Collaborative robotics in manufacturing introduces a new era of seamless human–robot collaboration (HRC), enhancing production line efficiency and adaptability. However, guaranteeing safe interaction while maintaining performance objectives presents significant challenges. Integrating safety with optimal robot performance is paramount to minimize task time and ensure its completion. Our work introduces an architecture for safety in confined human–robot workspaces by integrating existing safety and productivity methods into a unified framework specifically designed for constrained environments. By employing an improved artificial potential field, we optimize paths based on length and bending energy and compare baseline algorithms like gradient descent algorithm and rapidly exploring random tree (RRT*). We propose an evaluation metric for system performance that objectively maps to the system’s safety and efficiency in diverse collaborative scenarios. Additionally, the architecture supports multimodal interaction, including gesture-based inputs, for intuitive control and improved operator experience. Safety measures address static and dynamic obstacles using potential fields and safety zones, with a real-time safety evaluation module adjusting trajectories under specified constraints. A performance recovery algorithm facilitates swift resumption of high-speed operations post safety interventions. Validation includes comparing the algorithmic performance through simulations and experiments using the 6-degrees of freedom UR5 robot by universal robots to identify the most suitable algorithm. Results demonstrate an 83.87% improvement in system performance compared to ideal case scenarios, validating the effectiveness of the proposed architecture, evaluation metric, and multimodal interaction in enhancing safety and productivity.

The UK’s Health and Care Act (2022; paused until 2025) includes a globally novel ban on paid-for online advertising of food and beverage products high in saturated fat, salt and sugar (HFSS), to address growing concerns about the scale of digital marketing and its impact in particular on children’s food and beverage preferences, purchases and consumption. This study aimed to understand the potential impact of the novel ban (as proposed in 2020) on specified forms of online HFSS advertising, through the lens of interdisciplinary expertise. We conducted semi-structured interviews via videoconference with eight purposively selected UK and global digital marketing, food and privacy experts. We identified deductive and inductive themes addressing the policy’s scope, design, implementation, monitoring and enforcement through iterative, consensual thematic analyses. Experts felt this novel ‘breakthrough’ policy has potential to substantially impact global marketing by establishing the principle of no HFSS advertising online to consumers of all ages, but they also identified substantive limitations that could potentially render it ‘entirely ineffective’, for example, the exclusion of common forms of digital marketing, especially brand marketing and marketing integrated within entertainment content; virtual/augmented reality, and ‘advertainment’ as particularly likely spaces for rapid growth of digital food marketing; and technical digital media issues that raise significant barriers to effective monitoring and compliance. Experts recommended well-defined regulations with strong enforcement mechanisms. These findings contribute insights for effective design and implementation of global initiatives to limit online HFSS food marketing, including the need for government regulations in place of voluntary industry restrictions.

This article adopts a social constructivist approach to reinvestigate the Song-Liao relations that were manifested in the handscroll Eighteen Songs of a Nomad Flute 胡茄十八拍. Instead of offering a visual analysis of each of the 18 scenes in succession, it will point out the shared cultural practices and connotations of identity in the contrasting depictions of Song urban life and the nomad encampment. It argues that the handscroll probably represents the conservative faction's benevolent attitude towards nomadic tribes in the late Northern Song period, which is also likely to have been associated with the rise of Neo-Confucianism.

After a brief overview of Hans Zell’s publishing output, his own authorship, and that by others he published, I outline and assess his massive contribution to the bibliography and reference works of Africa, to African publishing and knowledge about it, and to associated networks and distribution in the North, as well as forays into the digital realm. In addition, I provide insights into his interaction with African studies librarians in the United States.

This study utilizes U.S. Patent Office data to explore potential improvements in the patent examination process through machine learning. It shows that integrating machine learning with human expertise can increase patent citations by up to 26%. Using machine learning predictions as benchmarks, I find that the early expiration rate of granted patents positively correlates with examiners’ false acceptance rates. These errors negatively impact public companies’ operational performance and reduce successful IPO or M&A exits for private firms. Overall, this study highlights significant social and economic benefits of incorporating machine learning as a robo-advisor in patent screening.

