Structural Time Series Models and the Kalman Filter

The invention provides a fastening device, for the "uppers" of articles of footwear, having an elongated bridge member, a pair of cranks journalled on the bridge member at respective points along its length for pivotal movement in the direction of elongation of the bridge member, and means rotatably mounted on each crank at a spacing from its journal for coupling the crank to a respective one of two portions of the upper.