sensitivity and the effective stiffness of the suspension system, an iterative procedure is proposed to eliminate the suspension effects from measured modal frequencies of the test structure. The proposed iterative procedure is verified using a finite element model. Finally, the proposed iterative procedure is used to eliminate the suspension effects from measured modal frequencies of a real flexible structure.

---

This paper investigates the multi-objective optimization design of planar cable-driven parallel robots by using the evolutionary optimization algorithm. Since in cable-driven parallel robots, the cables should remain in tension in all configurations, the extent of the controllable workspace is considered as one of the design indices. This objective function is of utmost importance to the design of cable-driven parallel robots, since it considers the unidirectional properties of the cables in the analysis. In addition, in order for the robot to have suitable dexterity and accuracy and to be able to manipulate any arbitrary task in all the required directions, various kinematic indices such as global condition number, translational and rotational kinematic sensitivity indices are used. Through analysis of the conflict of these objectives within the workspace of the robot, it is shown that use of multi-objective optimization is an effective method to reach to a suitable trade-off. Furthermore, by applying multi-objective optimization methods such as the non-sorting genetic algorithm and the adaptive weighted particle swarm optimization algorithm, the optimal pareto front for the design parameters for the cable robot is obtained such that to draw a compromise between the robot designs.

---

In this paper, a cable actuated robot is introduced as a new rehabilitation approach. The quality improvement of human and machine interface has led to create a new device in this area. The interface between the robots with the physical characteristics of body can improve the interaction forces and the patient safety. Considering the joint compliance during the motion range can make the patient feel better and thus, bring success for the rehabilitation program. The key element "cable" makes the possibility of force transmission in this mechanism. Cable actuator is used in this project in order to achieve to maximum adaptation with elbow operation Moreover in the design of rehabilitation device, some advantages are regarded like the low-cost and light weight, smooth joint motion with adjustable stiffness, motor size reduction. The dynamic parameters related to the elbow behavior are described with amplitude and frequency investigating. The performance of the elbow rehabilitation device is examined. Stiffness variation of robot joint is effectively compatible with the elbow joint stiffness according to rehabilitation protocols. As the presented mechanism able to simulate elbow rehabilitation, it can be used more widely in the field of medical robotics.

---

This paper focuses on a class of continuum robot manipulators that uses cables for actuation. In order to realize more natural and various motions like human musculoskeletal, tendon-driven manipulators is studied. It is challenging to design the manipulator structure which consists of bones and redundant muscles. A comprehensive study is presented including the theoretical analysis of the mechanical design, kinematics, dynamics and tracking control of a planar continuum backbone robot. Lagrange's equation is applied to the dynamic problem and the system is controlled by a computed torque/time delay approach. This paper explores the fundamental limitations of dynamic problem for different loading conditions and the behavior is formulated based on the motion constraints. For example, the cable forces are computed considering the yield stress. Moreover the effects of cable configuration are examined by comparing the model performance. Meanwhile, the geometrical parameters have an important effect on manipulation. The analysis is applied on two main robot structures considering geometrically constrained deformable continuum body. The simulation results illustrate the efficiency of the proposed design and controller. Nevertheless, the field of continuum and hyper-redundant manipulation holds great promise also in the experimental domains.

---

Abstract This paper presents the mathematical modeling and simulation of a cable-driven robotic device that can be used in gait rehabilitation of patients with lower extremity disabilities. A parallel cable robot is considered to assist a model of human body during walking. First, a proper pattern of walking is considered and kinematic and dynamic equations are solved to obtain tensions in cables for entire cycle of walking. By exploiting a numerical procedure, the workspace of the robot are explored to find suspension points of the cables in which the model remain in controllable workspace of the robot. Remaining of the model in controllable workspace means that cables always remain in tension and robot can effectively engaged in rehabilitation. The optimum locations are determined based on minimum cable tensions (energy consumption) and a Neural Network is trained to quickly determine suspension points based on anthropometric parameters of patient. The simulation results show the effectiveness of the method in tracking of the desired trajectory of walking. The results of this study can be used for development and fabrication of an efficient cable driven rehabilitation system.

