In 2016, Colombia’s Constitutional Court recognized the Atrato River as the first water body in Latin America to have its own rights. This article interrogates the historical roots of the judicial decision declaring the river a rights holder. Drawing on my long-term engagement with social organizations as an activist, lawyer, and then researcher, I illuminate the influence of Black people from the Atrato River in the transformation of law in at least three areas: ethnic territorial rights, transitional justice, and river rights. To do so, I combine interdisciplinary theoretical critique with socio-legal research using community-based and autoethnographic approaches to trace the community methods and historical practices of political contestation deployed along the rivers. Thus, I conceptualize how an organic and distinctive style of claiming and creating rights has been constructed in the basin. Moreover, by listening to the voices of the riverine representatives, I argue that the river is a nonhuman existence that has participated in the processes of rights-making in conjunction with local communities and a broader mosaic of allied actors. However, I also outline how legal systems still function to overlook crucial socio-legal claims of marginalized and resistant communities.

Chong (2017) claims that a derived environment process is productive to the extent that it is supported by phonotactics. The present study tests this claim by comparing variable patterns observed in Korean vowel harmony of suffix alternation with vowel co-occurrence restrictions in the lexicon. A corpus study replicated findings of previous studies that the harmony in suffix alternation is losing productivity, conditioned by the quality of the stem vowel, the number of intervening consonants between the vowels and the stem class. Phonotactic generalisations in vowel sequences matched such tendencies in the alternation in that harmony was feeble in phonotactics and that some of the factors that modulate the harmony in alternation were found to affect the harmony in phonotactics as well. The findings generally support Chong’s claim that lack of phonotactic support for an alternation makes it harder to learn.

Gas turbine engine starting models require a lot of calibration to represent reality with acceptable accuracy due to the lack of high-quality component rig data in the sub-idle region. A detailed sensitivity study is presented in this paper to guide such calibration efforts. A thermodynamic component-matching type transient model of a single-spool turbojet engine with shaft and heat-soakage dynamics is employed for this purpose. Turbomachinery component maps are extended to sub-idle using an in-house map smoothing tool and the strategies presented by Kurzke recently. These extension strategies make use of the correlations hidden in the already available regions of the maps and ensure physical consistency. However, they contain some uncertainty, even when an experimentally obtained zero-speed line is available. Combustor sub-idle efficiency, stability limits, and delay are taken from the literature. Due to the chaotic nature of a combustor in the sub-idle region, a precise prediction of the combustor efficiency seems impossible. Effects of uncertainties related to sub-idle turbomachinery map extensions, burner efficiency, and heat soakage are investigated in this paper. Two popular fuel control strategies are employed and compared to see how controls deal with these uncertainties. It is concluded that turbomachinery torque characteristics and turbine capacities are the most important parameters when calibrating a starting model with a control based on rotational acceleration while burner efficiency and heat soakage are added on top of these with a control based on fuel flow rate.

This work investigates the use of a fuzzy logic controller (FLC) for two-wheeled differential drive mobile robot trajectory tracking control. Due to the inherent complexity associated with tuning the membership functions of an FLC, this work employs a particle swarm optimization algorithm to optimize the parameters of these functions. In order to automate and reduce the number of rule bases, the genetic algorithm is also employed for this study. The effectiveness of the proposed approach is validated through MATLAB simulations involving diverse path tracking scenarios. The performance of the FLC is compared against established controllers, including minimum norm solution, closed-loop inverse kinematics, and Jacobian transpose-based controllers. The results demonstrate that the FLC offers accurate trajectory tracking with reduced root mean square error and controller effort. An experimental, hardware-based investigation is also performed for further verification of the proposed system. In addition, the simulation is conducted for various paths in the presence of noise in order to assess the proposed controller’s robustness. The proposed method is resilient against noise and disturbances, according to the simulation outcomes.

This article explores the socio-ecological impacts of Fascist hydropower extraction in the Alpine valleys of Italy, focusing on the Toce river basin during the interwar period. It investigates the conflicts between local communities and hydropower initiatives by private energy companies under Fascism, thereby revealing the regime's communication strategies rooted in its political ecology. By analysing newspaper articles, propaganda outlets and communal archival documents, the study uncovers statal and local perspectives on infrastructure development and its enduring consequences. How the political ecology of Fascism in a high-altitude hydropower construction site became an expression of Fascist modernity will thereby be shown. Despite objections from valley inhabitants, Fascist hydropower projects persisted, perpetuating socio-ecological inequalities after 1945. Even postwar efforts for compensation failed to address the long-lasting impacts on mountain communities. This research reveals the intersection of political ecology and modernist infrastructure development in Mussolini's Italy, and thus also highlights the legacies of Fascist resource extraction policies on the country's peripheral Alpine regions.

