The authors‘ previous research has demonstrated that parallel mechanisms (PMs) with hybrid branch chains (i.e., branch chains containing planar or spatial loops) can possess symbolic forward position (SFP) solutions and motion decoupling (MD). In order to further study the conditions of a three-chain six degrees of freedom (DOF) parallel mechanism with SFP and MD, this paper proposes one 6-DOF branch chain A and two 5-DOF branch chains B and C. Based on these, a class of four 6-DOF PMs with three branch chains is devised. The symbolic position analysis of three of four such PMs is performed consequently, featuring partial MD and SFPs, which reveals that if the position or orientation of a point on the moving platform can be determined by the position of the hybrid branch chain, the PM exhibits partial MD and SFP. Finally, the accuracy of the symbolized forward and inverse solution algorithms is verified through numerical examples. This research brings a new insight into the design and position analysis of 6-DOF PMs, particularly those with SFP and partial MD.

Emerging reinforcement learning algorithms that utilize human traits as part of their conceptual architecture have been demonstrated to encourage cooperation in social dilemmas when compared to their unaltered origins. In particular, the addition of a mood mechanism facilitates more cooperative behaviour in multi-agent iterated prisoner dilemma (IPD) games, for both static and dynamic network contexts. Mood-altered agents also exhibit humanlike behavioural trends when environmental aspects of the dilemma are altered, such as the structure of the payoff matrix used. It is possible that other environmental effects from both human and agent-based research will interact with moody structures in previously unstudied ways. As the literature on these interactions is currently small, we seek to expand on previous research by introducing two more environmental dimensions; voluntary interaction in dynamic networks, and stability of interaction through varied network restructuring. From an initial Erdos–Renyi random network, we manipulate the structure of a network IPD according to existing methodology in human-based research, to investigate possible replication of their findings. We also facilitated strategic selection of opponents through the introduction of two partner evaluation mechanisms and tested two selection thresholds for each. We found that even minimally strategic play termination in dynamic networks is enough to enhance cooperation above a static level, though the thresholds for these strategic decisions are critical to desired outcomes. More forgiving thresholds lead to better maintenance of cooperation between kinder strategies than stricter ones, despite overall cooperation levels being relatively low. Additionally, moody reinforcement learning combined with certain play termination decision strategies can mimic trends in human cooperation affected by structural changes to the IPD played on dynamic networks—as can kind and simplistic strategies such as Tit-For-Tat. Implications of this in comparison with human data is discussed, and suggestions for diversification of further testing are made.

This paper presents an algorithm for solving the inverse dynamics of a parallel manipulator (PM) with offset universal joints (RR–joints) via the Newton–Euler method. The PM with RR–joints increase the joint stiffness and enlarge the workspace but introduces additional joint parameters and constraint torques, rendering the dynamics more complex. Unlike existing studies on PMs with RR–joints, which emphasize the kinematics and joint performance, this paper studies the dynamical model. First, an iterative algorithm is established through a rigid body velocity transformation, which calculates the input parameters of the link velocity and acceleration. A linear system of equations in matrix form is then established for the entire PM through the Newton–Euler method. By using the generalized minimal residual method (GMRES) to solve the equation system, all the forces and torques on the joints can be obtained, from which the required actuation force can be derived. This method is validated through numerical simulations using the automatic dynamic analysis of multibody systems software. The proposed method is suitable for establishing the dynamic model of complex PMs with redundant or hybrid structures.

Coverage path planning (CPP) is a subfield of path planning problems in which free areas of a given domain must be visited by a robot at least once while avoiding obstacles. In some situations, the path may be optimized for one or more criteria such as total distance traveled, number of turns, and total area covered by the robot. Accordingly, the CPP problem has been formulated as a multi-objective optimization (MOO) problem, which turns out to be a challenging discrete optimization problem, hence conventional MOO algorithms like Non-dominated Sorting Genetic Algorithm-2 (NSGA-II) do not work as it is. This study implements a modified NSGA-II to solve the MOO problem of CPP for a mobile robot. In this paper, the proposed method adopted two objective functions: (1) the total distance traveled by the robot and (2) the number of turns taken by the robot. The two objective functions are used to calculate energy consumption. The proposed method is compared to the hybrid genetic algorithm (HGA) and the traditional genetic algorithm (TGA) in a rectilinear environment containing obstacles of various complex shapes. In addition, the results of the proposed algorithm are compared to those generated by HGA, TGA, oriented rectilinear decomposition, and spatial cell diffusion and family of spanning tree coverage in existing research papers. The results of all comparisons indicate that the proposed algorithm outperformed the existing algorithms by reducing energy consumption by 5 to 60%. This paper provides the facility to operate the robot in different modes.

