Few village-born social movements have influenced international relations as much as the campaign against Myitsone Dam in Burma (Myanmar). This village-born resistance led in 2011 to the suspension of a major Burmese and Chinese infrastructure project. This suspension became a symbol of democratization in Burma and a much-discussed setback of Chinese development-investment abroad. However, research literature on the Myitsone Dam has tended to conflate the local rural resistance with the broader ethnic Kachin and Burmese anti-dam movements. In contrast, this study focuses specifically on the local villages directly affected by the project, exploring their diverse stories and responses to the mega-project. Combining diverse published sources with ethnographic fieldwork and interviews done since 2010, it tells a story of repression, resistance, social divisions, and complex relations with outsiders. This is a two-part article series. This article here – Part 1 – examines what occurred before the mega-project’s suspension. It tells the Myitsone Dam’s rural story from its earliest days until the mega-project’s fall: from 2002 to 2011. This story begins with the unexpected arrival of Japanese visitors and traces the village struggles up to the project’s dramatic downfall.

Pipeline inspection robots play a crucial role in maintaining the integrity of pipeline systems across various industries. In this paper, a novel pipeline inspection robot is designed based on a four degrees-of-freedom (DOF) generalized parallel mechanism (GPM). First, a four DOF mechanism is introduced using numerical and graph synthesis. The design employs numerical and graph synthesis methods to achieve an ideal symmetric configuration, enhancing the robot’s adaptability and mobility. The coupling mid-platform, inspired by parallelogram mechanisms, enables synchronized contraction motion, allowing the robot to adjust to different pipe diameters. Then, the constraints of the pipeline inspection robot in the elbow are analyzed based on task requirements. Through kinematic and performance analyses using screw theory, the mechanism’s feasibility in practical applications is confirmed. Theoretical analysis, simulations, and experiments demonstrate the robot’s ability to achieve active steering in T-branches and elbows. Experimental validation in straight and bent pipes shows that the robot meets the expected speed targets and can successfully navigate complex pipeline environments. This research highlights the potential of GPMs in advancing the capabilities of pipeline inspection robots for real-world applications.

We derive the exact asymptotics of $\mathbb{P} {\{\sup\nolimits_{\boldsymbol{t}\in {\mathcal{A}}}X(\boldsymbol{t})>u \}} \textrm{ as}\ u\to\infty,$ for a centered Gaussian field $X({\boldsymbol{t}}),\ {\boldsymbol{t}}\in \mathcal{A}\subset\mathbb{R}^n$, $n>1$ with continuous sample paths almost surely, for which $\arg \max_{\boldsymbol{t}\in {\mathcal{A}}} {\mathrm{Var}}(X(\boldsymbol{t}))$ is a Jordan set with a finite and positive Lebesgue measure of dimension $k\le n$ and its dependence structure is not necessarily locally stationary. Our findings are applied to derive the asymptotics of tail probabilities related to performance tables and chi processes, particularly when the covariance structure is not locally stationary.

This work proposes an optimization approach for the time-consuming parts of Light Detection and Ranging (LiDAR) data processing and IMU-LiDAR data fusion in the LiDAR-inertial odometry (LIO) method. Two key novelties enable faster and more accurate navigation in complex, noisy environments. Firstly, to improve map update and point cloud registration efficiency, we employ a sparse voxel maps with a new update function to construct a local map around the mobile robot and utilize an improved Generalized Iterative Closest Point algorithm based on sparse voxels to achieve LiDAR point clouds association, thereby boosting both map updating and computational speed. Secondly, to enhance real-time accuracy, this paper analyzes the residuals and covariances of both IMU and LiDAR data in a tightly coupled manner, and achieves system state estimation by fusing sensor information through Gauss-Newton method, effectively mitigating localization deviations by appropriately weighting the LiDAR covariances. The performance of our method is evaluated against advanced LIO algorithms using eight open datasets and five self-collected campus datasets. Results show a 24.7–60.1% reduction in average processing time per point cloud frame, along with improved robustness and higher precision motion trajectory estimation in most cluttered and complex indoor and outdoor environments.

