Optimal cooperative output regulation with norm-based performance specifications.

Aiming at the problems of uneven radiation distribution and difficult regulation in double-film multi-span greenhouses in the Gobi Desert, a spatiotemporal simulation model of the radiation environment based on the coupling of Rhino–Grasshopper and Radiance was constructed in this study. Parametric simulation and multi-objective optimization were adopted to significantly improve the solar radiation capture and distribution uniformity inside the greenhouse, providing a scientific basis for greenhouse design in the Gobi area. The results show that the model has high accuracy (R2 > 0.98), and the radiation inside the greenhouse presents a distribution pattern of “higher in the northeast, lower in the southwest, higher in the upper layer and lower in the lower layer”. The optimal orientation is 1° west of south, and the optimal configuration is 8 m span, 5 m eave height, and 30° roof slope. This study can provide quantitative support for the structural design, planting layout and energy-saving regulation of double-film multi-span greenhouses in arid desert areas, and has important practical value for promoting the efficient and sustainable development of facility agriculture in the Gobi Desert.

Substance-induced psychosis (SIP) is a clinical condition in which psychotic symptoms occur during intoxication or withdrawal related to psychoactive substance use. Beyond psychotic symptoms, SIP may lead to significant psychosocial problems that affect individuals socially, within the family, at work, and in emotional and behavioural functioning. This review aims to comprehensively examine the psychosocial problems experienced by individuals diagnosed with SIP based on the available literature. Evidence indicates that these individuals commonly experience social isolation and withdrawal, stigma and exclusion, loss of roles and functioning within the family, unemployment and financial difficulties, difficulties in emotion regulation, hopelessness, aggression, depressive symptoms, and other behavioural problems. These problems negatively affect treatment adherence, overall functioning, and quality of life. Therefore, in addition to pharmacological treatment, psychosocial dimensions should be addressed in the management of SIP. In this process, psychiatric nurses should take an active role in assessment, supportive interventions, and continuity of care.

Abstract This paper reports initial findings from a pilot study of the Coping Power- Rural program with upper elementary and middle school students, which was created to meet the specific needs of rural populations. Coping Power- Rural included adapted content to ensure it was relevant and accessible to students and teachers in rural schools. The program followed a two-tiered delivery format, incorporating both universal classroom sessions as well as targeted group sessions. The program also promoted skill generalization across contexts (e.g., school and home settings) through a flexible, technology-enhanced caregiver component, which provided caregivers with remote access to resources and supports. Building on prior feasibility and acceptability work (Nguyen et al. in Sch Ment Health 16:776–792, 2024. https://doi.org/10.1007/s12310-024-09632-2 ), this pilot study reports pre-post contrast testing of the Coping Power- Rural program in six rural schools across three states, involving 185 students (grades 4–7; 55.1% male; 43.2% Black; 7.6% Latine) and 48 school-based staff. The pre-post pilot outcomes indicated significant improvements in student conduct problems, aggressive/disruptive behavior, prosocial behavior, emotion regulation problems, internalizing problems, family stability, and family involvement from pretest to posttest ( p < 0.05; Cohen’s d s ranged from 0.20 to 0.48). There were also significant pre-post improvements for youth who participated in the targeted group on several teacher-reported outcomes (e.g., greater reductions in aggressive/disruptive behavior, emotion regulation problems, internalizing problems). These pre-post pilot findings provide promising evidence regarding outcomes for students based on exposure to the classroom Coping Power- Rural sessions, as well as for students in the targeted group.

This paper proposes a Q-learning-based algorithm to solve the linear quadratic regulator (LQR) problem for unknown dynamic two-dimensional (2D) discrete-time systems. First, based on the value function formulation constructed using the Lyapunov function framework, algebraic Riccati inequality (ARI) and the Bellman inequality for solving the LQR problem are derived. Subsequently, a suboptimal state feedback controller is obtained based on these inequalities, and an offline policy iteration algorithm based on semi-definite programming (SDP) is introduced. On this foundation, by introducing the concept of Q-learning, the objective function and the Bellman inequality are transformed into the Q-function and its corresponding inequality. A Q-learning-based offline policy iteration equation is then derived, and further, an online policy iteration algorithm based on Q-learning is designed. Data are collected online during each iteration to solve the LQR problem for 2D discrete systems with unknown dynamics. Finally, the effectiveness of the proposed control scheme is validated through two examples.

