Robots need a sense of touch to handle objects effectively, and force sensors provide a straightforward way to measure touch or physical contact. However, contact force data are typically sparse and difficult to analyze, as it only appears during contact and is often affected by noise. Therefore, many researchers have consequently relied on vision-based methods for robotic manipulation. However, vision has limitations, such as occlusions that block the camera’s view, making it ineffective or insufficient for dexterous tasks involving contact. This article presents a method for robotic systems operating under quasi-static conditions to perform contact-rich manipulation using only force/torque measurements. First, the interaction forces/torques between the manipulated object and its environment are collected in advance. A potential function is then constructed from the collected force/torque data using Gaussian process regression with derivatives. Next, we develop haptic dynamic movement primitives (Haptic DMPs) to generate robot trajectories. Unlike conventional DMPs, which primarily focus on kinematic aspects, our Haptic DMPs incorporate force-based interactions by integrating the constructed potential energy. The effectiveness of the proposed method is demonstrated through numerical tasks, including the classical peg-in-hole problem.

Pollen morphology, viability and in vitro germination are vital parameters for taxonomic classification, hybridization, artificial pollination and improving seed set in crop breeding. In the present study, we investigated the pollen morphological characteristics of four marigold genotypes using scanning electron microscopy, assessed pollen viability using Alexander’s stain and acetocarmine and evaluated in vitro germination under a light microscope using media supplemented with varying concentrations of sucrose and polyethylene glycol (PEG). Pollen grains were medium-sized (25–50 µm) and exhibited suboblate to oblate-spheroidal shapes, with a polar/equatorial ratio ranging from 0.84 to 0.88. All genotypes displayed tricolporate pollen grains with three colpi and endoaperture, and their aperture lengths were between 3.88 and 4.90 µm. Significant genotypic differences were observed in pollen viability, with the highest values recorded in IIHRMY 1-4 (96.66 ± 0.34%) using acetocarmine and in IIHRMY 2-1 (96.42 ± 0.51%) using Alexander’s stain. The optimal germination medium contained 15% sucrose and 15% PEG, with IIHRMY 1-4 exhibiting the highest pollen germination rate (54.09 ± 1.15%), followed by IIHRMY 2-1 (47.05 ± 1.27%). These findings offer valuable insights for marigold breeding programmes, particularly in selecting genotypes for efficient cross-pollination and hybrid development.

Trisomy 21 is the most common chromosomal anomaly worldwide, and nearly half of the affected individuals are born with CHD, making cardiac complications a leading cause of morbidity and mortality in this population. Over the past century, the management of CHD in patients with Trisomy 21 has evolved dramatically, shaped by shifting societal attitudes, advances in diagnostic and surgical techniques, and landmark legal and ethical milestones. Historically, children with Trisomy 21 faced significant barriers to cardiac care, including delayed referrals and denial of surgical intervention, often rooted in discrimination rather than medical evidence. However, improvements in perioperative management and early surgical repair have led to survival outcomes for many forms of CHD that now approach those of the general population. Despite these advances, challenges persist, particularly in access to heart transplantation, where disparities in referral and eligibility remain. This review provides a historical overview of the evolution of CHD management in individuals with Trisomy 21, highlighting key medical, ethical, and societal developments that have shaped current standards of care.

Human-centric uncertainty remains one of the most persistent yet least quantified sources of risk in aviation maintenance. Although established safety frameworks such as SMS (safety management system), STAMP (Systems-Theoretic Accident Model and Processes), and FRAM (Functional Resonance Analysis Method) have advanced systemic oversight, they fall short in capturing the dynamic, context-dependent variability of human performance in real time. This study introduces the uncertainty quantification in aircraft maintenance (UQAM) framework – a novel, predictive safety tool designed to measure and manage operational uncertainty at the task level. The integrated uncertainty equation (IUE) is central to the model, a mathematical formulation that synthesises eight empirically derived uncertainty factors into a single, actionable score. Using a mixed-methods design, the research draws on thematic analysis of 49 semi-structured interviews with licensed maintenance engineers, followed by a 12-month field validation across four distinct maintenance tasks. Results demonstrate that the IUE effectively distinguishes between low, moderate and high-risk scenarios while remaining sensitive to procedural anomalies, diagnostic ambiguity and environmental complexity. Heatmap visualisations further enable supervisory teams to identify dominant uncertainty drivers and implement targeted interventions. UQAM enhances predictive governance, supports real-time decision-making and advances the evolution of next-generation safety systems in high-reliability aviation environments by embedding quantitative uncertainty metrics into existing safety architectures.

