This paper proposes a generalized method for designing tendon-driven serial-chained manipulators with an arbitrary number of tendon redundancy. First, a special class of tendon-driven structures is defined by introducing the controllable block triangular form (CBTF) of a null space matrix and its complementary CBTF of a structure matrix, satisfying physical constraints related to the minimal connection of tendons and to the placement of actuators. Then it is shown that any general design of tendon-driven serial manipulators can be reduced to the design of such a special class of tendon-driven structures. Two associated design problems are derived and solved. The first design problem is about finding a complementary CBTF structure matrix for a given CBTF null space matrix using algebraic relations, whereas the second one seeks the both matrices that optimize the wanted structural characteristics based on the result of the first design problem. Numerical design examples are provided to show the validity of the proposed method.

A prominent theory of political obligation argues that, to avoid the dangers of statelessness (basic needs deprivation, rights violations, and political disenfranchisement) people should establish, maintain, and obey states. This theory underwrites a statist ideal that presents states as the primary guarantors of justice and democracy. I challenge this statist ideal, arguing that statist institutions are ill-equipped to provide full justice, especially for stateless people. I argue that statelessness is a product of the state system’s structure and that eliminating the dangers of statelessness therefore requires challenging the core organising principles of the state system. I conclude that stateless people have broad prima facie moral permissions to resist the state system’s constitutive norms, practices, and institutions; that others may have obligations to support their efforts; and that addressing the dangers of statelessness requires resisting rather than obeying statist institutions. I also offer a corrective to the literature on refugees’ political obligations, illuminating how even obedience to a relatively just state or camp authority can uphold a state system that is unjust overall. I examine these issues in conversation with empirical scholarship on stateless people’s activism, like Hong Kong’s ‘Refugee Occupy’ movement.

Failure mode and effects analysis (FMEA) is a critical but labor-intensive process in product development that aims to identify and mitigate potential failure modes to ensure product quality and reliability. In this paper, a novel framework to improve the FMEA process by integrating generative artificial intelligence (AI), in particular large language models (LLMs), is presented. By using these advanced AI tools, we aim to streamline collaborative work in FMEA, reduce manual effort and improve the accuracy of risk assessments. The proposed framework includes LLMs to support data collection, pre-processing, risk identification, and decision-making in FMEA. This integration enables a more efficient and reliable analysis process and leverages the strengths of human expertise and AI capabilities. To validate the framework, we conducted a case study where we first used GPT-3.5 as a proof of concept, followed by a comparison of the performance of three well-known LLMs: GPT-4, GPT-4o and Gemini. These comparisons show significant improvements in terms of speed, accuracy, and reliability of FMEA results compared to traditional methods. Our results emphasize the transformative potential of LLMs in FMEA processes and contribute to more robust design and quality assurance practices. The paper concludes with recommendations for future research focusing on data security and the development of domain-specific LLM training protocols.

We study the relative $\mathrm {SU}(2,1)$-character varieties of the one-holed torus, and the action of the mapping class group on them. We use an explicit description of the character variety of the free group of rank two in $\mathrm {SU}(2,1)$ in terms of traces, which allow us to describe the topology of the character variety. We then combine this description with a generalization of the Farey graph adapted to this new combinatorial setting, using ideas introduced by Bowditch. Using these tools, we can describe an open domain of discontinuity for the action of the mapping class group which strictly contains the set of convex cocompact characters, and we give several characterizations of representations in this domain.

Verney Lovett Cameron (1844–1894) has now lapsed into relative obscurity, but in the late nineteenth century he was among the premiere British explorers, having established his credentials by completing a transcontinental African expedition (1872–76) from present-day Tanzania to Angola. This article, however, focuses on Cameron's status as the most prolific of a range of explorers who turned to the affordances of prose fiction. Imaginative literature provided supplements or alternatives to the expeditionary narrative that operated outside the parameters of institutional science and were not regulated by the same protocols. Drawing on Gérard Genette's narrative taxonomy of the “sequel” and the “serious transposition,” I argue that Cameron's fiction extended his preoccupations with “commercial geography” and private enterprise while also opening the way to surprising alternative conceptualizations of geographical travel. The Adventures of Herbert Massey (1887) uses fictional adventure to invite capitalist venture and specifically to advertise East Africa as amenable to administration by chartered company. The highly esoteric plot of The Queen's Land (1886), by contrast, offers a geographical allegory that at once celebrates the explorer's expertise and casts expeditions as the source of secret knowledge.

Prompted by the gaps in archival evidence for writing histories of minoritized lives, scholars, archivists, and artists have increasingly adopted speculative archival methods. Shaped by queer temporalities, Black feminist epistemologies, and decolonial approaches, speculative approaches use techniques from narrative fiction to envision and reconstruct the past while acknowledging the limitations of documentary evidence. This essay seeks to expand the potential of fictional character for writing minoritized historical subjects by reexamining the institutionalization of archives in the nineteenth century and their effect on what counts as archival proof. To do so, it looks to the archivist's queer other, the Victorian miser. First, the essay reads Charles Dickens's Our Mutual Friend (1865) to show how the miser's hoarding challenges the desire to cash out an archival find while frustrating the researcher's desire for completeness and depth. Next, it moves on to George Eliot's Silas Marner (1861) to demonstrate the affordances of minor character for speculative knowledge, which has previously relied on the protagonist model for representing absent historical subjects. Through the figure of the miser, this essay embraces opacity and superficial intimacies as valuable approaches to depicting minoritzed figures of the past.