We measured brain activity using a functional magnetic resonance imaging (fMRI) paradigm and conducted a whole-brain analysis while healthy adult Democrats and Republicans made non-hypothetical food choices. While the food purchase decisions were not significantly different, we found that brain activation during decision-making differs according to the participant’s party affiliation. Models of partisanship based on left insula, ventromedial prefrontal cortex, precuneus, superior frontal gyrus, or premotor/supplementary motor area activations achieve better than expected accuracy. Understanding the differential function of neural systems that lead to indistinguishable choices may provide leverage in explaining the broader mechanisms of partisanship.

Sensory neuron membrane protein (SNMP) gene play a crucial role in insect chemosensory systems. However, the role of SNMP in the host searching behaviour of Rhopalosiphum padi (Hemiptera: Aphididae), a highly destructive pest of cereal crops, has not been clearly understood. Our previous research has shown that three wheat volatile organic compounds (VOCs) – (E)-2-hexenol, linalool, and octanal can attract R. padi, but the involvement of SNMP in the aphid’s olfactory response to these wheat VOCs has not to be elucidated. In this study, only one SNMP gene was cloned and characterised from R. padi. The results revealed that the SNMP belongs to the SNMP1 subfamily and was named RpadSNMP1. RpadSNMP11 was predominantly expressed in the antennae of the aphid, with significantly higher expression levels observed in winged forms, indicating that it is involved in olfactory responses of R. padi. RpadSNMP1 expression was significantly up-regulated following starvation, and the expression of this gene showed a decreasing trend after 24 h of aphid feeding. Functional analysis through RpadSNMP1 knockdown demonstrated a significant decrease in R. padi’s ability to search for host plants. The residence time of R. padi injected with dsRpadSNMP1 significantly shortened in response to (E)-2-hexenol, linalool and octanal according to the four-arm olfactometer, indicating the crucial role of RpadSNMP1 in mediating the aphid’s response to these wheat VOCs. Molecular docking suggested potential binding interactions between RpadSNMP1 and three wheat VOCs. Overall, these findings provided evidence for the involvement of RpadSNMP1 in host plant searching and lay a foundation for developing new methods to control this destructive pest.

Despite the tropics harbouring tremendous diversity of species and interspecific interactions, tropical moths as pollinators remain understudied. This review synthesises the available knowledge on the role of nocturnal moths in pollination and their importance in tropical ecosystems. It identifies significant research gaps, methodological challenges, and geographical biases, offering cues for future research. Moths represent crucial pollinators for numerous tropical plants across more than 25 families. In tropical communities, plants with sphingophilous and phalaenophilous flowers account for 4% to 13%, while moth-pollinated plants represent up to 20% of species, highlighting their ecological significance. Current knowledge shows biases and constraints stemming from the challenges of nocturnal research, such as complex moth behaviour, observational difficulties, and equipment limitations in tropical areas. Future research should broaden sampling in understudied tropical ecosystems and combine advanced technologies like video recordings, AI-driven identification, and pollen metabarcoding with detailed studies of nocturnal pollinators’ effectiveness in selected pollination systems. Moreover, such studies should integrate generalised pollination systems and community-level approaches to gather comprehensive datasets on nocturnal pollinators in the tropics. Filling these gaps is critical to understanding moths’ ecological and evolutionary roles, particularly in the context of the changing climate.

In a recent paper, the authors studied the distribution properties of a class of exchangeable processes, called measure-valued Pólya sequences (MVPSs), which arise as the observation process in a generalized urn sampling scheme. Here we present several results in the form of ‘sufficientness’ postulates that characterize their predictive distributions. In particular, we show that exchangeable MVPSs are the unique exchangeable models whose predictive distributions are a mixture of the marginal distribution and the average of a probability kernel evaluated at past observations. When the latter coincides with the empirical measure, we recover a well-known result for the exchangeable model with a Dirichlet process prior. In addition, we provide a ‘pure’ sufficientness postulate for exchangeable MVPSs that does not assume a particular analytic form for the predictive distributions. Two other sufficientness postulates consider the case when the state space is finite.