In the specialized literature, the study of the issue of administrative procedural coercion measures concerns only two aspects: these measures, by virtue of Chapter 27 of the Code of Administrative Offenses of the Russian Federation, are identified with measures to ensure proceedings in an administrative offense case, and according to Chapter 11 of the Code of Administrative Procedure of the Russian Federation, are defined as measures of procedural coercion applied by courts in the framework of administrative proceedings. Since the administrative procedure legislation of the Russian Federation is represented by the Code of Administrative Offences of the Russian Federation, the Code of Administrative Procedure of the Russian Federation, the Arbitration Procedure Code, the Federal Law “On Enforcement Proceedings” and other laws on control and supervisory activities, it is necessary to recognize the variety of types of administrative procedural coercion measures, as well as to establish specific grounds for their application and some problematic aspects, due to the fragmented regulation of the administrative and procedural order of their application. The purpose of the work is a comprehensive study of the legal grounds for the application of various types of administrative procedural coercion measures in the course of administrative proceedings and administrative legal proceedings of the established type. Research objectives: 1) theoretical substantiation of the concept and classification of interim measures of administrative procedural coercion and special measures of administrative procedural coercion; 2) an attempt to solve the problems of fragmented regulation of the administrative procedure for the application of these measures and the lack of a systematic legislative regulation, including involving the use of administrative procedural coercion measures and measures of legal responsibility for the same offense. The study used systematic, logical, formal and legal methods. The conducted analysis of the norms of the administrative procedure legislation of the Russian Federation allowed: 1) to formulate the concept and features of administrative procedural coercion measures; 2) to propose a classification of administrative procedural coercion measures into two types: interim administrative procedural coercion measures and special administrative procedural coercion measures, as well as their subspecies.

The article analyzes the process of formation of professional ethics of accountants, auditors, and forensic experts in a historical context, as well as its adaptation to modern socio-economic and legal conditions. Particular attention is paid to the relationship between ethical norms and the development of the respective professions, as well as the impact of globalization, digitalization, and competitive factors on the emergence of new ethical risks and conflicts of interest. The main principles of professional ethics that form the foundation for ensuring trust in financial reporting and the results of forensic examinations are examined. Emphasis is placed on the importance of regulatory frameworks, improvement of professional qualifications, development of ethical culture, and the formation of effective mechanisms for monitoring compliance with ethical standards in these fields. The key problems in ethical regulation are identified, and ways to address them are proposed, particularly through the improvement of national legislation and the integration of international standards. Relevant issues include the development of specialized codes of ethics and the strengthening of professional responsibility, which are necessary to maintain high moral standards in accounting, auditing, and forensic expert activities

The purpose of the article is to consider the features of the legal regulation of water protection zones of an integrated approach – a combination of spatial planning, environmental standards and mechanisms for protecting the rights of landowners. Problems of state regulation and management of water resources in the light of the water legislation of the Republic of Kazakhstan. The study analyzes the current legislation, identifies legal gaps and inconsistencies in the distribution of powers between state and local authorities. Particular attention is paid to issues of cadastral registration, liability for violation of water protection regimes, and the implementation of modern digital technologies in environmental monitoring. Based on domestic and international experience, the paper proposes measures to improve legal regulation and increase the effectiveness of water resource protection. The practice of applying legislation at the regional level is analyzed. The foreign experience of regulating water protection areas is reviewed and the possibilities of its adaptation in Kazakhstan are identified. The main problems and legal conflicts related to the delimitation of lands and the protection of water resources are identified. Proposals have been developed to improve legislation and enforcement mechanisms.

This article provides a comprehensive examination of the legal nature of land easements within the framework of Kazakhstan’s civil and land legislation. The study explores the historical development of easements, the interplay between their property-law and obligation-law components, and their contemporary significance in ensuring the balance of interests among participants in land and property relations. The findings reveal inconsistencies between civil and land law norms relating to the definition of the easement object, its alienability, and the distinction between private and public easements. These discrepancies hinder uniform interpretation in practice, particularly in establishing easement fees, determining the grounds for termination, and protecting the rights of owners of burdened land parcels. The scientific novelty of the study lies in substantiating the dual legal nature of easements as complex constructs combining features of both property and obligation law. The research also emphasizes the need for clearer statutory limitations on the scope and exercise of easement rights. The practical significance of the article is reflected in recommendations for improving legislative regulation, enhancing legal certainty, optimizing state registration mechanisms, and strengthening judicial practice in resolving land disputes. The results provide a theoretical and applied foundation for further development of the land easement institution in Kazakhstan.