Co-speech gestures accompany or replace speech in communication. Studies investigating how autistic children understand them are scarce and inconsistent and often focus on decontextualized, iconic gestures. This study compared 73 three- to twelve-year-old autistic children with 73 neurotypical peers matched on age, non-verbal IQ, and morphosyntax. Specifically, we examined (1) their ability to understand deictic (i.e., pointing), iconic (e.g., gesturing ball), and conventional (e.g., gesturing hello) speechless video-taped gestures following verbal information in a narrative and (2) the impact of linguistic (e.g., vocabulary, morphosyntax) and cognitive factors (i.e., working memory) on their performance, to infer on the underlying mechanisms involved. Autistic children displayed overall good performance in gesture comprehension, although a small but significant difference advantage was observed in neurotypical children. Findings suggest that combining speech and gesture sequentially may be relatively spared in autism and might represent a way to alleviate the demand for simultaneous cross-modal processing.

This methodological synthesis surveys study and instrument quality in L2 pronunciation research by scrutinizing methodological practices in designing and employing scales and rubrics that measure accentedness, comprehensibility, and intelligibility. A comprehensive coding scheme was developed, and searches were conducted in several databases. A total of 380 articles (409 samples) that employed 576 target instruments and appeared in peer-reviewed journals from 1977 to 2023 were synthesized. Results demonstrated, among other findings, strengths in reporting several listener and speaker characteristics. Areas in need of improvement include (a) more thorough evaluation and reporting of interrater reliability and instrument validity and (b) greater adherence to methodological transparency and open science practices. We conclude by discussing the implications of these findings for researchers and researcher trainers; by raising awareness of methodological and ethical challenges in psychometric research on L2 speech perception; and by providing recommendations for advancing the quality of instruments in this domain.

Calcifying macroalgae play a critical role in coastal ecosystems, but rising sea temperatures pose a significant threat to their survival. This study aims to investigate the thermal sensitivity of the three marine macroalgal species Padina boryana, Halimeda opuntia, and H. macroloba. Photosynthetic performance, metabolism, pigment content, and oxidative stress–related parameters were measured at temperatures of 28°C, 32°C, 36°C, and 40°C and the thermal performance curves (TPCs) were determined for Fv/Fm, Fv/F0, ϕPSII, and oxygen production to assess maximum rate (Rmax), optimum temperature (Topt), critical thermal maximum (CTmax), and thermal safety margin (TSM) of these three macroalgal species. The results showed that 40°C had the most negative effect on all three species with P. boryana demonstrating better performance compared to both Halimeda species. TPCs from photosynthetic performance revealed thermal sensitivity variations by species and P. boryana exhibited a broader thermal tolerance range compared to Halimeda. On the other hand, TPCs of oxygen production provided similar CTmax values. Based on TPC projections, all three species might survive future ocean warming and marine heatwaves, though these conditions will have significant effects, with P. boryana showing greater tolerance than both Halimeda species. This study highlights the differential thermal responses and sensitivities of these macroalgae, contributing to understanding their potential resiliencies under future climate change scenarios.

Regional accent biases in 27 Essex five-year-olds are investigated. This study is the first to analyse implicit language attitudes by measuring children’s neural activity (event-related potentials) while they take part in an Implicit Association Test. Both measures find a preference towards the prestigious accent, Standard Southern British English (SSBE), which is associated with cleverness (CLEVER). A late positive potential in the brain data for the association of the familiar, low-prestige Essex accent with CLEVER suggests the children also have a positive association with their home accent. The association between the less familiar, low-prestige Yorkshire accent and either CLEVER or NOT-CLEVER depends on the measure. Differences in the results are found relating to the children’s accent exposure; those with a more heterogenous group of caretakers show more positive bias towards all three accents overall. Consequences for modelling the development of language attitudes are discussed.

The field of global health law encompasses both “hard” law treaties and “soft” law policies that shape global health norms. Transitioning from “international health law” to “global health law and policy,” global health policymakers have increasingly looked to soft law instruments to address public health needs in a rapidly globalizing world – within the World Health Organization and across global health governance. Yet, as policymakers have expanded the landscape of soft law policy instruments to advance global health across state and non-state actors, the COVID-19 response revealed the limitations of this soft law approach to global health threats, with states now seeking hard law reforms to strengthen global health governance. As hard and soft law can provide complementary approaches to preventing disease and promoting health, future research must conceptualize how these normative frameworks interact in advancing global health.

On June 1, 2024, the World Health Assembly reached consensus on a package of amendments to the 2005 International Health Regulations (IHR). These amendments follow nearly two decades of implementation and an intensive multilateral process prompted by the global struggle against COVID-19. This article critically examines whether the amended IHR reflect lessons learned from the pandemic, potentially ushering in a new era for global health law in pandemic preparedness and response, or if they deflect attention from the need for deeper structural reforms. While the IHR remain the only near-universal legal framework for preventing and addressing the international spread of disease, these amendments emphasize equity and solidarity, and potentially shift the IHR from a technical instrument to one focusing on inherently political issues. This analysis examines key IHR amendments and their implications for the future of global health law, particularly in the context of equity, financing, and implementation.