For decades, in most states with a party registration option, the percentage of voters registering as unaffiliated with a major political party has steadily increased. But who are these registered voters in these polarized partisan times, and why might they register without a major party? We address these questions by drawing on parallel large-N original surveys of registered voters in two southeastern states experiencing a notable rise in registered independents but with different electoral rules for unaffiliated registrants. The closed primary rule in Florida reflects a much greater share of major party registrants versus North Carolina, which has a semi-closed primary rule. Nevertheless, even with these different primary laws, in both states we find that the decision not to register with a major party strongly covaries with identity as a political independent. Hence, registration rules may alter registration patterns, but individuals claiming to be less attached to a major party are markedly more likely to manifest this position by registering unaffiliated.

Sudden annual rises in radiocarbon concentration have proven to be valuable assets for achieving exact-year calibration of radiocarbon measurements. These extremely precise calibrations have usually been obtained through the use of classical χ2 tests in conjunction with a local calibration curve of single-year resolution encompassing a rapid change in radiocarbon levels. As the latest Northern Hemisphere calibration curve, IntCal20, exhibits single-year resolution over the last 5000 years, in this study we investigate the possibility of performing calibration of radiocarbon dates using the classical χ2 test and achieving high-precision dating more extensively, examining scenarios without the aid of such abrupt changes in radiocarbon concentration. In order to perform a broad analysis, we simulated 171 sets of radiocarbon measurements over the last two millennia, with different set lengths and sample spacings, and tested the effectiveness of the χ2 test compared to the most commonly used Bayesian wiggle-matching technique for temporally ordered sequences of samples such as tree-rings sequences, the OxCal D_Sequence. The D_Sequence always produces a date range, albeit in certain cases very narrow; the χ2 test proves to be a viable alternative to Bayesian wiggle-matching, as it achieves calibrations of comparable precision, providing also a highest-likelihood estimate within the uncertainty range.

This article examines Ottoman–Portuguese commercial agreements in Basra during the century after 1622 and the legal ambiguities that they engendered. On two separate occasions, the Portuguese established a factory in Basra: first in 1624 during the reign of the Afrāsiāb pasha (who governed in the name of the Ottomans from 1612 to 1667) and once again in 1690 when the city was ruled again by Ottoman governors (Ottoman direct rule was restored in 1667). Yet there were myriad issues that supplied cause for disputation between the two parties, not least the legal status of the factory itself. On the face of it, both the Portuguese and the Ottoman functionaries in Basra operated according to divergent models of extraterritorial trading privileges. After a century of expansion on the coasts of Africa and the Indian Ocean, the Portuguese had grown accustomed to the model of the factory (feitoria), in both those places in which the Portuguese governed in their own name and those in which they traded at the sufferance of African and Asian rulers. On the other hand, over the course of the sixteenth and seventeenth centuries, the Ottomans had granted so-called capitulations to European powers in the Mediterranean, which were governed by norms that were distinct from the factory model of Africa and Asia. Basra brought these two models into interaction and disrupted the straightforward implementation of either model. Frequent moments of misunderstanding and manoeuvring between the two sides were the result.

Recent governmental figures have demonstrated that the number of students taking an examination in A-Level Music across England has fallen by 41% in eleven years (Ofqual, 2023a). Furthermore, areas with lower POLAR ratings (i.e. historical rates of participation in higher education) and greater levels of deprivation correlate with lower uptake of A-Level Music (Whittaker et al., 2019). These findings have profound implications for equitable access to music education, especially at advanced levels. Against this challenging background, Sandbach School, the Love Music Trust and the Royal Northern College of Music have sought to respond by creating a new partnership approach to A-Level Music. Since September 2019, this specialist course has drawn students together from all over Cheshire whose access to A-Level Music has been geographically limited. Specifically aiming to facilitate progression into higher education, this course provides the young musicians with musical enrichment activities that are additional to the core curriculum, including performance opportunities, advanced musicianship classes, chamber music and instrumental tuition at the Royal Northern College of Music. This article presents a critical discourse analysis of data collected from these students and their teachers, contextualising their experiences within a broader analysis of recent socio-cultural trends and the associated political climate that has impacted on the provision of music education within English schools. Findings point to an important rearticulation of the meaning of ‘Music Hub’, where putting schools at the centre and enriching this provision through strategic partnerships with local ensembles, music services and higher education institutions can build musical cultures and communities that better enable equitable access to high-level music education and progression pathways into higher education.