Equitable access to medicines is vital for people with disabilities to receive effective, affordable, and quality treatment, helping preserve functionality, prevent further disability, and promote social and economic inclusion. This paper explores the specific medicine needs of people with disabilities in low- and middle-income countries (LMICs), focusing on the European Union’s (EU) extraterritorial legal obligations under the Convention on the Rights of Persons with Disabilities (CRPD). As the first regional international organization to accede to a UN human rights treaty, the EU offers a unique case for examining how international legal commitments extend beyond its borders. The paper outlines a legal framework based on the CRPD to assess the EU’s responsibilities for ensuring access to medicines globally. This framework is applied to two case studies: the EU’s internal joint COVID-19 vaccine procurement strategy and its external BioNTainer initiative for vaccine production in Africa under Team Europe. The analysis finds that the EU falls short of its CRPD obligations, particularly in areas of technology transfer and intellectual property sharing, which are essential for equitable global vaccine access. The paper concludes that the EU’s current actions do not fulfill its human rights commitments to people with disabilities in LMICs.

The concept of parity due to Fitzpatrick, Pejsachowicz and Rabier is a central tool in the abstract bifurcation theory of nonlinear Fredholm operators. In this paper, we relate the parity to the Evans function, which is widely used in the stability analysis for traveling wave solutions to evolutionary PDEs.

In contrast, we use Evans function as a flexible tool yielding general sufficient condition for local bifurcations of specific bounded entire solutions to (Carathéodory) differential equations. These bifurcations are intrinsically nonautonomous in the sense that the assumptions implying them cannot be fulfilled for autonomous or periodic temporal forcings. In addition, we demonstrate that Evans functions are strictly related to the dichotomy spectrum and hyperbolicity, which play a crucial role in studying the existence of bounded solutions on the whole real line and therefore the recent field of nonautonomous bifurcation theory. Finally, by means of non-trivial examples we illustrate the applicability of our methods.

Word processing during reading is known to be influenced by lexical features, especially word length, frequency, and predictability. This study examined the relative importance of these features in word processing during second language (L2) English reading. We used data from an eye-tracking corpus and applied a machine-learning approach to model word-level eye-tracking measures and identify key predictors. Predictors comprised several lexical features, including length, frequency, and predictability (e.g., surprisal). Additionally, sentence, passage, and reader characteristics were considered for comparison. The analysis found that word length was the most important variable across several eye-tracking measures. However, for certain measures, word frequency and predictability were more important than length, and in some cases, reader characteristics such as proficiency were more significant than lexical features. These findings highlight the complexity of word processing during reading, the shared processes between first language (L1) and L2 reading, and their potential to refine models of eye-movement control.

A Palaeolithic diet is an efficacious dietary approach for glycaemic control in type 2 diabetes. Causal mechanisms are body weight loss and glucometabolic effects from differences in included food groups, macronutrient composition, fibre content, and glycaemic load. The aim was to test the hypothesis that characteristic food group differences between a Palaeolithic and a diabetes diet would cause an effect on glycaemic control when weight was kept stable and diets were matched for macronutrient composition, fibre content and glycaemic load. Adult participants with type 2 diabetes and increased waist circumference were instructed to follow two diets, with or without the food groups cereal grain, dairy products, and legumes, during two periods of 4 weeks separated by a 6-week washout period in a random-order crossover design. The Palaeolithic diet included fruit, vegetables, tubers, fish, shellfish, lean meat, nuts, eggs and olive oil, and excluded cereal grains, dairy products and legumes. The diabetes diet included fruit, vegetables, fish, shellfish, lean meat, nuts, eggs, olive oil, and substantial amounts of whole grains, low-fat dairy products and legumes. Dietary energy content was adjusted throughout the study to maintain stable body weight. There were no differences between diets on HbA1c or fructosamine among the 14 participants. Body weight was kept stable, and the two diets were successfully matched for macronutrient composition and glycaemic load but not for fibre content. Characteristic food group differences and the accompanying differences in fibre content between a Palaeolithic and a diabetes diet do not cause an effect on glycaemic control.