The article discusses the problems of legal regulation of the system of Public Administration of land resources, rational use of land resources, improvement of the mechanism of economic efficiency of land resources, state management of land resources, economic and legal regulation of land resources. Land reserves in the Republic of Kazakhstan are the purpose of studying the foundations of the country’s economic well-being. The importance of the formation of the theory and practice of the system of public management of land resources was noted. When writing a research paper, legal, analytical, synthesizing, inductive and deductive methods in the field of public land management were widely used. State bodies draw conclusions about the effective use of land resources in the Republic of Kazakhstan, the maintenance of the land fund, the Prevention of land degradation, legal protection in the field of land relations, and the effective results of digitalization of land resources.

This article analyzes the problems and improvements to the legal regulation of mediation in international law. It examines international instruments that enshrine mediation as a means of peacefully resolving international disputes, such as the Charter of the United Nations, the Hague Convention for the Pacific Settlement of International Disputes of October 18, 1907, and United Nations resolutions. At the regional level, it analyzes documents of the European Union, the Organization for Security and Cooperation in Europe, and the African Union that emphasize the important role of mediation in resolving international disputes. The main idea of t his work is to explore the problems of international legal regulation of international mediation. Following their review, measures are proposed to improve mediation regulation, including the development of a universal international treaty, the institutionalization of mediation structures within the UN and regional mediation hubs, the development of digital platform, a mediator certification system, and others. The paper concludes that institutionalizing mediation activities, developing uniform standards, and creating digital platforms can improve the effectiveness of mediation processes. In this regard, Kazakhstan can actively participate in the development of international mediation, particularly by establishing a mediation hub that could provide support for its international peacekeeping initiatives.

The increasing influence of renewable energy sources leads to reduced system inertia, making power grids highly vulnerable to frequency deviations and stochastic disturbances. Traditional control methods rely on linearized models and cannot mathematically guarantee safety constraints under extreme conditions, potentially leading to battery saturation and system interruptions. In this paper, a correct-by-construction control framework for Energy Storage Systems is proposed using Symbolic Discrete Controller Synthesis. A controller that strictly enforces hard constraints on both grid frequency and battery State of Charge (SoC) is synthesised by modeling the frequency regulation problem as a safety game on a finite state abstraction. Comparative benchmarks demonstrate that while standard dead-band and droop control cause battery overcharge and service unavailability during worst-case volatility events, the symbolic controller guarantees 100% safety and continuous operation by maintaining the system strictly within designated bounds (i.e., 0.2 ≤SoC ≤0.9) without requiring complex runtime optimization.

The aim of the article is, based on a summary of the development of legal regulation of geographical indications at the international level, to draw attention to the problem of inconsistent legal regulation of geographical indications in different countries and the resulting problems for authorised holders of these indications. The article clarifies the specific nature of this intellectual property right and the continuous conflict between the states of the old (EU) and the new world (USA, Canada, Australia). A contradiction between the European system of protection of geographical indications sui generis and Common Law protection through certification and collective trademarks is identified. The EU and developing countries argue that a different level of protection will allow competitors who do not fall within the geographical area of the protected geographical indication to ‘parasitise’ on the reputation of the products, while the rightful holders of GI rights cannot defend themselves against such abuse if the unauthorised producer indicates the true origin of the product. An evaluation of the Geneva Act as an attempt to bridge the conflict is carried out. The Geneva Act improves and simplifies the international registration procedure not only for designations of origin, but also for geographical indications in countries that are not members of the Geneva Act. In conclusion, the direction of the new European legislation implemented by Regulations 2024/1143 and 2023/2411 is analysed, and the “intransigence” of European states to remain in the sui generis system based on practically unlimited protection of geographical indications is stated. The historical-legal and theoretical-legal methods were used in the research.

