The Underactuated Lightweight Tensegrity Robotic Assistive Spine (ULTRA Spine) project is an ongoing effort to create a compliant, cable-driven, 3-degree-of-freedom, underactuated tensegrity core for quadruped robots. This work presents simulations and preliminary mechanism designs of that robot. Design goals and the iterative design process for an ULTRA Spine prototype are discussed. Inverse kinematics simulations are used to develop engineering characteristics for the robot, and forward kinematics simulations are used to verify these parameters. Then, multiple novel mechanism designs are presented that address challenges for this structure, in the context of design for prototyping and assembly. These include the spine robot’s multiple-gear-ratio actuators, spine link structure, spine link assembly locks, and the multiple-spring cable compliance system.
Since the late 1980s, successive United Kingdom (UK) governments have sought to develop initiatives designed to promote forms of “active citizenship” among young people. But despite the substantial amount of work done by social scientists on the topic of citizenship in recent decades, relatively little research work has been done in social psychology to analyse citizens’ actual understandings of citizenship, viewed in terms of membership of a political community. This article presents the findings of a Q-methodological study of how teenagers (n = 75) from different parts of England (M = 17.25 years; SD = 1.41) regard citizenship and construct their own identities as citizens. It sets out the three factors and four distinct stances on what it means to be a citizen that emerged in the research: The active citizen, the rooted citizen, the cosmopolitan citizen, and the secure citizen. Understanding the multiple ways in which young people construct citizenship is essential for effectively engaging with them. In this way, young citizens can be enabled to make an impact on, rather than simply being at the receiving end of, the development of citizenship policy in Britain.
Analysis of contemporary political discourse reveals that the topics of ‘immigration’ and ‘asylum’, historically the preserve of extreme right-wing politics, have increasingly entered more centrist conservative discourse. Meanwhile, it is also argued that elite political discourse on ethnic affairs cuts across traditional political divides. Thus, contemporary left-wing discourses also require scrutiny. The current article examines one example of elite discourse from liberal media commentary, which addresses ideological concerns regarding diversity, immigration and the welfare state in Britain. Adopting a discursive analytic approach, three predominant discursive themes are identified in the text, which we term: ‘Unnatural Sharing’, ‘Diversity as Ethnic Difference’ and ‘Immigrant-Minorities Alchemy’. Through careful examination of these themes, we show how, via their engagement, the text subtly yet persuasively builds a version of ‘reality’ inimical to progressive ideals
This paper offers an interpretation of the changes in Black identity during the last century. By drawing on psychological literature and cultural artefacts, changing understandings of Blackness are read as different narrative forms. The shift from ‘Negro’ to ‘Black’ is presented as a shift from tragicto romanticnarrative, while the ‘African’ narrative that now occupies the centre stage of Black identity represents a satiricalstory. It is suggested that with a growing awareness of being both Black and ‘something else’, the apparent opposing themes in performing Blackness can be resolved by enacting a comedynarrative. There is some evidence that the comedy narrative is present but it has yet to gain ascendancy.
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