This article argues that contemporary Indian law is animated by two intertwined imaginings of law: as a rational, rule-bound process and as a power that makes decisions as a normless act of prerogative. Through ethnographic fieldwork in Delhi’s terrorism courts, the paper examines petitions written by individuals accused under anti-terror laws, revealing how these texts invoke the dual legal imaginaries. Petitions—ranging from formal legal documents to handwritten pleas—are analysed through the idea of epistolarity, to pay attention to both the form and content of these petitions. The article argues that these letters are affective and rhetorical performances that simultaneously invoke imaginings of the law as both rule and prerogative. In doing so, the subjectivity of the petitioners oscillates between rights-bearing citizens and humble supplicants praying for the law’s intervention.

This small project was initiated to create a broader understanding of the working properties of sarsen and its challenges. This notoriously durable coarse-grained sandstone is most familiarly associated with the Phase 3 monument at Stonehenge, Wiltshire, although its exploitation persisted into the twentieth century. Discussion has focused on the probable methods employed in prehistory to work the stone: splitting, flaking and pecking. These techniques have rarely been applied in practice, but have been considered broadly in this project. The preliminary results, obtained from a single block of saccharoidal sarsen, have reawakened understanding and appreciation of the potential provided by shock waves to split and shape this intractable silicate successfully and repeatedly using direct percussion, techniques that were familiar to Neolithic communities to work flint. The flaking properties of the stone are considered together with attributes of hammer mode in comparison with data from prehistoric stone assemblages at Stonehenge. The discussion questions to what extent flaking could be controlled repeatedly to form a major part of monolith production. Results derived from the laborious nature of pecking supplement previous attempts to recreate dressed surfaces at Stonehenge. Efficiency was not improved by applying heat to the surface of the stone; indeed, it confirmed that uncontrolled, excessive heat shatters the structure of sarsen, rendering it unworkable.

How has caste influenced entrepreneurship in India in the past and how does it do so in the present? Using the Industrial Census of 1911, this paper provides the first detailed caste-level mapping of firms in Indian business history and links it to the present by an analysis of the Economic Census of 2013–2014. It finds that while trading castes were dominant, there were significant regional variations and nontrading castes were far more important than usually posited in the literature. Over the course of a century, the social base of entrepreneurship has widened slowly but significant barriers remain. The paper argues that “caste embeddedness” through the nature of wealth distribution, social capital, and ritual purity affects entrepreneurial choices and presents a typology of “caste,” “caste-advantage,” “caste-restricted,” and “noncaste” businesses that characterize the economic life of India.

We define a family of discontinuous maps on the circle, called Bowen–Series-like maps, for geometric presentations of surface groups. The family has $2N$ parameters, where $2N$ is the number of generators of the presentation. We prove that all maps in the family have the same topological entropy, which coincides with the volume entropy of the group presentation. This approach allows a simple algorithmic computation of the volume entropy from the presentation only, using the Milnor–Thurston theory for one-dimensional maps.

We establish large deviation estimates related to the Darling–Kac theorem and generalized arcsine laws for occupation and waiting times of ergodic transformations preserving an infinite measure, such as non-uniformly expanding interval maps with indifferent fixed points. For the proof, we imitate the study of generalized arcsine laws for occupation times of one-dimensional diffusion processes and adopt a method of double Laplace transform.

Between the late Middle Ages and the early modern period, large quantities of wax were exported from the Maghrib to Europe. In the Maghrib, both raw wax and wax candles were involved in various social interactions that transcended mere environmental and economic considerations. For some Muslims, wax came to index Christianity, and its significance during the celebration of the Prophet’s birthday was critiqued as a corrupt innovation. At the same time, to prevent the facilitation of Catholic devotion—and because wax was deemed war material—the sale of wax to Christians was forbidden. Nevertheless, wax remained a profitable product sold to Christians in significant quantities. The anxiety surrounding the movement of wax and the attempts to regulate it indicate that for Muslims, wax served as a religious boundary marker. Christians too utilized the substance to reinforce communal boundaries. Catholics in the Maghrib—captives, clergy, and merchants—used wax to establish and express confessional divides, aiming to deter Catholic captives from converting to Islam. Priests distributed blessed candles to captives, who in turn donated wax to the clergy. Moreover, priests gifted candles to Algerian dignitaries, a practice opposed by the papacy. Wax formed invisible, often unintended connections between Muslim theologians and rulers, Catholic and Muslim captives, slaves, wax makers, merchants, and redeemers. These entanglements sparked anxiety, a sense of impurity, and a drive to reinforce religious boundaries. This article explores a fragmented history of these connections and relationships and argues that the failed attempts to regulate this circulation fostered new entanglements.