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The accuracy, robustness and affordability of localisation are fundamental to autonomous robotic inspection within aircraft maintenance, repair and overhaul (MRO) hangars. Hangars typically have high ceilings and are predominantly steel-framed structures with metal cladding. Because of this, they are regarded as GPS-denied environments, characterised by significant multipath effects and strict operational constraints, which together form a unique challenging setting. The lack of comparative techno-economic benchmarks for localisation technologies in such environments remains a critical gap. Addressing this, the paper presents the first techno-economic analysis that benchmarks motion capture (MoCap), ultra-wideband (UWB) and a ceiling-mounted camera (CMC) system across three operational scenarios: robot localisation, asset monitoring and surface defect detection within a single-bay hangar. A two-stage optimisation framework for camera selection and placement is introduced, which couples market-based camera-lens selection with an optimisation solver, producing camera layouts that minimise hardware while meeting accuracy and coverage targets. The consolidated blueprints provide quantification of the required equipment and its performance: 15 global-shutter GigE cameras are adequate for drone localisation, 9 cameras meet the requirements for on-bay monitoring and 49 high-resolution cameras facilitate defect mapping of the upper airframe surfaces for midsize defects. Across these scenarios, the study reports indicative performance and cost envelopes: a MoCap installation delivers submillimeter localisation at an estimated £190k per bay, UWB delivers centimetre-level tracking for around £49k and the proposed CMC system layouts achieve task-specific coverage with costs in the £9k–£77k range. The analysis equips MRO planners with an actionable method to balance accuracy, coverage and budget, demonstrating that an optimised CMC system can deliver robust and cost-effective sensing for next-generation smart hangars.
This Element takes the initiative to highlight the nascent state of audiovisual translation research centring on users of video games. It proposes ways of advancing the research by integrating numerous related perspectives from relevant fields to guide studies in translated game reception into further fruition. The Element offers an accessible overview of possible relationships between translation and its experiencers, showcasing ways to design game reception studies. Examples, methods, tools, and practical concerns are discussed to ultimately develop a blueprint for game translation user research which aims to consolidate scientific user-centric inquiry into video game translation. To that end, the blueprint captures the three-pronged interplay between the parameters of localisation-reception research in facets of user experience, facets of translated games, and facets of game users.
After 22 years of uninterrupted authoritarian government headed by Yahya Jammeh, The Gambia formally began a transition to democracy after the December 2016 elections. Given the inadequate development of local legal tradition and lack of resources to fully equip the judiciary, The Gambia has a history of having foreign judges on the bench. This chapter provides insights from The Gambia’s distinctive experience in using foreign judges in the contexts of decolonisation, an authoritarian regime, and transition to democracy. The Gambian context raises important questions about the role of foreign judges in a new democracy emerging from colonial and authoritarian rule. Accordingly, through a historical and contemporary critical review, the chapter provides an overview of the rationale for the use of foreign judges and its impact on judicial independence and the rule of law.
We study two models of discrete height functions, that is, models of random integer-valued functions on the vertices of a tree. First, we consider the random homomorphism model, in which neighbours must have a height difference of exactly one. The local law is uniform by definition. We prove that the height variance of this model is bounded, uniformly over all boundary conditions (both in terms of location and boundary heights). This implies a strong notion of localisation, uniformly over all extremal Gibbs measures of the system. For the second model, we consider directed trees, in which each vertex has exactly one parent and at least two children. We consider the locally uniform law on height functions which are monotone, that is, such that the height of the parent vertex is always at least the height of the child vertex. We provide a complete classification of all extremal gradient Gibbs measures, and describe exactly the localisation-delocalisation transition for this model. Typical extremal gradient Gibbs measures are localised also in this case. Localisation in both models is consistent with the observation that the Gaussian free field is localised on trees, which is an immediate consequence of transience of the random walk.
Crossing literary evidence with archaeological data, we discuss the history of a site known as ‘Marsa Djazira’ by following the evolution of its toponym. During the Phoenician-Punic era, this site was described as a city/urban establishment with a harbour known as ‘Gaphara’. In late Roman times its name was most likely changed to ‘Minna Villa Marsi’, as the Marsi family of the aristocracy of Leptis Magna probably built a luxury residence (villa) and exploited the port to export olive products from its estates in the hinterland of Leptis Magna. In the Middle Ages, the site underwent another toponymic change to ‘Ras Chacra’ and became an official maritime station (port) on the shipping lanes. In the late Middle Ages, the ancient toponym ‘Gaphara’ reappeared again with a slight distortion as ‘Gasr Jafara/Djefara’. This last name was known when the site was already ruined and abandoned.