---

In this paper, adaptive control method is presented for a parallel cable with six degrees of freedom and six cable. Adaptive control method is a way for controlling systems that there is uncertainty in the parameters. The main objective of this study is tracking trajectory of a parallel cable robot which there is uncertainty in the mass of end effector and moments of inertia. Before addressing the issue of control, Jacobian matrix of robot is obtained. Then the dynamic equations of motion are derived using Lagrange method and is written in standard form. The presented adaptive control method is combination of feedback linearization method and Lyapunov stability theorem. Using feedback linearization method, control law is designed and adaptation law is planned by use of Lyapunov stability theorem. Due to the unique feature of cable suspended robots that cables can only pull the end effector, the cable tension values must be positive. In this paper, a method is used that cable tension values obtained positive for each initial condition and any desired path. Adaptive controller is designed such that unknown parameters of system is correctly estimated and system stability is guaranteed. Through several numerical simulations accuracy of kinematic, dynamic model and applied controller is shown. In order to demonstrate the effectiveness of adaptive control, the comparison between the adaptive control method and the method of feedback linearization is performed.

---

In this paper, a hybrid model which consists of planar parallel robot with a 2-DOF arm is presented. This manipulator is based on cable parallel robots and a kinematic serial chain is utilized and added to a cable parallel chain. The hybrid manipulator can provide features of both serial and parallel mechanism. Understanding the orientability of the end-effector within this workspace gives a measure of the ability of the robot to perform manipulation tasks. Most underactuated parallel manipulators have a low rotational capability. To overcome it, this paper focuses its attention on a new family of serial-parallel manipulators. The initial goal of this design is to increase the orientability capability of a planar two-cable robot. The kinematic and dynamic analysis of this new type hybrid manipulator is presented. The dynamic modeling is performed by using a combination of Lagrange and Newton-Euler methods. This paper conducts the dynamic trajectory planning study to a novel design for the cable robots. In fact, time optimal trajectory planning is a strategy that is used to verify this new design. Two models are considered in the simulation part. A novel hybrid model is compared to a planar parallel cable robot. It is verified that the proposed design allows significantly reduced actuation energy and improved orientability capability compared to the parallel robot.

---

Performance increasing of robot-aided training in stroke elbow rehabilitation is the goal of this paper. Therapist holds on the arm of patient and guides the center of mass along a desired trajectory. In robotic rehabilitation, when the arm of patient rotate within the desired boundaries, (s)he should ideally not feel the robot. The robot needs to actively compensate for the weight of the exoskeleton and reflected mass of the motors. A nonlinear torsion spring can be used and also a counter-torque as a function of arm angle is applied by the motor. Applying the springs affords more convenience, it allows smaller motors to be used, the size of required brakes can be reduced and inherent safety is introduced in rehabilitation robots. Furthermore, the robust controller design can be used to compensator the modeling errors and gravitational force. A novel elbow rehabilitation robot is designed based on the cable actuation. The strategy is not just anti-gravitational forces because there should be joint-stiffness control. The uncertainty in the patients arm dynamic is effectively approximated. The motion of closed-loop control system in the presence of parametric uncertainties is investigated. The sliding mode controller with proportional-derivative controller is compared through computer simulation and improvement is observed.

---

This paper presents implementation of position control for planar cable-driven parallel robots using Visual servoing. The main contribution of this paper contains three objectives. First, a method is used toward kinematic modeling of the robot using four-bar linkage kinematic concept, which could be used in online control approaches for real-time purposes due to decreasing of the unknown parameters and computation time. In order to track the position of End-Effector, an online image processing procedure is developed and implemented. Finally, as the third contribution, two different controllers in classic and modern approaches are applied in order to validate the model with plant and obtain the most promising controller. As classic controller, pole placement approach is suggested and results demonstrate weaknesses in modeling the uncertainties although they represent acceptable performance. Due to the latter incapability, sliding mode controller is utilized and experimental tests represent effectiveness of this method. Result of the latter procedure is an inimitable operation on the desired task however, it suffers from chattering effect. Moreover, results of these controllers confirm accommodation between the model and robot. The whole procedure imposed, could be applied for any kind of cable-driven parallel robot.

