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.

This article explores the making of a unified Muslim community in interwar Austria and its ultimate failure. It argues that while the Islamischer Kulturbund Wien represented a visionary idea which aimed at establishing a Muslim community, rooted in both faith and Austrian society, it ultimately remained the dream of only a select few individuals. The association succeeded in strategically positioning itself as the representative body of Muslims in Austria; however, due to a lack of commitment from its members and the rise of fascism in Austria, this early attempt to establish a unified Muslim community in Austria eventually failed. By incorporating unofficial sources in various languages, including private letters, oral history interviews, and newspapers, alongside official archival material, the article amplifies the voice, perspective and agency of key Muslim figures involved, allowing for a more fully developed understanding of the internal and external dynamics of Muslim activism in interwar Vienna.

Confronting environments with low relative humidity is one of the main challenges faced by insects with expanding distribution ranges. Anastrepha ludens (the Mexican fruit fly) has evolved to cope with the variable conditions encountered during its lifetime, which allows it to colonise a wide range of environments. However, our understanding of the mechanisms underpinning the ability of this species to confront environments with low relative humidity is incomplete. In this sense, omic approaches such as transcriptomics can be helpful for advancing our knowledge on how this species copes with desiccation stress. Considering this, in this study, we performed transcriptomic analyses to compare the molecular responses of laboratory-reared A. ludens exposed and unexposed to desiccation. Data from the transcriptome analyses indicated that the responses to desiccation are shared by both sexes. We identified the up-regulation of transcripts encoding proteins involved in lipid metabolism and membrane remodelling, as well as proteases and cuticular proteins. Our results provide a framework for understanding the response to desiccation stress in one of the most invasive fruit fly species in the world.

Multiple copies of a particular clay sealing bearing the Buddhist Bodhigarbhālaṅkāralakṣa-dhāraṇī (mantra) inscription were discovered in Gua Berhala—a cave in Perlis, Malaysia. These sealings can be roughly assigned to the tenth century and they appear to have been stamped with an identical seal. However, critical reading of the textual rendition of the dhāraṇī had not yet been done despite several attempts to study it. Therefore, based on several fragments of these sealings, this article provides a detailed reading and translation of the dhāraṇī and considers the cultural significance of their production. The article also examines the textual structure of this Perlis dhāraṇī and compares it with similar dhāraṇīs preserved in a palm-leaf manuscript and other materials found across Asia. This includes a survey on the wider transmission of the dhāraṇī in the continent. In this comparative exercise, the physical characteristics of the Perlis sealing appear to be unique and express a distinct artistic style, while its textual tradition is slightly compressed compared with others, with no identical equivalent found elsewhere. This observation suggests that Perlis, with its proximity to the Bujang Valley, participated in the wider network of dhāraṇī culture rooted in Eastern India and was just not a passive recipient of this practice.

Exposure to maternal depressive symptoms (MDS) may have a pertinent role in shaping children’s emotional development. However, little is known about how these processes emerge in the early postpartum period. The current study examined the direct and interactive associations between MDS and cry-processing cognitions in the prediction of infant negative emotionality and affective concern. Participants were 130 mother-child dyads (50% female) assessed at three time points. During the second trimester of pregnancy, expectant mothers completed a procedure to assess responses to video clips of distressed infants and reported about MDS. Mothers also reported about MDS at 1- and 3-months postpartum. At age 3 months, infants’ negative emotionality and affective concern responses were observed and rated. We found no direct associations between MDS and both measures of infant emotional reactivity. However, MDS interacted with cry-processing cognitions to predict affective concern and negative emotionality. Overall, MDS were related to increased affective concern and decreased negative emotionality when mothers held cognitions that were more focused on their own emotions in the face of the infant’s cry rather than the infant’s emotional state and needs. Clinical implications for early screening and intervention are discussed.