This paper argues for a novel conception of Iliadic Tartarus as a fluid liminal space which includes a superterranean context alongside its (traditionally realised) subterranean localisation. A close reading of Iliad 8.477–81 reveals traces of superterranean imagery which, alongside the traditional subterranean reading of 8.13–6 and 14.198–311, allows for the identification of a fluid, dual-model of Tartarean space within the background of the poem. Further, grounded in recent developments regarding dual localisation within Homeric narrative, this paper explores how localisation can reflect narrative and/or thematic concerns, rather than exclusively denoting spatial-physical realities. Thus, the use of geographical imagery within the three Tartarean passages is examined for its narrative/thematic significance, considering themes such as the hierarchy of the gods and narrative developments such as the relocation of Zeus’ positioning within the larger cosmos. The identification of such nuances, in turn, provides a precedent for retaining ‘conflicting’ or fluid geographical space(s) within the narrative despite the ‘contradictions’ that they embody.
Modern developments in representation theory rely heavily on homological methods. This book for advanced graduate students and researchers introduces these methods from their foundations up and discusses several landmark results that illustrate their power and beauty. Categorical foundations include abelian and derived categories, with an emphasis on localisation, spectra, and purity. The representation theoretic focus is on module categories of Artin algebras, with discussions of the representation theory of finite groups and finite quivers. Also covered are Gorenstein and quasi-hereditary algebras, including Schur algebras, which model polynomial representations of general linear groups, and the Morita theory of derived categories via tilting objects. The final part is devoted to a systematic introduction to the theory of purity for locally finitely presented categories, covering pure-injectives, definable subcategories, and Ziegler spectra. With its clear, detailed exposition of important topics in modern representation theory, many of which were unavailable in one volume until now, it deserves a place in every representation theorist's library.
The introuduction lays out the book’s main concerns, core arguments, historical, theoretical and theatrical scope, and interdisicplinary and materialist approach. It argues that the theatres analysed in the rest of the book, when taken together, deliniate a theatre that is increasingly taking up the mantle of the mixed economy: to combine economic efficiency with social security, while promoting liberal democracy. This has occured during a period when the mixed economy has been in electoral and ideological decline. This introduction also argues that the theatres examined in subsequent chapters play three key roles within their market economies: as enactments of the real economy in economic contexts that have become increasingly dominaed by finance capital and rent-seeking; as spatial fixes to productivity problems arising both within theatre and in the wider political economy; and as localisation machines, as apparatuses that render otherwise intangible of remote political and economic relations concrete and proximate.
Soient $F$ un corps global, et $G$ un groupe réductif connexe défini sur $F$. On prouve que si deux données endoscopiques de $G$ sont équivalentes en presque toute place de $F$, alors elles sont équivalentes. Le résultat est encore vrai pour l’endoscopie (ordinaire) avec caractère. On donne aussi, pour $F$ global ou local et $G$ quasi-simple simplement connexe, une description des données endoscopiques elliptiques de $G$.
The Extraordinary Chambers in the Courts of Cambodia (ECCC) was established under Cambodian law in 2004, but also operates pursuant to an agreement with the UN. The ECCC has convicted defendants for charges including genocide, crimes against humanity, and grave breaches of the Geneva Conventions. This may appear to indicate that Cambodia’s leaders have accepted the norm of international criminal justice, at least for historic crimes. Yet the reality is more complex. This chapter examines the history of international crimes trials in Cambodia. It shows that Cambodia does not provide an example of linear progression towards acceptance of the norm of international criminal justice, but neither is there only stalling or complete rejection of this norm. It then demonstrates how international and Cambodian government actors and civil society have sought to influence Cambodia’s laws and institutions for investigating and prosecuting international crimes, before examining each of these mechanisms. This chapter argues that Cambodia’s interaction with international criminal justice disturbs any assumption that international law norms are diffused over time and from certain locations outside Cambodia (spaces) to within the country (direction).