This article provides a structured description of openly available news topics and forecasts for armed conflict at the national and grid cell level starting January 2010. The news topics, as well as the forecasts, are updated monthly at conflictforecast.org and provide coverage for more than 170 countries and about 65,000 grid cells of size 55 × 55 km worldwide. The forecasts rely on natural language processing (NLP) and machine learning techniques to leverage a large corpus of newspaper text for predicting sudden onsets of violence in peaceful countries. Our goals are a) to support conflict prevention efforts by making our risk forecasts available to practitioners and research teams worldwide, b) to facilitate additional research that can utilize risk forecasts for causal identification, and c) to provide an overview of the news landscape.

Gradual typing integrates static and dynamic typing by introducing a dynamic type and a consistency relation. A problem of gradual type systems is that dynamic types can easily hide erroneous data flows since consistency relations are not transitive. Therefore, a more rigorous static check is required to reveal these hidden data flows statically. However, in order to preserve the expressiveness of gradually typed languages, static checks for gradually typed languages cannot simply reject programs with potentially erroneous data flows. By contrast, a more reasonable request is to show how these data flows can affect the execution of the program. In this paper, we propose and formalize Static Blame, a framework that can reveal hidden data flows for gradually typed programs and establish the correspondence between static-time data flows and runtime behavior. With this correspondence, we build a classification of potential errors detected from hidden data flows and formally characterize the possible impact of potential errors in each category on program execution, without simply rejecting the whole program. We implemented Static Blame on Grift, an academic gradually typed language, and evaluated the effectiveness of Static Blame by mutation analysis to verify our theoretical results. Our findings revealed that Static Blame exhibits a notable level of precision and recall in detecting type-related bugs. Furthermore, we conducted a manual classification to elucidate the reasons behind instances of failure. We also evaluated the performance of Static Blame, showing a quadratic growth in run time as program size increases.

We investigate whether ordinary quantification over objects is an extensional phenomenon, or rather creates non-extensional contexts; each claim having been propounded by prominent philosophers. It turns out that the question only makes sense relative to a background theory of syntax and semantics (here called a grammar) that goes well beyond the inductive definition of formulas and the recursive definition of satisfaction. Two schemas for building quantificational grammars are developed, one that invariably constructs extensional grammars (in which quantification, in particular, thus behaves extensionally) and another that only generates non-extensional grammars (and in which quantification is responsible for the failure of extensionality). We then ask whether there are reasons to favor one of these grammar schemas over the other, and examine an argument according to which the proper formalization of deictic utterances requires adoption of non-extensional grammars.

This paper explores citizens’ stances toward the use of artificial intelligence (AI) in public services in Norway. Utilizing a social contract perspective, the study analyzes the government–citizen relationship at macro, meso, and micro levels. A prototype of an AI-enabled public welfare service was designed and presented to 20 participants who were interviewed to investigate their stances on the described AI use. We found a generally positive attitude and identified three factors contributing to this: (a) the high level of trust in government (macro level); (b) the balanced value proposition between individual and collective needs (meso level); and (c) the reassurance provided by having humans in the loop and providing transparency into processes, data, and model’s logic (microlevel). The findings provide valuable insights into citizens’ stances for socially responsible AI in public services. These insights can inform policy and guide the design and implementation of AI systems in the public sector by foregrounding the government–citizen relationship.

A deployable manipulator has the characteristics of a small installation space and a large workspace, which has great application prospects in small unmanned platforms. Most existing deployable manipulators are designed based on rigid links, whose complexity and mass inevitably increase sharply with increasing numbers of rigid links and joints. Inspired by the remarkable properties of tape springs, this paper proposes novel deployable parallel tape-spring manipulators with low mass, simple mechanics, and a high deployed-to-folded ratio. First, a double C-shaped tape spring is presented to improve the stability of the structure. The combined fixed drive component (CFDC) and combined mobile drive component (CMDC) are designed. Then, novel 2-DOF and 3-DOF deployable translational parallel manipulators are proposed based on the CFDC and CMDC, and their degrees-of-freedom (DOFs), kinematics, and stability are analyzed. The coiled tape spring is regarded as an Archimedean spiral, which can significantly improve the accuracy of kinematic analysis. The correction coefficient of the Euler formula is obtained by comparison with simulation results and experimental results. Furthermore, the stability spaces of the 2-DOF and 3-DOF deployable parallel manipulators are given. Finally, a prototype is fabricated, and experiments are conducted to validate the proposed design and analysis.

A survey of Hong Kong residents finds that public support for government technology, as understood through the concept of smart cities, is associated with concept-awareness and official communications. The statistical analysis identifies moderating effects attributable to personal social media use and controls for personal ideological views about scope of government intervention and perceived political legitimacy of smart city policies. The study builds on a growing body of empirical scholarship about public support for government technology, while also addressing a practical trend in urban governance: the growing sophistication of technologies like artificial intelligence and their use in strengthening government capacities. The Hong Kong case exemplifies ambitious investments in technology by governments and, at the time of the survey, relatively high freedom of political expression. The study’s findings help refine theories about state-society relations in the rapidly evolving context of technology for public sector use.