During the last decades, political distrust has seemingly become a common trend across Latin American democracies, however, differences in the levels of confidence among groups have also been identified. This article considers the potential effects of ethno-racial structures and their interactions with other forms of socioeconomic inequalities on political trust. Building on data from four waves of the Latinobarometer project and contextual measures from different sources, we analyze these relations and find that both socioeconomic and ethno-racial inequalities affect political trust and impact on the formation of different relations with the political system across Latin America. Furthermore, in particular it is found that at the individual-level interactions between inequalities shape political trust differently depending on the particular ethno-racial identification. These findings contribute to the understanding of ethnicity and race and its associations with other structural inequalities in shaping mass political culture.

This paper addresses the retirement income planning problem from the perspective of the four main building blocks of retirement income: state pension, mortality credits, investment strategies, and drawdown schedules. We detail how these building blocks interact to form a retiree's overall retirement income portfolio, and what trade-offs and interactions must be considered. We find that while access to each building block increases the retiree's certainty equivalent consumption, the most substantial contributor to this increase is from utilization of the mortality credit building block (i.e., annuities).

This article challenges the common assumption that the partisan identification of bureaucratic elites is fixed over time. Building on principal-agent and organization theory, we hypothesize that bureaucratic elites may respond to political turnover by adjusting their partisan identification toward that of their (new) elected principals. We test this prediction using data from the American State Administrators Project (ASAP) over the 1964–2008 period, which allows us to study the same US agency leaders (N=951 individuals) before and after partisan shifts in their agency’s elected principals. We find significant evidence that agency leaders remaining in office following a shift in the party in power on average reorient their partisan identity in response to such turnover events. These adjustments are stronger for agency leaders directly appointed by, or in more frequent contact with, their elected principals. Our results suggest a malleability of partisanship seldom attributed to bureaucratic elites in public and academic discourse.

In this study, we present a hybrid kinematic modeling approach for serial robotic manipulators, which offers improved accuracy compared to conventional methods. Our method integrates the geometric properties of the robot with ground truth data, resulting in enhanced modeling precision. The proposed forward kinematic model combines classical kinematic modeling techniques with neural networks trained on accurate ground truth data. This fusion enables us to minimize modeling errors effectively. In order to address the inverse kinematic problem, we utilize the forward hybrid model as feedback within a non-linear optimization process. Unlike previous works, our formulation incorporates the rotational component of the end effector, which is beneficial for applications involving orientation, such as inspection tasks. Furthermore, our inverse kinematic strategy can handle multiple possible solutions. Through our research, we demonstrate the effectiveness of the hybrid models as a high-accuracy kinematic modeling strategy, surpassing the performance of traditional physical models in terms of positioning accuracy.

Scholars commenting on the reception of the historian and theorist ‘Abd al-Raḥmān Ibn Khaldūn (1332–1406) in modern South Asia have held that it was orientalists and Westernised intellectuals rather than indigenous intellectuals who popularised him in the region. Contesting these impressions, I argue that local intellectuals displayed their agency in using the historian's work to respond to various crises of colonial modernity. They read, translated, and appropriated Ibn Khaldūn to seek inspiration for modern Muslim nationalism, as validation for sectarian convictions and the rhetoric of Islamic reform, and to resist colonial and Hindu revivalist narratives of despotic Muslim rule in India.

This study provides insights into the roles played by perceived stress and social support in the relationship between cumulative risk exposure (CRE) and adolescent emotional distress. Preregistered longitudinal moderated mediation analyses were used to test hypotheses relating to the association between CRE and later emotional distress; the mediating role of perceived stress in the relationship between CRE and later emotional distress; and, the moderating effects of peer and adult-level family support on the relationship between CRE and later perceived stress, among N = 19,159 adolescents over three annual waves (at ages 11/12, 12/13, 13/14). Analyses revealed that CRE significantly predicted later adolescent emotional distress. This relationship was partially mediated by perceived stress. Both peer and adult-level family support significantly moderated the impact of CRE on later perceived stress (i.e., adolescents reporting higher levels of support perceived significantly lower levels of stress resulting from CRE compared to those reporting lower levels of support). These findings provide critical empirical evidence of the roles played by perceived stress and social support in the relationship between CRE and adolescent emotional distress, with consequent implications for intervention.