---

Cable-Driven Parallel Robot has many advantages. However, the problems of cable collision between each other and environment, the lacks proper structure and non-positive cable tension prevent the spread of them. Therefore, connecting a serial manipulator to mobile platform improve the ability to object manipulation. This paper investigates the multi-objective optimization structure design and comparative study of spatial constrained and suspended cable-driven parallel robot. By install serial manipulators possess a full hybrid robot’s features. The workspace volume, kinematic stiffness and sensitivity are three sets of optimization criteria. The workspace volume calculated by a novel approach of combination constraints as prevent cables collisions with each other, cable collision with moving platform, uncontrollability and singularity of the robot. First, examine range of the forces and torque reaction of the serial manipulator to moving platform. Then, the evolutionary optimization genetic algorithm use for the multi-objective optimization of constrained and suspended spatial cable-driven parallel robot structure to achieve proper Pareto front confrontation. The Pareto front reconciliation of these three criteria will be discussed. The constrained and suspended optimize by same criteria will compare in the same conditions. It is verified that the constrained structure significantly reduced actuation energy for manipulate a serial robot, supply greater workspace and manipulability. The result of this study used for manufacturing and development of a prototype spatial cable-driven parallel robot (RoboCab).

---

In this paper, kinematic and dynamic model of planar cable-driven parallel robots are introduced in general form which are verified for a constrained cable-driven parallel robot in Sim-mechanics. Path planning based on artificial potential field approach is considered to prevent collision between dynamic obstacle, end-effector and cables in order to achieve collision-free path. As well as to reduce energy consumption, cable tension constraints have been involved in optimization of path planning. This method is proposed to control a cable robot. Therefore, obstacles are distributed randomly in order to have a complex environment. By this way, cable tension constraint is studied as one of the most crucial challenges for cable driven robots. Moreover, Fmincon function of Matlab is applied in order to take into account the required constraints and maintain the limits for cables tension. The latter leads to solve the redundancy resolution which is a definite asset in controlling a cable-driven parallel robot. Finally, a four-cables driven parallel robot is controlled by using the so-called computed torque method for tracking the desired and optimized path. The method is explained and obtained results indicate the efficiency of the proposed approach.

---

In transmission lines the environmental disturbances causes vibration of the lines (cables) as well as the structure which have destructive effect on the line and its components. To overcome this harmful effect, it seems necessary to reduce the transmission line vibration level. One of the most frequent methods for reducing the transverse vibration of cables is using dynamical dampers such as Stockbridge damper. Complication of calculating the bending stiffness as well as the energy absorption mechanism of these dampers makes it more difficult to be modeled. In this study the dynamical characteristics of Stockbridge damper considering the damping effect are studied. For system identification of Stockbridge damper, it is modeled as a 4DOF system and its various unknown parameters are obtained using model updating method and experimental modal analysis (EMA) which is optimized by Artificial Intelligence (AI) method. Then the effects of varying these parameters on its energy absorption are discussed. Finally, to validate the analytical results, some experimental tests were carried out on the energy absorption of Stockbridge damper. The analytical results are in good agreement with the experiments.

---

Galloping of cables is a kind of self-excited vibration and characterized with high amplitude and low frequency vibration. In this paper for investigating the nonlinear galloping of an inclined cable, considering flexural and torsional stiffness, a cable-beam model is used. The iced cable is formulated under the effects of combined wind flow and support motion. Assuming low sag to span ratio and using physical parameter values of the cable, the governing equation of motion is obtained as a classical equations of the perfectly flexible cable, plus a further equation governing the twist motion. These two degrees of freedom system is discretized via the Galerkin method, by taking in-plane and out-of-plane modes as trial function. Two resulting non-homogeneous ordinary differential equations are coupled and contain quadratic and cubic nonlinearities in both velocity and displacement terms. By using multiple scale method for 1:1 internal resonance, a first order amplitude-phase modulation equation, governing the slow dynamic of the cable, is obtained. In this paper the wind speed and the eccentricity of the iced section are set as the control parameters. Without consideration the eccentricity, the value of amplitude is increased as the wind speed is increased. But considering the eccentricity is reduced to firstly increasing and then decreasing the amplitude.

