This paper deals with generally routed, pre-bent cable-driven continuum robots (CCR). A CCR consists of a flexible backbone to which multiple disks are attached. Cables are passed through holes in the disk, and when pulled, the flexible backbone and the CCR can attain different shapes based on their routing and backbone configuration. An optimization-based approach, using minimization of strain energy, is shown to give good results for the pose and motion of the CCR and to determine contact with external objects. The pose, motion, and the contact obtained from the model are shown to match very well with experimental results obtained from a 3D-printed CCR. An algorithm is proposed to generate the pre-bent backbone for a CCR which on actuation can attain the desired shape. Using the algorithm, three 3D-printed CCRs with pre-bent backbones are fabricated and these are used to demonstrate a compliant gripper that can grip a spherical object similar to that done by tentacles, and another three-fingered gripper with straight backbone CCRs is used to orient a square object gripped at the end.

This study sheds light on the largely unknown trajectories of the emergence of Yuan non-Han ancestry in late Qing North China. Focusing on the case of a Yuan Mongol minister's enshrinement, the article argues that the commemoration of non-Han ancestries seems to have been aroused by the two-century-long imperial project of compiling the Gazetteers of the Great Qing Empire, over the course of which the state reiterated extensive surveys of local worthies, chaste women, and martyred loyal subjects, including those from previous dynasties. Importantly, the surveys coincided with the rise of epigraphic studies that featured exhaustive epigraphic fieldwork, which gave rise to the reinterpretation and replication of Yuan epigraphy, rendering Yuan steles one of the most adamant testimonies of ancestral claims. The ancestries classified during the Qing came to coexist with modern ethnic identities classified by the Ethnic Classification Project during the mid-twentieth century.

In the aftermath of the First World War, Henri Verbrugghen founded the first Australian branch of the British Music Society. The BMS – a product of post-First World War cultural renewal – was established in London to ‘champion the cause of British composers at home and abroad’. In Sydney, these aspirations extended to promoting music from Australia, and through affiliation with the International Society for Contemporary Music, music of the rest of the world. This article explores the activities of the Sydney BMS, situating these within contemporary discourses of nationalism and internationalism in the construction of interwar Australian cultural identity. It argues that the sometimes conflicting aims of the society reflect a wider political and social ambivalence about Australia's place in the international landscape. While its primary goal was to champion local composers, this was held in uneasy balance with a desire to promote British music ‘proper’.

MicroRNAs (miRNAs) have emerged as important regulators of lipid metabolism. Recent studies have suggested synbiotics may modulate miRNA expression and lipid metabolism. This study aimed to investigate the effects of synbiotic supplementation on circulating miR-27a, miR-33a and lipid parameters in patients with dyslipidaemia. Fifty-six eligible participants were randomly allocated to receive either synbiotic or placebo sachets twice a day for 12 weeks. Each synbiotic sachet contained 3 × 1010 colony forming unit six species of probiotic microorganisms and 5 g of inulin and fructooligosaccharide as prebiotics. Serum miR-27a and miR-33a expression levels, serum lipids and apolipoproteins, the fecal concentration of short-chain fatty acids (SCFA) and Firmicutes and Bacteroidetes phyla were assessed before and after the study. Real-time PCR was used to determine the relative expression levels of miRNAs. The results showed synbiotic supplementation significantly downregulated the expression levels of miR-27a and miR-33a compared with the placebo group (P = 0·008 and P = 0·001, respectively). Furthermore, the intervention group exhibited significant improvements in serum HDL-cholesterol, small dense LDL (sdLDL-cholesterol), apoA-I and apoB-100 (P = 0·008, P = 0·006, P = 0·003, P = 0·001, respectively). The results showed a significant negative correlation between miR-33a expression levels with HDL-cholesterol, butyrate, propionate and a significant positive correlation with total cholesterol, LDL-cholesterol and sdLDL-cholesterol in the intervention group. Fecal bacteria and SCFA were significantly increased in the intervention group. This study provides evidence that synbiotic supplementation can modulate miR-27a and miR-33a expression and improve lipid metabolism in patients with dyslipidaemia.

The international legal norm that prohibits forcible annexations of territory is foundational to modern international law. It lies at the core of three projects that have been central to the enterprise: (1) to settle title to territory as the basis for establishing state authority; (2) to regulate the use of force across settled borders; and (3) to provide for people within settled borders collectively to determine their own fates. Prohibiting forcible annexations is integral to each of these projects independently, and by tying them together, has had a transformative effect on the legal system as a whole. However, its significance is widely overlooked or misunderstood. Analysts have also largely failed to appreciate that it is now caught up in a broader contest over the future world order and at risk of erosion.

The study of bi- and multilingualism in the ancient Mediterranean has come into its own in recent decades. The evidence is far greater for the Hellenistic and Roman periods than the Classical, so naturally scholarly attention has focussed less on the earlier era. This has led to some enduring notions about bilingualism in the fifth century b.c.e. which are yet to be fully scrutinized, including the idea that a Greek's speaking another tongue was inherently transgressive. What did it mean for a Greek to speak a second language? This article re-evaluates the evidence for individual bilingualism in Herodotus and Thucydides in their fifth-century context, focussed on our two best-documented examples of bilingual Greek individuals (Histiaeus of Miletus and Themistocles of Athens). Close reading of Herodotus and Thucydides suggests that not only does the notion of an inherently transgressive bilingualism hold little water for this period, but bilingualism may even be a sign of μῆτις.

