Pond-Women Revelations: The Subaltern Registers in Maithil Women's Expressive Forms

Ponds are ubiquitous in the Maithil region of Nepal, and they figure prominently in folk narratives and ceremonial paintings produced by women there. I argue that in Maithil women's folktales, as in their paintings, the trope of ponds shifts the imaginative register toward women's perspectives and the importance of women's knowledge and influence in shaping Maithil society, even as this register shift occurs within plots featuring male protagonists. I argue further that in the absence of a habit of exegesis in their expressive arts, and given the cross-referential, dialogic nature of expressive practices, a methodology that draws into interpretive conversation the multitude of expressive forms exercised by Maithil women enhances analytical access to Maithil women's collective perspectives on their social and cosmological worlds.

Model Predictive Control for Vehicle Stabilization at the Limits of Handling

Recent developments in vehicle steering systems offer new opportunities to measure the steering torque and reliably estimate the vehicle sideslip and the tire-road friction coefficient. This paper presents an approach to vehicle stabilization that leverages these estimates to define state boundaries that exclude unstable vehicle dynamics and utilizes a model predictive envelope controller to bound the vehicle motion within this stable region of the state space. This approach provides a large operating region accessible by the driver and smooth interventions at the stability boundaries. Experimental results obtained with a steer-by-wire vehicle and a proof of envelope invariance demonstrate the efficacy of the envelope controller in controlling the vehicle at the limits of handling.