ABSTRACT This article addresses the global finite‐time regulation problem for Euler–Lagrange systems using an energy‐shaping plus damping injection approach. This methodology ensures that the trajectories of the closed‐loop system converge to any desired position with zero velocity in finite time, regardless of the initial conditions. As it is typical of the energy‐shaping approach, the control structure is based on the gradients of artificial potential and dissipative energy functions. In this work, new exponent conditions are proposed for the lower bounds of the desired potential energy and energy dissipative functions. Notably, these conditions eliminate the need for the energy functions to satisfy specific homogeneity constraints. By removing this requirement, the method enables the design of a broader class of finite‐time (state‐feedback and output‐feedback) controllers and allows for controllers that exhibit an unconventional form of exponential convergence—distinct from the classical definition. A byproduct of our proposal is the development of several novel finite‐time and unconventional exponential controllers that do not satisfy homogeneity constraints and compensate for the gravity force via a feed‐forward term. Such controllers have not been reported in the literature. We further include experimental results on a 6‐degrees of freedom robot to illustrate their performance.

The study of the problem of legal regulation of international freight transportation in the context of European integration is relevant for domestic legal science for several reasons. Further internationalization of economic relations leads to an increase in the volume of international trade and the exchange of goods and services between states, which creates a significant demand for international transportation, the relations of which require proper legal regulation. As a primary task, it is possible to outline the study of the foundations of modern legal regulation of TEN-T within EU legislation and doctrine, as well as the identification of guidelines for forming mechanisms to ensure the rights and interests of participants in the national transport system when creating tools and mechanisms for international freight transportation, joining TEN-T, and adapting Ukrainian legislation to EU law. An important direction of legal regulation of freight transportation is the formation of legal mechanisms for the functioning of the Trans-European Transport Network. The update of European legislation regarding the Trans-European Transport Network and transport corridors took place with the adoption of Regulation (EU) 2024/1679 of the European Parliament and of the Council of 13 June 2024 on Union guidelines for the development of the trans-European transport network, amending Regulations (EU) 2021/1153 and (EU) No. 913/2010 and repealing Regulation (EU) No. 1315/2013, which also requires consideration in the legislation of Ukraine. The development of multimodal transport infrastructure, and in the future intermodal transport, practically from an initial level provides an opportunity for legislative regulation of the restructuring of Ukraine’s transport system directly, bypassing the previously completed stages of TEN-T development. Key legislative changes in Ukraine should provide for new conditions for administrative and sectoral regulation, as well as for the coordination of major transportation flows in rail, road, and other modes of transport, with technical, technological, and legal adaptation to the TEN-T.

This article investigates regulatory challenges of internet advertising for environmentally certified products within widespread greenwashing practices in Ukrainian and global markets. The research examines legal principles and requirements for advertising in Ukraine while characterizing online advertising as a high-risk channel for deceptive environmental marketing practices. The author identifies absence of specialized legal regulation for internet advertising and substantiates necessity for legislative improvements given rapid e-commerce growth reaching 239 billion hryvnias in 2024 representing twenty-five percent annual increase. The study explores greenwashing as deceptive environmental product positioning practice and analyzes global prevalence dynamics. Research establishes paradoxical trend wherein overall greenwashing incidents decreased by twelve percent while high-severity cases simultaneously increased by thirty percent indicating evolution toward sophisticated manipulation tactics. Analysis of Ukrainian legislation regarding consumer protection and organic product regulation reveals critical gaps in monitoring environmental claims veracity in online environment. Consumer skepticism has reached critical levels with fifty-two percent believing organizations engage in greenwashing and eighty-eight percent of Generation Z expressing distrust toward brand environmental claims. Ukrainian organic market monitoring demonstrates only one out of twenty-three products bearing eco-labels could confirm valid certification possession representing ninety-five percent violation rate. European Union regulatory experience through Empowering Consumers for Green Transition Directive provides valuable insights prohibiting generic environmental claims without substantiation and establishing minimum penalties of four percent annual turnover. Article proposes pathways for solving legal regulation problems including strengthening control mechanisms establishing clearer standards implementing international certification system elements and developing rapid consumer complaint response mechanisms with special attention to online advertising specifics as more accessible and cost-effective channel compared to traditional advertising.