After decades of military rule, internal conflict, and international sanctions, under a new government in Myanmar there was emerging opportunity to consider how, if at all, to respond to the serious human rights violations of previous decades, and address ongoing violence that persists today, including in Rakhine (involving the Rohingya), Shan and Kachin States, and in the South East of Myanmar. The relative lack of mechanisms for prosecuting international crimes, and government opposition towards International Criminal Court and United Nations investigations, suggest that Myanmar’s leaders have rejected the norm of international criminal justice. Yet this chapter presents a complex story of ongoing contestation. It first reveals the historical engagement with international criminal law in Myanmar. It then analyses the themes different actors raise when they seek to influence international criminal justice in relation to Myanmar, before analysing Myanmar’s laws and institutions for responding to international crimes. It concludes that while Myanmar represents a highly challenging context for encouraging the prosecution of international crimes, there is a dynamic process of engagement with this norm.
The Philippines signed the Rome Statute on 28 December 2000, adopted legislation to incorporate international crimes into domestic law in 2009, ratified the Rome Statute in 2011, and withdrew in 2018 (effective in March 2019). Institutional developments, the passage of laws, and public statements by Philippine leaders in the past indicated support for (and implementation of) the norm of international criminal justice. However, the lack of enforcement of the Philippines’ international crimes legislation and events since President Rodrigo Duterte took office suggest that the government of the Philippines has certainly not accepted the norm of international criminal justice. Rather, debate continues. This chapter outlines the ongoing saga of international criminal justice in the Philippines. It then explores how government and civil society actors have used their experiences and initiative to debate the laws and institutions for investigating and prosecuting alleged international crimes in the Philippines. The chapter analyses the key features of these mechanisms, which continue to be discussed and developed. It shows how approaches to international criminal justice in the Philippines have involved dynamic interactions and adaptation.
This chapter analyses whether states in Southeast Asia – focusing particularly on Cambodia, the Philippines, Indonesia, and Myanmar – have accepted, rejected, or adapted ideas about international criminal justice. It confirms that there has been significant engagement with international criminal law in Southeast Asia. The chapter then assesses the benefits and limitations of a localisation framework for exploring this process. Using examples from the previous chapters, it explains how approaches to international criminal justice are adapted dynamically over time, across different spaces (not clearly delineated as local/international), and in varying directions (outside-in/inside-out). These findings present constructive ways to complement the ‘localisation’ approach. The chapter ends by identifying several practical implications of this analysis for those advocating for international criminal justice in Southeast Asia, including for the development and implementation of relevant legal frameworks. It argues for a nuanced approach to examining actors' engagement with international criminal justice that is transparent about its normative aims and learns from how diverse actors already draw on adapted arguments to influence legal responses to violence within and across different times and spaces.
International crimes are alleged to have occurred in the colonial period, within separatist conflicts (including in relation to Timor-Leste’s independence), during 1965 and Suharto’s subsequent presidency, and more recently, including in Papua. This chapter focuses on Indonesia’s national laws and institutions for prosecuting international crimes committed in Indonesia (as well as in East Timor prior to its independence as Timor-Leste in 2002). It reflects on the politicised history of international criminal law trials in post-colonial Indonesia. It then analyses statements made by representatives of foreign states and international organisations, the Indonesian government, and civil society about approaches to international criminal justice. It considers how this engagement has resulted in the adoption of laws that reflect some aspects of the norm of international criminal justice, but also amplify other principles and remain the object of debate – including planned amendments to the Criminal Code.
This introductory chapter highlights the significance and timeliness of this book in the context of ongoing alleged international crimes in Southeast Asia, alongside the legacy of colonialism, historic international crimes trials (particularly after World War II), and past atrocities. It then draws upon international criminal law and international relations, especially constructivist, literature to define the ‘norm’ of international criminal justice. It explains why this book draws upon constructivist localisation theories with reference to the concepts of time, space, and direction. This approach provides an explanation for the book’s method and structure.
