Treating inertial measurement unit (IMU) measurements as inputs to a motion model and then preintegrating these measurements have almost become a de facto standard in many robotics applications. However, this approach has a few shortcomings. First, it conflates the IMU measurement noise with the underlying process noise. Second, it is unclear how the state will be propagated in the case of IMU measurement dropout. Third, it does not lend itself well to dealing with multiple high-rate sensors such as a lidar and an IMU or multiple asynchronous IMUs. In this paper, we compare treating an IMU as an input to a motion model against treating it as a measurement of the state in a continuous-time state estimation framework. We methodically compare the performance of these two approaches on a 1D simulation and show that they perform identically, assuming that each method’s hyperparameters have been tuned on a training set. We also provide results for our continuous-time lidar-inertial odometry in simulation and on the Newer College Dataset. In simulation, our approach exceeds the performance of an imu-as-input baseline during highly aggressive motion. On the Newer College Dataset, we demonstrate state-of-the art results. These results show that continuous-time techniques and the treatment of the IMU as a measurement of the state are promising areas of further research. Code for our lidar-inertial odometry can be found at: https://github.com/utiasASRL/steam_icp.

The unprecedented popularity of Charles Dickens's first serial novel, The Posthumous Papers of the Pickwick Club (1836–37), among all classes of readers helped shape Britain's mass reading public. The irrevocable change that Dickens effected on Victorian print culture is well established, but there is little discussion of how his early works interpreted the print culture in which they first circulated. I approach Pickwick according to the perspective of a little-known contemporary response, “Sam Weller's Scrap Sheet (1837),” printed by John Cleave. “Sam Weller's Scrap Sheet” cleverly reproduces the narrative, form, and material of Pickwick according to the perspective of a laboring-class reader. Its attention to print material and class identity informs a new reading of Pickwick: in order to unify disparate reading and writing cultures, I argue, Pickwick fictively binds together materials sourced from a variety of print cultures and redefines them unanimously as “paper.” As the “Scrap Sheet” makes clear, this effaces the productive agency of the “papers’” originating contexts. Tying together discussions from Pickwick’s reception history, print history, and media studies, this paper more broadly examines the tensions that accompanied shifting relationships to material print in early-industrial England.

The focus of job satisfaction literature remains on the subordinate even though supervisors are responsible for evaluating employee performance, determining employee pay, raises, promotions, growth opportunities, etc., all of which impact employees’ subsequent performance that contributes (or not) to organizational success. Using a psychological contracts lens, we develop and test theoretical arguments predicting supervisors’ response to contributions is not uniformly positive depending on the type and amount of contribution involved. Across two studies, we ask supervisors to evaluate subordinates’ delivered contributions relative to promised contributions. Our results challenge the assumption that supervisors always desire larger amounts of work from their subordinates; excess contributions were associated with lower supervisors’ satisfaction with subordinates for some types of contributions. The results imply that subordinates’ contributions of work to supervisors may influence supervisors’ satisfaction with subordinates perhaps affecting their performance reviews and career opportunities.

The nonlinear stability of two-dimensional (2-D) plane Couette flow subject to a constant throughflow is analysed at finite and asymptotically large Reynolds numbers $\textit {Re}$. The speed of this throughflow is quantified by the non-dimensional throughflow number $\eta$. The base flow exhibits a linear instability provided $\eta \gtrsim 3.35$, with multi-deck upper and lower branch structures developing in the limit $1\ll \eta \ll \mathit {O}(\textit {Re})$. This instability provides a springboard for the computation of nonlinear travelling waves which bifurcate subcritically from the linear neutral curve, allowing us to map out a neutral surface at different values of $\eta$. Using strongly nonlinear critical layer theory, we investigate the waves that bifurcate from the upper branch at asymptotically large $\textit {Re}$. This asymptotic structure exists provided the throughflow number is larger than the critical value of $\eta _c\approx 1.20$ and is shown to give quantitatively similar results to the numerical solutions at Reynolds numbers of $\mathit {O}(10^5)$.

Given the rate of advancement in predictive psychiatry, there is a threat that it outpaces public and professional willingness for use in clinical care and public health. Prediction tools in psychiatry estimate the risk of future development of mental health conditions. Prediction tools used with young populations have the potential to reduce the worldwide burden of depression. However, little is known globally about adolescents’ and other stakeholders’ attitudes toward use of depression prediction tools. To address this, key informant interviews and focus group discussions were conducted in Brazil, Nepal, Nigeria and the United Kingdom with 23 adolescents, 45 parents, 47 teachers, 48 health-care practitioners and 78 other stakeholders (total sample = 241) to assess attitudes toward using a depression prediction risk calculator based on the Identifying Depression Early in Adolescence Risk Score. Three attributes were identified for an acceptable depression prediction tool: it should be understandable, confidential and actionable. Understandability includes depression literacy and differentiating between having a condition versus risk of a condition. Confidentiality concerns are disclosing risk and impeding educational and occupational opportunities. Prediction results must also be actionable through prevention services for high-risk adolescents. Six recommendations are provided to guide research on attitudes and preparedness for implementing prediction tools.

