hotchpotch/wikipedia-multilingual-ir-related-lead-pairs huggingface dataset:
Product of exponentials formula
The product of exponentials (POE) method is a robotics convention for mapping the links of a spatial kinematic chain. It is an alternative to Denavit–Hartenberg parameterization. While the latter method uses the minimal number of parameters to represent joint motions, the former method has a number of advantages: uniform treatment of prismatic and revolute joints, definition of only two reference frames, and an easy geometric interpretation from the use of screw axes for each joint.

The POE method was introduced by Roger W. Brockett in 1984.

Denavit–Hartenberg parameters
In mechatronics engineering, the Denavit–Hartenberg parameters (also called DH parameters) are the four parameters associated with the DH convention for attaching reference frames to the links of a spatial kinematic chain, or robot manipulator.

Jacques Denavit and Richard Hartenberg introduced this convention in 1955 in order to standardize the coordinate frames for spatial linkages.

Richard Paul demonstrated its value for the kinematic analysis of robotic systems in 1981.
While many conventions for attaching reference frames have been developed, the Denavit–Hartenberg convention remains a popular approach.
Opole-Kamień Śląski Airport
Opole-Kamień Śląski Airport (Polish: Lądowisko Kamień Śląski) (ICAO: EPKN) is a former military airfield located in Kamień Śląski, 17 kilometers south of the city of Opole. The airport has a single 900x60m blacktop runway.

Air base
An airbase or air base, sometimes referred to as a military airbase, military airfield, military airport, air station, naval air station, air force station, or air force base, is an aerodrome or airport used as a military base by a military force for operating military aircraft.
Confederate Army of Kentucky
The Army of Kentucky was a Confederate army during the American Civil War.

The designation "Army of Kentucky" was given August 25, 1862 to the field army Kirby Smith led into eastern Kentucky during the Confederate Heartland Offensive. The army was drawn from troops of the Confederate Department of Eastern Tennessee, which had been created with Smith as commander in February 1862.

The army consisted of the infantry divisions of Henry Heth, Patrick Cleburne, Thomas J. Churchill and Carter L. Stevenson and two small cavalry brigades under John Hunt Morgan and John S. Scott. After the Battle of Perryville, Kirby Smith was promoted and given command of the Department of Trans-Mississippi, and the army was incorporated into the Army of Tennessee.

Carter L. Stevenson
Carter Littlepage Stevenson Jr. (September 21, 1817 – August 15, 1888) was a career military officer, serving in the United States Army in several antebellum wars and then in the Confederate States Army as a general in the Western Theater of the American Civil War.
J. J. Trujillo
John "J. J." Trujillo (born October 9, 1975), is a former Major League Baseball pitcher. He appeared in four games for the San Diego Padres in 2002. In 2007  he pitched for the Newark Bears of the Atlantic League of Professional Baseball, before his contract was purchased by the Philadelphia Phillies who assigned him to Class A Clearwater of the Florida State League, helping them to the league championship. Trujillo then returned to the Bears, helping them to the Atlantic League championship, giving him two separate league championships in one year.

Trujillo is one of only two pitchers in major league history to surrender a game-ending home run to the first batter he faced in the majors. On June 11, 2002, he began the 10th inning of an interleague game against the Baltimore Orioles and promptly gave up a walk-off home run to Tony Batista.

He was born in Corpus Christi, Texas.

Tony Batista
Leocadio Francisco "Tony" Batista Hernandez (born December 9, 1973) is a Dominican former Major League Baseball infielder. He played in the major leagues from 1996 to 2004 and 2006 to 2007, and with the SoftBank Hawks of the Japanese Pacific League in 2005.
Lomellina
The Lomellina (Western Lombard: Ümlina or Lümelina) is a geographical and historical area in the Po Valley of northern Italy, located in south-western Lombardy between the Sesia, Po and Ticino rivers. It is one of three areal divisions of the Province of Pavia.

