Heavy-duty hexapod robots are well-suited for physical transportation, disaster relief, and resource exploration. The immense locomotion capabilities conferred by the six appendages of these systems enable traversal over unstructured and challenging terrain. However, tipping can be a serious concern when moving with a tripod gait in these challenging environments, which may cause irreversible consequences such as compromised movement control and potential damage. In this paper, we focus on heavy-duty hexapod robot sideline tipping judgment and recovery during tripod gait motion, and a novel sideline tipping judgment and recovery method is proposed by adjusting an optimal swinging leg to the stance state. Considering the locomotion environments, motion mode, and tipping analysis, the robot’s stability margin is quantified, and the tipping event is evaluated by the Force Angle Stability Measure (FASM). The recovery method is initiated upon detecting that the robot is tipping, which involves the selection of an adjustment leg and the determination of an optimal foothold. Since the FASM is based on the foot force and robot center of gravity (CoG), the stability margin quantification expression is reformulated to the constraint form of quadratic programming (QP). Furthermore, a foot force distribution method, integrating stability margin considerations into the QP model, has been devised to ensure post-adjustment stability of the landing leg. Experiments on tipping judgment and recovery demonstrate the effectiveness of the proposed approaches on tipping judgment and recovery.

In this paper, we provide a general framework for counting geometric structures in pseudo-random graphs. As applications, our theorems recover and improve several results on the finite field analog of questions originally raised in the continuous setting. The results present interactions between discrete geometry, geometric measure theory, and graph theory.

This article seeks to provide further insights into understanding the construction of Chinese identity by bringing the West/white into the picture of Afro-Sino racial relationships. It contends that the Chinese have internalized Western/white superiority through a long historical process, starting with the Western invasion in the 19th century and continuing with the construction of the contemporary historical narrative of the “century of humiliation.” This internalization and its ramifications can be observed in Chinese public discourses as well as diplomatic practices. Together with Western/white superiority, the Chinese also adopted a social Darwinist, competitive world view, using Western modernity as the yardstick by which to rank different peoples and societies in a racial hierarchy. Chinese racism against Africans is thus a projection of a harsh self-judgement. Unlike white supremacy in Western racial thinking, “Chinese supremacy” is often coupled with an inferiority complex.

Chapter Four of Daniel Laqua's Activism across Borders, on “Class, Revolution and Social Justice”, opens stimulating avenues for reflection with its cross-partisan approach, over an ambitious chronological span – from the post-1848 wave of revolutionary exile to the contemporary global justice movement. From the perspective of a historian of pre-1914 transnational anarchism, this brief review essay considers three prominent aspects of this chapter: historiographic perspectives on socialist activisms; the modalities of transnational activism; and borders and boundaries.

Given the full shift over a countable state space on a countable amenable group, we develop its thermodynamic formalism. First, we introduce the concept of pressure and, using tiling techniques, prove its existence and further properties, such as an infimum rule. Next, we extend the definitions of different notions of Gibbs measures and prove their existence and equivalence, given some regularity and normalization criteria on the potential. Finally, we provide a family of potentials that nontrivially satisfy the conditions for having this equivalence and a nonempty range of inverse temperatures where uniqueness holds.

This paper examines the career mobility and performance evaluation of the leaders of China's state-owned enterprises (SOEs) at the central, provincial and prefectural levels. Using data on executive turnover within publicly listed SOEs, we find that central and local SOE leaders have a similar career flow pattern. Specifically, vertical mobility within the same business group is common and more than 60 per cent of SOE leaders leave their office within three years. Only a minority of SOE leaders achieve political promotion. We also find that performance evaluation criteria are different across central and local SOEs. The leaders who provide better economic outcomes for central SOEs obtain a higher evaluation score, while close political connections boost the promotion prospects of local SOE leaders. Overall, our findings provide granular evidence on the personnel management of China's SOEs from a comparative perspective.

This article attends to the emergence of musique concrète as a theoretical object in Pierre Schaeffer’s writing between 1941 and 1952, seeing it as the logical endpoint of Schaeffer’s quest for an art proper to the radio. In this strong sense of the word, art is here positioned in opposition to entertainment, and as such Schaeffer seeks to separate the properly radiophonic from the impure, mercenary forms that radio had hitherto adopted. Schaeffer’s account of musique concrète follows this logic, seeking to cast off the vestiges of radio drama that remain audible in such works as Symphonie pour un homme seul. By way of conclusion, I suggest that grasping the entanglement of musique concrète with mass-cultural forms such as radio requires a mode of reading oriented not towards formalism or sonic ontology but towards the figure of the text.

The present article analyzes the use of preposition stranding (the world which we live in) and pied-piping (the world in which we live) in finite WH-relative clauses in twelve varieties of English. In the light of previous studies, it assumes that the strength of processing constraints and formality effects that drive speakers’ constructional choices should correlate with Dynamic Model stages (Schneider 2007). However, drawing on data from the International Corpus of English (ICE) and using mixed-effects logistic regression analysis, the study shows that processing factors affect speakers of all Dynamic Model stages in a very similar way. At the same time, clear differences between variety stages are observed with respect to formality and topic, which strongly affect Phases IV and V but not Phase III. These results are interpreted from a Usage-based Construction Grammar perspective.