A super-stable granular heap is a pile of grains whose free surface is inclined above the angle of repose, and which forms when particles are poured onto a plane that is confined laterally by frictional sidewalls that are separated by a narrow gap. During continued mass supply, the heap free surface gradually steepens until all the inflowing grains can flow out of the domain. As soon as the supply of grains is stopped, the heap is progressively eroded, and if the base of the domain is inclined above the angle of repose, then all the grains eventually flow out. This phenomenology is modelled using a system of two-dimensional width-averaged mass and momentum balances that incorporate the sidewall friction. The granular material is assumed to be incompressible and satisfy the partially regularized $\mu (I)$-rheology. This is implemented in OpenFOAM$^{\circledR}$ and compared against small-scale experiments that study the formation, steady-state behaviour and drainage of a super-stable heap. The simulations accurately capture the dense liquid-like flows as well as the evolving heap shape. The steady uniform flow that develops along the heap surface has non-trivial inertial number dependence through its depth. Super-stable heaps are therefore a sensitive rheometer that can be used to determine the dependence of the friction $\mu$ on the inertial number $I$. However, these flows are challenging to simulate because the free-surface inertial number is high, and can exceed the threshold for ill-posedness even for the partially regularized theory.

Brine shrimps (Artemia spp.) are aquatic crustaceans known as important intermediate hosts for a wide range of helminth species. From 2011 to 2021, 4,347 individuals of brine shrimp were collected for this study, investigating the diversity and infection rates of helminth species in Artemia spp. from hypersaline waters in southern and eastern Ukraine. Seven helminth species were found: six cestodes (Anomotaenia tringae, Eurycestus avoceti, Branchiopodataenia gvozdevi, Confluaria podicipina, Fimbriarioides tadornae, Hymenolepis s.l. stellorae) and one unidentified acuariid nematode (Acuariidae gen. sp.). All these helminths were recorded for the first time in intermediate hosts in Ukraine, although they had been known from other regions. Additionally, partial sequences of the 18S rDNA gene as well as the mitochondrial cytochrome c oxidase subunit 1 (cox1) and nicotinamide adenine dinucleotide dehydrogenase subunit 1 (nad1) genes were obtained for varying numbers of cestode and nematode isolates for the first time. The overall prevalence of helminth infection in Artemia spp. was 21.9%, and the intensity ranged from one to three specimens.

The aim of this article and the ensuing Special Issue is to assess, après fifteen years, the effects on the EU legal and political system of the overhaul of executive delegated powers inaugurated by the Lisbon Treaty. It identifies core parameters – i.e. (institutional) balance of powers, (democratic) legitimacy, control and accountability, effectiveness of EU policy implementation – considered by the contributions to this Special Issue to map and examine, both constitutionally and normatively, the EU system of delegated powers in law and practice. It also puts forward seven overarching reflections revealing some of the core issues and challenges posed by the current stage of development of the post-Lisbon EU system of delegated powers.

The amplitude modulation coefficient, $R$, that is widely used to characterize nonlinear interactions between large- and small-scale motions in wall-bounded turbulence is not compatible with detecting the convective nonlinearity of the Navier–Stokes equations. Through a spectral decomposition of $R$ and a simplified model of triadic convective interactions, we show that $R$ suppresses the signature of convective scale interactions, but is strongly influenced by linear interactions between large-scale motions and the background mean flow. We propose an additional coefficient that is specifically designed for the detection of convective nonlinearities, and we show how this new coefficient, $R_T$, quantifies the turbulent kinetic energy transport involved in turbulent scale interactions and reveals a classical energy cascade across widely separated scales.

Some effects are considered to be higher level than others. High-level effects provide expressive and succinct abstraction of programming concepts, while low-level effects allow more fine-grained control over program execution and resources. Yet, often it is desirable to write programs using the convenient abstraction offered by high-level effects, and meanwhile still benefit from the optimizations enabled by low-level effects. One solution is to translate high-level effects to low-level ones.

This paper studies how algebraic effects and handlers allow us to simulate high-level effects in terms of low-level effects. In particular, we focus on the interaction between state and nondeterminism known as the local state, as provided by Prolog. We map this high-level semantics in successive steps onto a low-level composite state effect, similar to that managed by Prolog’s Warren Abstract Machine. We first give a translation from the high-level local-state semantics to the low-level global-state semantics, by explicitly restoring state updates on backtracking. Next, we eliminate nondeterminism altogether in favour of a lower-level state containing a choicepoint stack. Then we avoid copying the state by restricting ourselves to incremental, reversible state updates. We show how these updates can be stored on a trail stack with another state effect. We prove the correctness of all our steps using program calculation where the fusion laws of effect handlers play a central role.