Ticino (river)
The river Ticino (/tɪˈtʃiːnoʊ/ tih-CHEE-noh, Italian: [tiˈtʃiːno]; Lombard: Tesin; French and German: Tessin; Latin: Ticīnus) is the most important perennial left-bank tributary of the Po. It has given its name to the Swiss canton through which its upper portion flows.

It is one of the four major rivers taking their source in the Gotthard region, along with the Rhône, Reuss and Rhine.
The river rises in the Val Bedretto in Switzerland at the frontier between the cantons of Valais and Ticino right below the Nufenen Pass, is fed by the glaciers of the Alps and later flows through Lake Maggiore, which traverses the border to Italy. The Ticino joins the Po a few kilometres downstream (along the Ticino) from Pavia. It is about 248 kilometres (154 mi) long. The stretch of river between Lake Maggiore and the confluence in the Po is included in the Parco naturale lombardo della Valle del Ticino, a Nature reserve included by UNESCO in the World Network of Biosphere Reserves.
MasterChef Australia series 17
The seventeenth series of the Australian television cooking show MasterChef Australia, also known as MasterChef: Back To Win and MasterChef Australia: Back To Win, was announced on 16 September 2024. It featured the same four judges as series 16, namely series 4 winner Andy Allen, food writer Sofia Levin, French chef Jean-Christophe Novelli and series 1 runner-up Poh Ling Yeow.

Similar to series 12, series 17 featured a Back to Win concept, with 24 contestants from previous series returning for a chance to win the title.

The series premiered on 28 April 2025.

Laura Sharrad won the grand finale on 12 August 2025, defeating Callum Hann 80–73.

Contestants Sarah Todd and Declan Cleary began a relationship during filming of the series, and moved in together after elimination. In October 2025 they announced Todd was pregnant. In December 2025, Todd gave birth to twin girls.

Andy Allen (chef)
Andrew Peter Allen (born 30 April 1988) is an Australian cook, food critic and television presenter. He is notable for winning the fourth season of MasterChef Australia in 2012, and for being a judge on MasterChef Australia from 2020.
AS Gien
Association Sportive de Gien is a French association football club. They are based in the town of Gien and their home stadium is the Stade Municipal Wilson. As of the 2009–10 season, the club plays in the Division d'Honneur Regionale de Centre, the seventh tier of French football.

Gien
Gien (French pronunciation: [ʒjɛ̃]) is a commune in the Loiret department in north-central France.

Gien is on the river Loire, 80 km (50 mi) from Orléans. Gien station has rail connections to Montargis, Nevers and Paris. The town was bought for the royal domain by Philip II of France. The town is twinned with Malmesbury in England.
Ritch Hall
Ritch Hall is a historic building on the campus of Western New Mexico University in Silver City, New Mexico, United States. It was built as a women's dormitory. Its construction cost $30,000, and it was completed in 1906, with remodels in 1925 and 1948. The building was named in honor of W.G. Ritch, who served as the president of the board of regents of WNMU from 1902 to 1904. It was designed in the Mission Revival style by architect Charles Frederick Whittlesey in 1906, and an extension was designed by architect John Gaw Meem in 1950. It has been listed on the National Register of Historic Places since September 22, 1988.

Mission Revival architecture
The Mission Revival style was part of an architectural movement, beginning in the late 19th century, for the revival and reinterpretation of American colonial styles. Mission Revival drew inspiration from the late 18th and early 19th century Spanish missions in California. It is sometimes termed California Mission Revival, particularly when used elsewhere, such as in New Mexico and Texas which have their own unique regional architectural styles. In Australia, the style is known as Spanish Mission.

