In order to resolve redundancy and path planning of a high DOF mobile manipulator using conventional approaches like Jacobian and a pseudoinverse method, researchers face the limitation of computational load and delay in response. If such kind of mobile manipulator is traversing the rough terrain, then conventional methods become too costly to implement due to the handling of redundant joints, obstacles, and wheel-terrain interaction. A few optimization-based redundancy resolution approaches try incorporating wheel-terrain interaction but fail in real-time response. This paper describes a 14 DOF Rover Manipulator System’s end-effector path-tracking approach using CG-Space framework to incorporate wheel-terrain interaction. CG-Space means the center of gravity (CG) locus of the Rover. The Rover’s CG is calculated while traversing over 3D terrain using a multivariable optimization method and a 3D point cloud image of the actual terrain and stored as CG-Space over the given terrain. First of all, we decide which part of the system moves to track the path, that is, arm or Rover, depending upon the manipulator’s work volume and manipulability measure restrictions. The next task is to obtain the Rover pose according to the end-effector path using a simple arm’s inverse kinematic solution between the CG-Space and end-effector task space without resolving redundancy. Meanwhile, obstacles and non-traversable regions are avoided in CG-Space. On diverse 3D terrains, simulation and experimental results support the suggested CG-Space framework for end-effector tracking.

In decentralized systems, citizens struggle to identify which level of government provides local goods. This problem is particularly salient in weakly institutionalized party environments, where politicians at different levels of government are less likely to benefit from partisan coattail effects. This article asks how citizens attribute credit for local public goods. I argue that citizens have a strong tendency to attribute credit to local politicians. As a result, citizens will respond differently to credit-claiming behavior by local and national politicians. Local politicians experience a ceiling effect, in which credit claiming has no effect on how citizens attribute credit. However, national politicians have no such ceiling and can claim credit to increase the likelihood that citizens will attribute credit to them. As a result, both political actors can receive credit for the same local goods. The article tests and supports these theoretical predictions using a vignette survey experiment in Colombia.

This article will address the transfer of religious knowledge in two north-western European cities from a spatial perspective. Our starting point will be the thesis that immobile knowledge in closed places of knowledge (lieux de savoir) does not exist: (religious) knowledge only becomes functional in the dynamic encounter with users and it is disseminated through social networks. This approach, which involves the movement from closed spaces to processes and practices, also entails a questioning of outdoor and indoor spaces; of private and public spaces. The article will take its start from several case-studies of indoor public spaces, the transmission of religious knowledge and social networks, based on documentation from Deventer in the northern Low Countries and Amiens on the border of the southern Low Countries and France.

Protests differ and so do protest outcomes. This is also the case in food delivery gig work, which is characterised by frequent labour unrest. Various cross-country analyses have pointed to the importance of the national context for the strategies and outcomes of courier protests. However, as the article shows, the protests already differ at the level of different cities. To analyse this, the study argues that the heterogeneity of protests in platform-mediated courier work is due to the spatially distinct logic of the respective cities. The research is based on two case studies of food delivery platforms in Germany, which were investigated with a mixed methods research design consisting of interviews, multi-sited ethnography and a survey. The findings show that the intrinsic logic of the two centres of courier protests studied (Cologne and Berlin) played a central role in the composition of the protesting groups, their strategies and subsequently the outcomes. However, it turns out that intrinsic logics are not homogeneous and in fact may exist in various forms, which can be complementary or in conflict with each other and are supported and realised by different social groups. In addition, the size of the cities also proves to be decisive for the dynamics of the protests.

The seedcorn maggot, Delia platura (Meigen) (Diptera: Anthomyiidae), is reported as a polyphagous pest species found in numerous crops, including onion, corn, crucifers, and soy. Two morphologically identical genetic lines of D. platura (H- and N-lines) with distinct distribution ranges were recently discovered. Although many biological traits have been described for D. platura, no study to date has been conducted on the life history strategies and reproductive behaviours of its two lines. Using laboratory-reared colonies, this project investigates the effect of group composition (sex ratio and density) on the mating success and preoviposition period of the two D. platura lines. We found a substantial increase in mating success with increasing proportion of males within mating groups for both lines, whereas we found group density had negligible effects. However, the H-line had a lower average mating probability across treatments compared to the N-line. The preoviposition period decreased as the ratio of males to female increased at low density only for the N-line, and the opposite trend was observed at high density for both lines. These results suggest differences between the mating systems of these two lines, thereby highlighting the need for further research into the factors that influence their respective mating systems.

The objectives of this feasibility study were to measure the prevalence of nutrition risk in community-dwelling older adults (CDOA, ages ≥ 65 years) and explore the perspectives of CDOA of the acceptability, value, and effectiveness of nutrition risk screening in primary care and community settings. Using the Seniors in the Community: Risk Evaluation for Eating and Nutrition (SCREEN)© eight-item tool (n = 276), results indicated that moderate and high nutrition risks affected 50 per cent and 8 per cent, respectively, of those screened. Interviewees (n = 16) agreed that screening is acceptable, important, and valuable (Theme One). Effectiveness was unclear, as only 3 of 16 respondents recalled being told their nutrition risk status. When articulating nutrition-related issues, a food security theme, expressed in the third person, was prominent (Theme Two). Screening for nutrition risk and receiving nutrition information in community-based settings are acceptable to CDOA and medically necessary, as evidenced by the high proportion of CDOA at moderate-high nutrition risk.

Our focus in this article concerns Leibniz's views on evil. Our goal is to examine which are the consequences of his conception of moral agency for the moral psychology of the genuinely evil person. For Leibniz, moral failure is an epistemic error since it involves some false practical judgement. Moral maxims may be represented in blind or symbolic cognitions, but then moral agents can misrepresent the evil consequences of their behaviour. Finally, we discuss Leibniz's view on habits that may help virtuous persons strive for perfection but also enable evil persons to continue sinning.

Molecular techniques are an alternative for the diagnosis of strongyloidiasis, produced by Strongyloides stercoralis. However, it is necessary to determine the best amplification target for the populations of this parasite present in a geographical area and standardize a polymerase chain reaction (PCR) protocol for its detection. The objectives of this work were the comparison of different PCR targets for molecular detection of S. stercoralis and the standardization of a PCR protocol for the selected target with the best diagnostic results. DNA extraction was performed from parasite larvae by saline precipitation. Three amplification targets of the genes encoding ribosomal RNA 18S (18S rDNA) and 5.8S (5.8S rDNA) and cytochrome oxidase 1 (COX1) of S. stercoralis were compared, and the PCR reaction conditions for the best target were standardized (concentration of reagents and template DNA, hybridization temperature, and number of cycles). The analytical sensitivity and specificity of the technique were determined. DNA extraction by saline precipitation made it possible to obtain DNA of high purity and integrity. The ideal target was the 5.8S rDNA, since the 18S rDNA yielded non-reproducible results and COX1 never amplified under any condition tested. The optimal conditions for the 5.8S rDNA-PCR were: 1.5 mM MgCl2, 100 μM dNTPs, 0.4 μM primers, and 0.75 U DNA polymerase, using 35 cycles and a hybridization temperature of 60 °C. The analytical sensitivity of the PCR was 1 attogram of DNA, and the specificity was 100%. Consequently, the 5.8S rDNA was shown to be highly sensitive and specific for the detection of S. stercoralis DNA.