ABSTRACT Parents with substance use disorder have multiple risks affecting their parenting. Mental health problems and adverse childhood experiences (ACEs) with problems in emotion regulation and adult attachment insecurity may impair the early interaction with the infant. An intensive treatment programme, Holding Tight, has been developed in Finland since the 1990s. It integrates social work and psychological interventions with mental health prevention. The aim here was to evaluate changes in parenting and parental well‐being from pretreatment to post‐treatment and a 6‐month follow‐up. We further examined the moderating effects of parental ACEs and duration of treatment. Participants were 66 Finnish mothers and 23 fathers, 42.7% entering treatment prenatally and the rest postnatally with their infants ( M age = 5.43 months, SD = 10.02). Parents completed standardized self‐report questionnaires. The results show improvements in child involvement, maternal own attachment insecurity and depressive symptoms and emotion regulation. However, the results also show that mothers with higher ACEs had more depressive symptoms and showed more decrease during and more increase after treatment. Additionally, mothers with longer treatment showed more decrease in attachment anxiety and more increase in child involvement. We discuss how these results may bear significance in the future implementation of comprehensive treatment models.

Combination gas wall-hung boiler systems have been serving as indispensable fundamental components in both industrial and domestic applications, which play significant roles in energy efficiency improvement and carbon emission reduction. However, the challenges are imposed to high precision temperature control for the systems, including time-delay, parameter uncertainties, as well as the temperature fluctuations of inlet water. In this paper, the temperature regulation problem is addressed by applying time-delay disturbance observer based composite control algorithm. First, a novel time-delay disturbance observer is constructed to have accurate estimations of the lumped disturbances. Then, feedback linearization and linear state feedback controller are combined with the proposed disturbance observer, which results in a composite control solution and improves the disturbance rejection ability. Faster dynamic responses and higher tracking accuracy are obtained. Rigorous stability analysis of the closed-loop system is presented. Finally, both simulation and experimental results are illustrated to demonstrate the effectiveness of the proposed method.

The article attempts to conceptualize digital human rights in the legal system of Ukraine and outlines the possibilities of using constitutional law to protect them. It is emphasized that digital rights are a new category of rights in the legal system of Ukraine, which are the result of the era of active development of digital technologies and require proper legislative regulation and effective protection mechanisms. It is noted that the positions of scientists regarding the definition of digital rights and their legal nature differ to some extent, but what they have in common is that they relate to the use of digital technologies. Therefore, we can determine that digital human rights are a new independent group of human rights that is directly related to the use of digital technologies using additional electronic devices, are implemented on the Internet and provide for the right to freedom and protection of the privacy of an individual in the global network. The following basic digital rights are distinguished: the right to access the Internet (one of the first and defining rights in the digital sphere), freedom of expression online (freely express personal views, search, distribute and receive information online, which is to some extent related to a similar subjective right), the right to privacy (protection of personal data), the right to personal security online, etc. However, this list is not exhaustive and is constantly being supplemented as a result of new substantiated scientific research in the digital sphere, both in view of the rapid development of digital technologies and the digitalization of society. However, all of them require comprehensive and proper legal regulation, and the fundamental ones should be enshrined at the state level or even constitutionalized. It is concluded that to solve the problem of effective legal regulation of human rights in the digital sphere in Ukraine, which is one of the leading states in the provision of public services online, it is necessary to include these rights in the relevant legislation and develop effective mechanisms for their protection. In this case, it is extremely important to apply the experience of foreign countries, in which national legislation has codified the aforementioned digital rights and their protection with positive success.

We (1) identified profiles of infant behavioral and physiological responses across the still-face paradigm, (2) examined differences in subsequent infant outcomes across profiles, and (3) examined the independent and interactive effects of prenatal maternal distress and early postnatal caregiving environments as predictors of infant profiles. Participants (N = 299, 52.5% non-Hispanic White; 48.8% female infants) reported a variety of prenatal distress indicators. Maternal sensitivity was observed when infants were 2 months, and infant positive and negative affect and respiratory sinus arrhythmia were assessed during the still-face at 6 months. Regulatory and problem behaviors were observed/reported at 1 and 2 years. Three latent profiles emerged: high negative affect, modest still-face effect, and strong still-face effect. Infants in the modest still-face effect profile demonstrated subsequent better emotion regulation and lower behavior problems, compared to the others, albeit at 1 year only. Infants with matched prenatal and postnatal environments (i.e., high prenatal distress, low maternal sensitivity) tended to be in the modest still-face effect profile, whereas those experiencing mismatched environments (i.e., high prenatal distress, high sensitivity) were more likely to be in other profiles. Results suggest the importance of considering the joint effects of prenatal and postnatal caregiving environments on infant regulatory and behavioral development.