This research aimed to examine the impact of varying levels of dietary copper (Cu) hydroxychloride on the performance, egg quality, yolk antioxidant capacity, tibia traits, and mineral excretion in laying quails. 125 female 10-week-old quails were randomly distributed into five experimental groups with five replicates, each consisting of five quails. Five experimental isonitrogenous and isoenergetic diets were designed to contain different Cu hydroxychloride (54% Cu) levels at 7.20 (basal diet), 15, 30, 45 and 60 mg/kg respectively. Quails were fed with trial diets for 12 weeks. Performance, egg production, eggshell quality, and biomechanical traits of the tibia were not impacted (P > 0.005) by variations in dietary Cu levels. Yolk antioxidant capacity, measured as yolk DPPH value, exhibited an increase (P < 0.01) in the high-dose group (60 mg/kg). Regarding tibia mineral concentration, Cu concentration decreased linearly (P < 0.001) with increasing Cu level, manganese and zinc content recorded the highest values in quails that had received 60 mg/kg Cu in the diet (P < 0.01), while the lowest phosphorus content was described for 45 and 60 mg/kg. Contrarily, increases (P < 0.01) in dietary Cu resulted in raised faecal Cu content, while phosphorus, manganese, and zinc, were reduced when Cu was added. It can be inferred that adding Cu to the diet of laying quails would not be necessary, which in turn decreases Cu excretion and prevents substantial environmental harm.

We investigate different geometrical properties, related to Carleson measures and pseudo-hyperbolic separation, of inhomogeneous Poisson point processes on the unit disk. In particular, we give conditions so that these random sequences are almost surely interpolating for the Hardy, Bloch or weighted Dirichlet spaces.

What are the matters of philosophy? How do they shape how philosophy is practiced, what kinds of knowledge it produces, and who counts as a philosopher? The dominant matters of Western philosophy, or its epistemic companions, are books and journal articles even when dialogic and oral traditions are acknowledged or referenced. In this paper, we argue that alternatives would be necessary if philosophy were to be a more capacious and welcoming discipline. We introduce Feminist Philosophical Toys as one such alternative that challenges what counts as serious philosophy by being seriously playful. The toys foreground the oral and the dialogic while reflecting on and committing to engaging materiality, record-keeping, and record-making. In doing so, the toys challenge the dominant form of philosophy and its mechanics of knowledge-making as they offer an alternative way of doing philosophy that can be transformative for the next generation of feminist scholarship. The dialogic, embodied, and communal interaction with paper, with theory, and with others is meant as a practice of live theorization, opening philosophy to a new groundedness and accessibility, centered in the ethos of feminist epistemology, while at the same time pushing against fetishization of matter.

The Wills Act 1971 and the Intestate Succession Act 1985 embody commorientes rules that are inconsistent, unfair to one of the deceased persons and arguably undermine the expectations of Ghanaians. While the former presumes that a testator predeceases a beneficiary, the latter presumes that the older spouse died before the younger. Though these presumptions are essential for establishing entitlement to property, it would seem that they work to the advantage of one of the parties and to the detriment of the other. Accordingly, the commorientes rules must be modified to include presumptions that are equitable and consistent with the socio-cultural expectations of Ghanaians. This can be achieved by resorting primarily to expectations regarding succession at customary law.

The results of radiocarbon variation studies observed in annual tree rings from the NW Pacific (USA Northwest) (Stuiver and Braziunas 1993) and Europe (England, Brehm et al. 2021; Slovakia, Povinec 1977, 1987) are reviewed with the aim of better understanding the 11-year radiocarbon cycle and possible impacts of solar proton events on 14C levels in the atmosphere and biosphere. The average Δ14C amplitude in tree rings for the period of 1798–1944 was 1.3 ± 0.3‰, the average periodicity was 11 ± 1 years, and the average time shift between the sunspot numbers and Δ14C records was 3 ± 1 years. A new solar activity minimum (Gleissberg minimum, 1878–1933) has been identified in the Δ14C data sets from the NW Pacific and England, showing Δ14C excess of 7‰, comparable to the Dalton minimum (1797–1823). No significant changes in Δ14C levels were identified that could be associated with solar proton events during 1800–1950.

Rhet. Her. 1.2 quoad eius fieri poterit contains the surprising reading quoad eius. Earlier scholarship has debated the authenticity of this reading and its relationship to quod eius. A survey of the sources shows that quod eius appears in a number of inscriptions as well as in the transmitted text of nine passages within surviving Latin literature. So that phrase must be authentic; it appears to have arisen as a limiting formula in the language of the law. In two other passages, quoad eius appears in inferior manuscripts that lack authority, while the reading transmitted by authoritative textual sources is quod eius. Rhet. Her. 1.2 is the only passage in which quoad eius is the transmitted reading. This phrase is also linguistically problematic. Hence it is very likely to be corrupt. It probably arose as a conflation of quod eius with quoad, both of which are attested in similar contexts. On balance, it seems more likely that the original reading in this passage was quoad.