The paper presents a systematic approach for stiffness modeling of manipulators with complex and hybrid structures using matrix structural analysis. In contrast to previous results, it is suitable for mixed architectures containing closed-loops, flexible links, rigid connections, passive and elastic joints with external loadings and preloadings. The proposed approach produces the Cartesian stiffness matrices in a semi-analytical manner. It presents the manipulator stiffness model as a set of conventional equations describing the link elasticities that are supplemented by a set of constraints describing connections between links. Its allows user straightforward aggregation of stiffness model equations avoiding traditional column/row merging procedures in the extended stiffness matrix. Advantages of this approach are illustrated by stiffness analysis of NaVaRo manipulator.

'My skin was peeling' - the African women tricked into making Russian drones On her first day of work, Adau realised she had made a big mistake. We got our uniforms, not even knowing exactly what we were going to do. From the first day of work we were taken to the drones factory. We stepped in and we saw drones everywhere and people working. Then they took us to our different work stations.

Generative image super-resolution (SR) is rapidly advancing in visual quality and detail restoration. As the capacity of SR models expands, however, so does their tendency to produce artifacts: incorrect, visually disturbing details that reduce perceived quality. Crucially, their perceptual impact varies: some artifacts are barely noticeable while others strongly degrade the image. We argue that artifacts should be characterized by their prominence to human observers rather than treated as uniform binary defects. Motivated by this, we present a novel dataset of 1302 artifact examples from 11 contemporary image-SR methods, where each artifact is paired with a crowdsourced prominence score. Building on this dataset, we train a lightweight regressor that produces spatial prominence heatmaps and outperforms existing methods at detecting prominent artifacts. We release the dataset and code to facilitate prominence-aware evaluation and mitigation of SR artifacts.

Training large language models on massive datasets is computationally expensive, yet empirical evidence suggests that substantial portions of training examples contribute minimally to final performance. Data subset selection addresses this inefficiency by identifying small, high-utility subsets under resource constraints. However, example utility is inherently multi-faceted, encompassing uncertainty, distributional rarity, and diversity signals that are heterogeneous and typically combined through ad hoc weighted sums lacking theoretical grounding. We propose a market-based framework that treats each training example as a tradeable contract and employs the Logarithmic Market Scoring Rule to aggregate multiple utility signals into coherent prices. Heterogeneous signals act as traders, a single liquidity parameter controls concentration versus smoothing, and topic-wise normalization ensures calibrated aggregation. Token budgets are handled explicitly through a price-per-token decision rule with an interpretable length-bias parameter. We establish theoretical connections to maximum-entropy aggregation and provide utility recovery guarantees under noisy but monotone signals. On GSM8K mathematical reasoning under strict 60k-token budgets, our selector achieves parity with strong single-signal baselines while exhibiting lower variance and incurring less than 0.1 GPU-hour overhead. On AGNews classification at 5-25\% retention rates, the market formulation delivers competitive accuracy with improved stability. Our framework unifies multi-signal data curation under fixed computational budgets for prompt-level reasoning and classification tasks.

Depression is a pressing global public health issue, yet publicly available Chinese-language resources for risk detection remain scarce and are mostly limited to binary classification. To address this limitation, we release CNSocialDepress, a benchmark dataset for depression risk detection from Chinese social media posts. The dataset contains 44,178 texts from 233 users, within which psychological experts annotated 10,306 depression-related segments. CNSocialDepress provides binary risk labels together with structured multi-dimensional psychological attributes, enabling interpretable and fine-grained analysis of depressive signals. Experimental results demonstrate its utility across a wide range of NLP tasks, including structured psychological profiling and fine-tuning of large language models for depression detection. Comprehensive evaluations highlight the dataset's effectiveness and practical value for depression risk identification and psychological analysis, thereby providing insights to mental health applications tailored for Chinese-speaking populations.

