This paper investigates a closed-loop visual servo control scheme for controlling the position of a fully constrained cable-driven parallel robot (CDPR) designed for functional rehabilitation tasks. The control system incorporates real-time position correction using an Intel RealSense camera. Our CDPR features four cables exiting from pulleys, driven by AC servomotors, to move the moving platform (MP). The focus of this work is the development of a control scheme for a closed-loop visual servoing system utilizing depth/RGB images. The developed algorithm uses this data to determine the actual Cartesian position of the MP, which is then compared to the desired position to calculate the required Cartesian displacement. This displacement is fed into the inverse kinematic model to generate the servomotor commands. Three types of trajectories (circular, square, and triangular) are used to test the controller’s compliance with its position. Compared to the open-loop control of the robot, the new control system increases positional accuracy and effectively handles cable behavior, various perturbations, and modeling errors. The obtained results showed significant improvements in control performance, notably reduced root mean square error and maximal error in terms of position.

CEOs who develop strong clan values as a result of exposure to clan culture in early life wish to bring honor to their clan, motivating them to engage in increased CSR activities. We propose that the influence of CEOs' clan values on CSR is subject to contextual boundaries. Specifically, we predict that the positive relationship between CEOs' clan values and CSR results primarily in an improved level of institutional CSR and varies with CEOs' personal attributes such as overseas experience and hometown identity. An analysis of a longitudinal sample of Chinese publicly listed firms for 2010–2019 provides strong support for our predictions. The implications for upper echelons theory and CSR research are discussed.

Oysters have unique life history strategies among molluscs and a long history in the fossil record. The Ostreid form, particularly species from the genus Crassostrea, facilitated the invasion into intertidal, estuarine habitats and reef formation. While there is general acknowledgement that oysters have highly variable growth, few studies have quantified variability in oyster allometry. This project aimed to (1) describe the proportional carbonate contributions from each valve and (2) examine length–weight relationships for shell and tissue across an estuarine gradient. We collected 1122 C. virginica from 48 reefs in eight tributaries and the main stem of the Virginia portion of the Chesapeake Bay. On average, the left valve was responsible for 56% of the total weight of the shell, which was relatively consistent across a size range (24.9–172 mm). Nonlinear mixed-effects models for oyster length–weight relationships suggest oysters exhibit allometric growth (b < 3) and substantial inter-reef variation, where upriver reefs in some tributaries appear to produce less shell and tissue biomass on average for a given size. We posit this variability may be due to differences in local conditions, particularly salinity, turbidity, and reef density. Allometric growth maximizes shell production and surface area for oyster settlement, both of which contribute to maintaining the underlying reef structure. Rapid growth and intraspecific plasticity in shell morphology enabled oysters to invade and establish reefs as estuaries moved in concert with changes in sea level over evolutionary time.

Rainbow trout (Oncorhynchus mykiss) is a promising cultivable fish species with significant potential for expansion. As a cold-water fish belonging to the Salmonidae family, it requires an optimal temperature range of 10–15°C for optimal growth. This study explores a method for producing sterile rainbow trout with maximum survival rates by using heat shock treatment to enhance growth characteristics and improve aquaculture practices. A control group and four heat shock treatments were given at 26°C and 28°C for 10 min, applied 15 and 20 min after the mixing of eggs and milt, using a water bath. Among the treated groups, the highest fertilisation, hatching and yolk sac absorption rates were 90.3 ± 0.3%, 81.8 ± 0.8% and 83.9 ± 0.5%, respectively. The highest triploidy rate of 76.6 ± 3.3% was observed with a heat shock at 28°C, 20 min after fertilisation. In contrast, none of the fish from the control group were triploids. The control group demonstrated higher survival rates at fertilisation (93.1 ± 0.4%), hatching (84.2 ± 0.4%) and complete yolk sac absorption (86.2 ± 0.5%) compared to the heat-shocked groups. The diploid and triploid chromosome numbers in rainbow trout were determined to be 2n = 60 and 3n = 91, respectively. This study confirms that heat shock treatment can effectively induce triploidy in rainbow trout, with significant variations in triploidy rates depending on the temperature and timing of the shock. While heat shock can enhance the production of sterile fish, it is essential to balance the treatment parameters to maintain high survival rates. These findings contribute to the optimisation of triploidy induction techniques and support the advancement of aquaculture practices by improving the growth, management and survival rates of rainbow trout which could significantly benefit aquaculture efficiency and sustainability.

In 1478 a Byzantine courtier-turned-monk named George Sphrantzes related in a work conventionally called the Chronicon Minus the story of his life and times in the decades before and after the Ottoman conquest of Byzantium. The work's English translator, Marios Philippides, notes in his introduction that ‘students of history, sociology, and literature will find passages of interest in Sphrantzes’ account. In addition to its immense value as a historical testimony, Sphrantzes’ narrative is a linguistic document of great significance to the study of the evolution of the modern Greek language.’ (This latter point refers to Sphrantzes’ fifteenth-century idiom, very different from the classicizing or Atticizing style of pre-conquest Greek historiography.)1 Philippides’ approach reflects typical historiographical praxis in modern scholarship: a source text is strip-mined for those facts for which the empiricist historian is searching, and the rest is ignored or derided as superfluous.