The usual development of OE [ɑld] in words such as old in Scots is to auld, reflecting the development of this sequence in northern dialects more generally. But in some Scots dialects other pronunciations of these words, reminiscent of dialects of English south of the Ribble–Humber Line, are found. These forms, of the type owld, are found across Lowland Scotland, with particular concentrations in the far north and southwest. Origins in Irish English and English in England have been suggested for this feature of Scots but these hypotheses have not been explored. Aitken & Macafee (2002: 61–2) instead argue for an endogenous origin of both auld and owld, but this proposed double endogenous development of OE [ɑld] is problematic in a number of ways. In this article, I examine the history of these developments in Scots in comparison to their development in dialects of English in England and Ireland. The lack of evidence for the owld development in Older Scots suggests that these forms are of relatively recent origin. Crucially, the Eighteenth-Century English Phonology Database (ECEP) reveals that the owld pronunciations were in fact a feature of early forms of Standard English. Furthermore, several characteristic features of Irish English have spread into southwest Scotland, and the distribution of owld forms in the area fits this pattern. Thus Scots forms such as owld are not the result of endogenous development, but have their origin in English, in the case of southwest Scotland at least in part from Irish English, and elsewhere in Scotland from early forms of Standard English. These owld forms have been ‘localised’ and reinterpreted as ‘Scots’, alongside or replacing original auld. The analysis of the origins of this feature highlights not only the role of contact with varieties of English in the development of Scots, but also the importance of sources such as the ECEP database for understanding the historical phonology of Scots and English.
How is international criminal law adapted across time and space? Which actors are involved and how do those actors seek to prosecute atrocity crimes? States in Southeast Asia exhibit a range of adapted approaches toward prosecuting international crimes. By examining engagement with international criminal justice especially in Cambodia, the Philippines, Indonesia, and Myanmar, this book offers a fresh and comprehensive approach to the study of international criminal law in the region. It nuances categories of the 'global' and 'local' and demonstrates how norms can be adapted in multiple spatial and temporal directions beyond the International Criminal Court. It proposes a shift in the focus of those interested in international criminal justice toward recognising the opportunities and expertise presented by existing adaptive responses to international crimes. This book will appeal to scholars, practitioners and advocates interested in international criminal law, international relations, transitional justice, civil society, and law in Southeast Asia.
Bousfield localisation, or more specifically, left Bousfield localisation, is an established tool to formally add more weak equivalences to a model category. The most common setting is localisation of spaces or spectra with respect to a homology theory: rather than the weak equivalences being isomorphisms of homotopy groups, one constructs a model structure with the homology isomorphisms as the weak equivalences. As a consequence, the homology isomorphisms become strict isomorphisms in the corresponding homotopy category. Therefore, we can think of Bousfield localisation as a good formal framework for inverting maps in the homotopy category. Typically, information is lost in this process, but some specific aspects may stand out clearer after localisation. We will see an example of this behaviour in the final section when we show that the p-local stable homotopy category has vast computational advantages over working with the stable homotopy category itself. We will also see how Bousfield localisation can help us gain insight into the deeper structure of the stable homotopy category via p-localisation, p-completion, K-theory and chromatic homotopy theory.
Our main theoretical contribution is the concept of the ‘global governed’, which we discuss as an umbrella concept for existing literatures on post-development, post-humanitarianism and post-protection. We also contribute ‘post-protection’, an analytical lens for critically engaging with the risks of protection as a form of top-down governance, and a means to recognise alternative forms of refugee-led social protection. This chapter presents these concepts and applies them to examine refugee-led social protection in East Africa. The ‘global governed’ enables us to ontologically focus on the collective action of refugees themselves, and the ways in which they mobilise to provide social protection. ‘Post-protection’ offers a heuristic framework through which to critically examine the interaction between top-down international institutions and bottom-up refugee community organisations (RCOs). Our main empirical question is: what explains variation in the scale and scope of refugee-led social protection? We seek to critically re-examine the provider-beneficiary relationship that characterises a range of policy fields, grounding our concepts in literatures that are fundamentally about the role of power in global governance. Our theoretical contributions critique the ‘global’ while rendering visible the ‘local’, highlighting hidden power relations and unquestioned institutional assumptions, while reasserting the subjectivity and agency of the marginalised.
As one of the key enabling technologies for automated driving, High Definition (HD) Maps have become a major research focus in recent years. While increasing research effort has been directed toward HD Map development, a comprehensive review of the overall conceptual framework and development status is still lacking. In this study, we start with a brief review of the highlights of navigation map history, and then present an extensive literature review of HD Map development for automated driving, focusing on HD Map structure, functionalities, and accuracy requirements as well as standardisation aspects. In addition, this study conducts an analysis of HD Map-based vehicle localisation. The numerical results demonstrate the potential capabilities of HD Maps. Some recommendations for further investigation are made.