In Estate Origins, Tomila Lankina sheds new light on the logic of persistence and resilience in the Russian social structure that shapes political possibilities in Russia to the present day. It is a wonderful and rewarding read on the historical origins of social requisites of democracy, such as greater civic activism and more pluralistic political competition. To understand variation in attitudinal and behavioral support for democracy in contemporary Russia, according to Lankina, we must go back to tsarist Russia’s estate institutions. A set of institutions that codified the rights and privileges of different social groups, the estates system created incentives for an eclectic and growing stratum of urban dwellers known as meshchane to invest in education while simultaneously fostering the creation of institutional “infrastructures”—professions, educational institutions, charitable, civic, and local governance bodies—that retained during the communist period a degree of autonomy vis-à-vis the state. This, Lankina argues, allowed the meshchane’s distinct value orientations to persist over time.

Over decades of robotics research, cooperative object transportation has been studied as a meaningful model problem for robotic networks because it possesses a variety of crucial challenges. Although these challenges are demanding, the cooperation of multiple robots has the potential to solve automation problems that are beyond the scope of an individual robot. So far, the model problem has mostly been addressed by explicitly controlling the robots’ positions. However, the position-based approach suffers from some intrinsic detriments, for example, the lack of explicit feedback between robots and object. Moreover, it remains an open question how many robots shall be employed to ensure a successful transportation. This paper’s purpose is to overcome these challenges using a novel force-based approach taking into account the robots’ actual manipulation capabilities, that is, the exerted forces. Using cost-efficient hardware, the interaction forces are measured and, what is more, explicitly controlled by a highly responsive onboard controller. Employing a tailored software architecture, the novel force-based scheme, useful for robotic manipulation beyond the benchmark problem, is probably the most flexible of its kind regarding the number of robots and the object’s shape. The controller’s functionality and performance as well as the scheme’s versatility are demonstrated by several hardware experiments.

Metaphrasis is an exercise of the English humanist schoolroom that harbors both a theory of form and a method of reading. From the perspective of metaphrasis, the central question one asks of a form is not what it is. Metaphrasis encourages us to ask, instead: What is the range of this poem's formal possibilities? What variety of forms might this poem take? What variety of forms should this poem take? Or what variety of forms would this poem take under a specific set of alternative conditions, whether we conceive of those conditions along historical, aesthetic, or ethical axes? In this essay, I take up a single stanza from Edmund Spenser's The Faerie Queene (1596), and I argue that where form establishes the parameters of possibility for a poem, the critical activity of metaphrasis permits us to imagine the world of the poem otherwise.