This paper introduces a simplified matrix method for balancing forces and moments in planar parallel manipulators. The method resorts to Newton’s second law and the concept of angular momentum vector, yet it is not necessary to perform the velocity and acceleration analyses, tasks that were normally unavoidable in seminal contributions. With the introduction of natural matrices, the proposed balancing method is independent of the time and the trajectory generated by the moving links of parallel manipulators. The effectiveness of the method is exemplified by balancing two planar parallel manipulators.

Italy's prison overcrowding became world news in early March 2020, when the COVID-19 outbreak sparked riots in prisons across the country, causing the death of 13 inmates. As a crisis narrative, the COVID-19 pandemic made visible the deep, ongoing crisis of Italy's prison system and disclosed new conditions for critical thought on the restorative potential of the penitentiary system. This article first describes the impact of COVID-19 on Adriano Sofri's ‘no prison’ writings, starting from his column in Il Foglio on the prison uprisings in March that followed the announcement of the anti-COVID measures; it subsequently analyses the Italian response to the pandemic from an internal, practitioner-led perspective. By offering both a dialectic and an immanent perspective, it aims to develop new ways of understanding the detention system and enhance the social credibility of the penitentiary system in Italy beyond the constraints of COVID and the emergency logic.

The authors have studied models and control methods for legged robots without having active ankle joints that can not only walk efficiently but also stop and developed a method for generating a gait that starts from an upright stationary state and returns to the same state in one step for a simple walker with one control input. It was clarified, however, that achieving a perfect upright stationary state including zero dynamics is impossible. Based on the observation, in this paper we propose a novel robotic walker with parallel linkage legs that can return to a perfect stationary standing posture in one step while simultaneously controlling the stance-leg motion and zero-moment point (ZMP) using two control inputs. First, we introduce a model of a planar walker that consists of two eight-legged rimless wheels, a body frame, a reaction wheel, and massless rods and describe the system dynamics. Second, we consider two target control conditions; one is control of the stance-leg motion, and the other is control of the ZMP to stabilize zero dynamics. We then determine the control input based on the two conditions with the target control period derived from the linearized model and consider adding a sinusoidal control input with an offset to correct the resultant terminal state of the reaction wheel. The validity of the proposed method is investigated through numerical simulations.

Open rotors can play a critical role towards transitioning to a more sustainable aviation by providing a fuel-efficient alternative. This paper considers the sensitivity of an open-rotor engine to variations of three operational parameters during take-off, focusing on both aerodynamics and aeroacoustics. Via a sensitivity analysis, insights to the complex interactions of aerodynamics and aeroacoustics can be gained. For both the aerodynamics and aeroacoustics of the engine, numerical methods have been implemented. Namely, the flowfield has been solved using unsteady Reynolds Averaged Navier Stokes and the acoustic footprint of the engine has been quantified through the Ffowcs Williams-Hawking equations. The analysis has concluded that the aerodynamic performance of the open rotor can decisively be impacted by small variations of the operational parameters. Specifically, blade loading increased by 9.8% for a 5% decrease in inlet total temperature with the uncertainty being amplified through the engine. In comparison, the aeroacoustic footprint of the engine had more moderate variations, with the overall sound pressure level increasing by up to 2.4dB for a microphone lying on the engine axis and aft of the inlet. The results signify that there is considerable sensitivity in the model and shall be systematically examined during the design or optimisation process.

In the West Asia region, the vulnerability of Ramsar Convention wetlands due to unsustainable utilization driven by water scarcity continues to grow. Here, a global surface water product generated by the European Joint Research Centre was used to assess changes in surface water in 77 wetlands listed under the Ramsar Convention over a 37-year period (1984–2021). By combining this product with a quantitative valuation model, estimates were made of the economic value of the ecosystem services provided by these wetlands, enabling the determination of the economic losses resulting from any reduction in surface water. We show that 20% (7550 km2) of permanent surface waters in Ramsar sites have disappeared or are no longer classified as permanent. Based on this, USD 106 billion of the economic value of wetlands ecosystem services have been lost. Additionally, 33% (12 100 km2) of seasonal surface waters in these wetlands have experienced a decrease in area. Iran and Iraq account for 90% of water losses, primarily in 34 wetlands (30 in Iran and 4 in Iraq). These findings underscore the urgent need for water management policies and conservation strategies in the West Asia region.