---

In this paper, dynamic modeling, optimal path planning and control scheme on a redundant parallel cable robot is presented. Path planning in parallel robots necessitates the consideration of robot’s kinematics to discern the singularities in the workspace. Also, dynamics analysis is required to consider actuation constraints. To this end, kinematics and dynamics of cable driven redundant parallel robot is derived. In this modeling, cables are assumed to be rigid with negligible mass and hence, tension and sagging along the cable are neglected. Next, a sampling-based algorithm upon rapidly-exploring random tree is developed to increase the convergence rate. In this scheme, distance, epochs and safety are considered as optimization constraints. To evaluate the performance of the proposed algorithm in collision avoidance, a number of obstacles have been considered too. Tracking of the planned path has been handled using a feed-forward controller in the presence of obstacles. Regarding the redundancy feature of robot, a redundancy resolution scheme is considered for optimal force distribution. Path planning and control algorithms are implemented on the RoboCab (ARAS Lab.) and experimental results reveal the efficiency of the proposed schemes.

---

Conventional lateral force resisting systems, dissipate seismic energy through plastic deformation in primary structural members that results in significant damage in buildings. In most cases, repair of these induced damages are impossible from the structural viewpoint, or have not economic justification. Recent research works are to localize the induced damage to specific elements (as fuse, dampers and etc.) without plasticization of primary load-carrying elements that ensure the stability of structure. In steel structures, the self-centering rocking braced system is an innovative type of seismic lateral force resisting systems that is developed with aim to minimize structural damages, residual drifts and enable repair or replace of damaged elements with minor expense after experiencing earthquakes. Steel braced frame with controlled rocking system consists of three primary components: (1) steel braced frame with rigid joints and no connections to base foundation at the column bases that is free to rock cyclically during excitation; (2) post tensioning cables which are connected to the frame top and foundation base in order to provide retreat back or self-centering capability of the system. Expressed mechanism plays an important role in restoration of quake-imposed displacement into its initial position; and (3) the replaceable energy dissipating elements that act as structural fuses to absorb seismic energy through undergoing of inelastic deformations and provide the required ductility of the system prior to instability or collapse. In this type of lateral force resisting systems, the post tensioned cables and the members of the braced frame are design to remain elastic during excitation and provide high stiffness, strength and global stability of the structure with minor local deformations. In this design concept, post tensioned strands are the key members known in providing self-centering capability of the system and occurrence of any plastic deformation in these elements endangers overall stability of system. Probable exceedance of seismic force may result in yield of post-tensioned cables and consequent elimination of restoring functionality of self-centering mechanism. In current research work, the steel material is replaced by carbon fiber reinforced plastic (CFRP) fabric in post tensioning strands, and the consequent effects of proposed substitution is investigated on the behavior of braced frame and linked structural components. The research was conducted on two steel braced frames with controlled rocking system equipped with steel and CFRP cables and the models are analyzed using nonlinear dynamic time history analysis (NLTHA) procedure. The frames are subjected to JMA-Kobe ground motion record, that is scaled to 69%, 100% and 120% intensity groups which corresponds to unit, 1.45 and 1.74 times of maximum considered earthquake (MCE) ground motion level. Extracted results show that using CFRP post tensioned cable instead of steel cables, can protect the system against instability even under 100% Kobe ground motion record scale and leads to a more reliable type of controlled rocking systems. This study also revealed that remaining the CFRP cable on elastic region not only controls the frame lateral displacement, also prevents early failure in fuses under severe earthquakes and ensures the seismic energy dissipating capability of the structure.