Antimicrobial resistance is a global threat, and antimicrobial stewardship programs (ASP) are vital to curb resistance. A survey of 20 Dominican Republic hospitals revealed ASPs were absent in 50% and compliance with CDC core elements varied, highlighting significant challenges and areas of opportunity in implementing effective stewardship in resource-limited settings.

This study applies Bayesian chronological modeling to 16 new AMS radiocarbon dates on short-lived botanical remains and wood-charcoal recovered from the archaeological site Ahatsistari, a seventeenth-century Huron-Wendat village located in Simcoe County in Ontario, Canada. The modeled radiocarbon dates provide an independent time frame for understanding site phase and sequence, compatibility with historically documented events of a known date, and assessment of the socioeconomic and political influences affecting the composition of European trade good assemblages from different sites. We argue that Ahatsistari is likely Carhagouha, the principal village of the northern Attignawantan who were members of the Huron-Wendat Confederacy, and home to Samuel de Champlain and Joseph Le Caron from 1615 to 1616. In addition, Ahatsistari is contemporary with the archaeological site Warminster, which is believed to be Champlain’s Cahiagué. Radiocarbon dates from the archaeological sites of Ahatsistari, Warminster, and Ball are consistent with earlier suppositions for the beginning and end of Glass Bead Period 2 (AD 1600–1625), whereas differences in the composition of the glass trade bead assemblages speak to the prominent role of Ahatsistari in trade with the French and to variable trade relations among other early seventeenth-century Huron-Wendat villages.

The growing body of literature on corporate purpose has underscored its potential as a strategic driver for firms. However, its practical implementation remains challenging due to the concept’s multifaceted and often abstract nature. By reviewing 118 articles, this systematic literature review develops a process framework on how corporate purpose can be translated into concrete organizational strategies across three dimensions: antecedents, management, and consequences. Specifically, we identify the foundational conditions that shape a purpose statement in firms, examine how purpose is embedded and shared within them, and assess the multilevel outcomes of an effective purpose. The review highlights actionable levers to align purpose with strategy and practice, discussing how firms can implement their ‘reason why’. In doing so, the study provides contributions to better understand corporate purpose from both a theoretical and managerial perspective, within the broader field of strategic management.

Anaesthesia methods play a crucial role in ensuring the integrity of the animal during experimental studies. This study investigates the impact of two anaesthesia methods, CO₂ and cold treatment, on an insect antennal response to synthetic alarm pheromone compounds. Adult worker hornets were anesthetised, and their antennae excised and tested using an electroantennography set-up with controlled stimulation of alarm pheromone components. Results showed that CO₂-anesthetised hornets exhibited robust antennal responses, while cold-anesthetised individuals displayed none. This result suggests that freezing may impair the functionality of olfactory receptors. In contrast, CO₂ anaesthesia preserves receptor integrity, offering reliable and interpretable results. This study highlights the importance of selecting appropriate anaesthesia techniques to avoid artefacts in insect sensory physiology research and underscores the ecological relevance of studying Vespa velutina nigrithorax alarm signalling.

The current administration has disproportionately targeted transgender, nonbinary, and gender nonconforming people, despite accounting for less than 1% of the population (Jones, 2024). Though there has been a flurry of executive orders issued restricting the rights of this population, Executive Order 14168 (i.e., Defending Women from Gender Ideology Extremism and Restoring Biological Truth to the Federal Government) and Executive Order 14151 (Ending Radical and Wasteful Government DEI Programs and Preferencing) are likely to be particularly impactful for workplaces. This is because Executive Order 14168 challenges the existing federal protections of the Civil Rights Act of 1964 extended through Bostock v. Clayton County (2020), by declaring sex as binary and biological and denying the existence of transgender people. In addition, EO14151 eliminates federal diversity, equity, and inclusion programs and practices, which limits organizational practices and policies that might otherwise create inclusive and equitable environments for transgender employees. Therefore, this policy brief aims to discuss these executive orders, the existing protections they aim to alter, and the potential implications for transgender employees, organizations, and industrial-organizational professionals.