Off-road environments present unique challenges for autonomous navigation due to their complex and unstructured nature. Traditional global path-planning methods, which typically aim to minimize path length and travel time, perform poorly on large-scale maps and fail to account for critical factors such as real-time performance, kinematic feasibility, and memory efficiency. This paper introduces a novel global path-planning method specifically designed for off-road environments, addressing these essential factors. The method begins by constructing an intermediate map within the pixel coordinate system, incorporating geographical features like off-road trails, waterways, restricted and passable areas, and trees. The planning problem is then divided into three sub-problems: graph-based path planning, kinematic feasibility checking, and path smoothing. This approach effectively meets real-time performance requirements while ensuring kinematic feasibility and efficient memory use. The method was tested in various off-road environments with large-scale maps up to several square kilometers in size, successfully identifying feasible paths in an average of 1.5 seconds and utilizing approximately 1.5GB of memory under extreme conditions. The proposed framework is versatile and applicable to a wide range of off-road autonomous navigation tasks, including search and rescue missions and agricultural operations.

We introduce KyrgyzNER, the first manually annotated named entity recognition dataset for the Kyrgyz language. Comprising 1,499 news articles from the 24.KG news portal, the dataset contains 10,900 sentences and 39,075 entity mentions across 27 named entity classes. We show our annotation scheme, discuss the challenges encountered in the annotation process, and present the descriptive statistics. We also evaluate several named entity recognition models, including traditional sequence labeling approaches based on conditional random fields and state-of-the-art multilingual transformer-based models fine-tuned on our dataset. While all models show difficulties with rare entity categories, models such as the multilingual RoBERTa variant pretrained on a large corpus across many languages achieve a promising balance between precision and recall. These findings emphasize both the challenges and opportunities of using multilingual pretrained models for processing languages with limited resources. Although the multilingual RoBERTa model performed best, other multilingual models yielded comparable results. This suggests that future work exploring more granular annotation schemes may offer deeper insights for Kyrgyz language processing pipelines evaluation.

How is Russia replenishing its military? What is a'coalition of the willing'? How China forgot promises and'debts' to Ukraine How are Europe, the US pulling apart on Ukraine? On Sunday, Russia launched its largest drone and missile attack since the war began, firing a total of 823 projectiles into Ukraine. The attack killed at least four people, wounded 44, and caused damage to a key building in Kyiv's government district, making it the first on the site since the full-fledged war began in February 2022.

Large language models excel in question-answering (QA) yet still struggle with multi-hop reasoning and temporal questions. Query-based knowledge graph QA (KGQA) offers a modular alternative by generating executable queries instead of direct answers. We explore multi-stage query-based framework for WikiData QA, proposing multi-stage approach that enhances performance on challenging multi-hop and temporal benchmarks. Through generalization and rejection studies, we evaluate robustness across multi-hop and temporal QA datasets. Additionally, we introduce a novel entity linking and predicate matching method using CoT reasoning. Our results demonstrate the potential of query-based multi-stage KGQA framework for improving multi-hop and temporal QA with small language models. Code and data: https://github.com/ar2max/NLDB-KGQA-System

Aiming at the problem of difficulty in accurately identifying graphical implicit correlations in multimodal irony detection tasks, this paper proposes a Semantic Irony Recognition Network (SemIRNet). The model contains three main innovations: (1) The ConceptNet knowledge base is introduced for the first time to acquire conceptual knowledge, which enhances the model's common-sense reasoning ability; (2) Two cross-modal semantic similarity detection modules at the word level and sample level are designed to model graphic-textual correlations at different granularities; and (3) A contrastive learning loss function is introduced to optimize the spatial distribution of the sample features, which improves the separability of positive and negative samples. Experiments on a publicly available multimodal irony detection benchmark dataset show that the accuracy and F1 value of this model are improved by 1.64% and 2.88% to 88.87% and 86.33%, respectively, compared with the existing optimal methods. Further ablation experiments verify the important role of knowledge fusion and semantic similarity detection in improving the model performance.