The estimation of workspace for parallel kinematic machines (PKMs) typically relies on geometric considerations, which is suitable for PKMs operating under light load conditions. However, when subjected to heavy load, PKMs may experience significant deformation in certain postures, potentially compromising their stiffness. Additionally, heavy load conditions can impact motor loading performance, leading to inadequate motor loading in specific postures. Consequently, in addition to geometric constraints, the workspace of PKMs under heavy load is also constrained by mechanism deformation and motor loading performance.

This paper aims at developing a new heavy load 6-PSS PKM for multi-degree of freedom forming process. Additionally, it proposes a new method for estimating the workspace, which takes into account both mechanism deformation and motor loading performance. Initially, the geometric workspace of the machine is predicted based on its geometric configuration. Subsequently, the workspace is predicted while considering the effects of mechanism deformation and motor loading performance separately. Finally, the workspace is synthesized by simultaneously accounting for both mechanism deformation and motor loading performance, and a new index of workspace utilization rate is proposed. The results indicate that the synthesized workspace of the machine diminishes as the load magnitude and load arm increase. Specifically, under a heavy load magnitude of 6000 kN and a load arm of 200 mm, the utilization rate of the synthesized workspace is only 9.9% of the geometric workspace.

Pentecostal charismatic churches that preach prosperity gospel in Zimbabwe have attracted a youthful membership. In the context of a deeply uncertain economic future, young Pentecostal Christians devise performativity strategies for optimizing their chances of converting prosperity gospel into material prosperity. These strategies include sartorial elegance in adorning counterfeit suits, the performance of obedience, and the use of social media technologies. The picture that emerges is a complex and at times contradictory one in which the potential realization of upward spiritual and social mobility rests, ultimately, on the transformative and volatile nature of value. Data for this project was collected in Harare through ethnographic research and interviews over a year-long period.

In N.K. Jemisin’s Broken Earth trilogy, core laws are written on stone. But the tablets are incomplete, open to interpretation and their authorship uncertain. Nonetheless, Stone Law forms the basis of the governance system. Ultimately, the narrative reveals that the Stone Laws are recent in origin and an instrument of subjugation whose claims to common sense belie its harms. This article considers immutability in law and the ways in which particular laws become as if written in stone. Constitutional law and jus cogens are two examples of immutable worldbuilding laws represented as inevitable, absolute, unyielding and perpetual. Debates in law and humanities on genre, performance, interpretation and the concerns of a particular era are often reflected and refracted through both the laws and the literature of an era. In particular, the practice of worldbuilding is used to demonstrate the wariness necessary when laws are represented as immutable.

Although extant research has highlighted the tangible benefits of bridging ties that interlink network communities, our understanding of the determinants of a firm's propensity to form new bridging ties is scarce. Drawing on the behavioral theory of the firm, we conceptualize the formation of new bridging ties as a consequence of decision-makers' bounded rationality and verify the effect of performance feedback on the share of new bridging ties. Additionally, we contend that decisions regarding forming new bridging ties in response to performance feedback are bounded by CEOs' experience. We use a longitudinal dataset of Chinese publicly listed firms in the pharmaceutical industry from 2010 to 2020. The results indicate that the magnitude of a firm's outperformance relative to its aspirations positively affects the share of new bridging ties, while the magnitude of a firm's underperformance relative to its aspirations has an inverted U-shaped relationship with the share of new bridging ties. CEOs' academic and political experience strengthens the positive relationship between the magnitude of a firm's outperformance relative to its aspirations and the share of new bridging ties. CEOs' political experience flattens the inverted U-shaped effect of the magnitude of a firm's underperformance relative to its aspirations on the share of new bridging ties.

Just a few months after Barbra Streisand (as Katie) and Robert Redford (as Hubbell) featured in The Way We Were, Clive Foss published the first of his many seminal works of the late 1970s and early 1980s. It focused on the transformation experienced by twenty Anatolian cities cited by Constantine Porphyrogenitus in his De Thematibus; the main idea was to prove that urban life, upon which the classical Mediterranean culture had been based, came virtually to an end following the Persian invasion and retrenched to villages and fortresses until the tenth century. ‘These conclusions, of course, apply only to [Anatolia], but … they would prove valid for the whole Byzantine empire [and] they are based almost entirely on the results of archaeology.’

By 2025, over eight million UK households will be receiving Universal Credit (UC). Introduced in 2013 to simplify the benefit system and improve work incentives for working age adults, UC has been criticised for causing hardship and exacerbating inequalities. There is limited research on children and young people’s (CYP) views of UC, as well as its health and social impacts. In this pilot qualitative study, creative methods were used to understand the views of UC among CYP (n = 40) aged 12–16 years in North East England. Findings showed diverse and nuanced understanding of UC as well as contested views about conditionality, sanctions, lower UC rates for under-25s and the two-child limit alongside recognition of the stigma and shame associated with benefits. While CYP value paid employment, they stressed the importance of minimum income standards and tailored employment support for UC claimants, taking account of their personal, health and family circumstances. Findings suggest CYP are aware when parents and carers are struggling financially and may try to ease pressures on parents. Debates about principles of equality, fairness, social justice and deservingness were present in young people’s accounts. We conclude by exploring future directions for a CYP-centred approach to social policy.