The study of the ground surface temperature (GST) regimes from 2007 to 2021 at different stations on Livingston and Deception islands, South Shetland Islands, in the north-western sector of the Antarctic Peninsula (AP), shows that soils undergo similar cooling in early winter before a shallow snow mantle covers the sites. All monitoring sites along the study period go through seasonal phases of cooling, attenuation, insulation, fusion and zero curtain during winter, although thermal equilibrium is only reached at some stations located at lower elevations on Livingston Island. GST evolution at these stations and the duration of snow periods show oscillations, with turning points in the years 2014 and 2015, when temperatures were at their minimum and snow durations were at their maximum, in agreement with the cooling period occurring in the north-western AP in the early twenty-first century. The thermal regime is mainly controlled by snow cover and its onset and offset dates based only on descriptive patterns, not on statistical testing, more than by altitudinal, topographical, geological or geomorphological factors.

This paper examines how public demand and institutional contexts shape the substantive representation of LGBTQ+ populations across Europe. I argue that while positive social constructions of LGBTQ+ populations are a necessary condition for the advances of LGBTQ+ rights, issue salience can facilitate LGBTQ+ rights only if public opinion on LGBTQ+ is positive. Furthermore, I assert that translating social constructions of LGBTQ+ populations into policy outputs is mediated by the proportionality of electoral systems. I analyze policy scores, public attitudes, and online interest concerning LGBTQ+ topics. I find that positive social constructions are correlated with more inclusive LGBTQ+ rights across countries, and the positive impact of issue salience on LGBTQ+ rights is observed only in countries with positive social constructions. Additionally, the analysis of electoral systems provides mixed evidence regarding the role of proportionality.

The present study documents the lithostratigraphy, biostratigraphy, facies evolution and depositional environments of the Eocene El Kohol Formation exposed on the southern flank of the Central Saharan Atlas (Algeria), through the integration of lithological characteristics, fossil and ichnofossil assemblages, and microfacies analysis. The succession is subdivided into two formal members: the Marly El Kohol Member, comprising a lower marlstone-dominated interval, and the Siliciclastic Kheneg ed Dis Member, representing an upper sandstone-dominated succession. The boundary between these members is marked by a transition from pale, carbonate-rich deposits to darker clastic sediments.

Field observations and microscopic analyses have enabled the recognition of sixteen facies types (Ft1–Ft16), which are interpreted in terms of depositional environment and grouped into four main facies associations (FA1–FA4): (FA1) an inland lake environment; (FA2) a palustrine environment, characterized by carbonate deposition in freshwater to brackish conditions with subaerial exposure and paedogenic modification; and alluvial settings comprising (FA3) fluvial channel and (FA4) floodplain deposits.

Palaeontological analyses have produced new micropalaeontological data for the region, including charophytes (Sphaerochara parvula, Nodosochara [Turbochara] sp., Gyrogona sp., Harrisichara cf. leptocera, Lamprothamnium papulosum, Peckichara torulosa var. varians, Raskyella cf. sahariana and Nitellopsis cf. [Tectochara] dutempleii), ostracods (Neocyprideis meguerchiensis, Paracypris? sp. 1, Paracypris? sp. 2 and Thalassocypria? sp. 1) and actinopterygian fish microremains (primarily from polypterids and alestids). Additionally, fragmentary remains of the terrestrial proboscidean Numidotherium koholense have been recovered. Ichnological analysis of the succession identified five ichnotaxa: Ophiomorpha isp., Palaeophycus isp., Skolithos annulatus, Skolithos linearis and Thalassinoides horizontalis.

This study contributes to refining the regional and North African understanding of the spatial extent and palaeoenvironmental evolution of the Eocene succession and helps to complete the ichnological and palaeontological records of the Eocene in the area.