The Mission Revival movement was most popular between 1890 and 1915, in numerous residential, commercial and institutional structures, particularly schools and railroad depots.
Voynov
Voynov or Voinov (Russian, Ukrainian or Bulgarian: Войнов or Воинов, from воин meaning warrior) is a Russian masculine surname, its feminine counterpart is Voynova or Voinova. Notable people with the surname include:

Aleksandr Voynov (born 1993), Russian football midfielder

Anastasia Voynova (born 1993), Russian track cyclist

Denis Voynov (born 1990), Russian footballer

Dimitrie Voinov (1867–1951), Romanian zoologist, histologist and cytologist

Iliya Voynov (born 1964), Bulgarian football winger

Nicolae Voinov (1834-1899), Romanian politician

Sergey Voynov (born 1977), Uzbekistani javelin thrower

Slava Voynov (born 1990), Russian ice hockey player

Vanya Voynova (1934–1993), Bulgarian basketball player

Voyn Voynov (born 1952), Bulgarian footballer and manager

Yuriy Voynov (1931–2003), Soviet footballer and manager

Slava Voynov
Vyacheslav "Slava" Leonidovich Voynov (Russian: Вячесла́в Леони́дович Во́йнов; born 15 January 1990) is a Russian professional ice hockey defenceman for Avangard Omsk of the Kontinental Hockey League (KHL). He was previously suspended by the National Hockey League (NHL) resulting in the Los Angeles Kings terminating Voynov's six-year, $25 million contract in 2015 but retaining his rights. Voynov was selected by the Kings in the second round, 32nd overall, of the 2008 NHL entry draft, having won two Stanley Cups in 2012 and 2014.
Hamyang Yeo clan
Hamyang Yeo clan (Korean: 함양 여씨; Hanja: 咸陽 呂氏) is one of the Korean clans. Their Bon-gwan is in Hamyang County, South Gyeongsang Province. According to the research held in 2015, the number of Hamyang Yeo clan was 34835. Their founder was Yeo Eo mae who was a Hanlin Academy in Tang dynasty, China. He was naturalized in Silla during the rebellion of Huang Chao.

Hamyang County
Hamyang County (Hamyang-gun) is a county in South Gyeongsang Province, South Korea.

It is home to the Wooden Seated Statue of Buddha in Beopinsa (법인사), the Standing Statue of Buddha in Deokjeonri (덕전리), the Three-Level Stone Pagoda, Stone Seated Statue of Buddha, Three Storied Stone Pagoda of Seungansa (승안사) Temple Site. There are also historical sites such as the Namgyeseowon (남계서원) Confucian School, Hwangseoksanseong (황석산성) Fortress, and Sageunsanseong (사근산성) Fortress.
Sonoma Mountain Zen Center
Sonoma Mountain Zen Center (or, Genjoji) is a Soto Zen practice center located on 80 acres (30 ha) in the mountainous region of Sonoma County in California—near Santa Rosa—carrying on the tradition and lineage of Shunryu Suzuki. Founded by Jakusho Kwong and his wife Laura Kwong in 1973, Kwong-roshi is the current guiding teacher of the Zen center. Offering residential training, Saturday Community and group retreats. Sonoma Mountain Zen Center also offers a practice regimen for members of the surrounding area and elsewhere who are not residents.

Rōshi
Rōshi (老師) (Japanese: "old teacher"; "old master") is a title in Zen Buddhism with different usages depending on sect and country. In Rinzai Zen, the term is reserved only for individuals who have received inka shōmei, meaning they have completed the entire kōan curriculum; this amounts to a total of fewer than 100 people at any given time. In Sōtō Zen and Sanbo Kyodan it is used more loosely. This is especially the case in the United States and Europe, where almost any teacher who has received dharma transmission might be called rōshi, or even use it to refer to themselves, a practice unheard of in Japan.
Iowa Hawkeyes football
The Iowa Hawkeyes football program represents the University of Iowa in college football. The Hawkeyes compete in the Big Ten Conference. Iowa joined the Conference (then known as the Western Conference or Big Nine) in 1899 and played their first Conference football season in 1900. They are a Division I Football Bowl Subdivision (FBS) member of the National Collegiate Athletic Association (NCAA). The Hawkeyes play their home games in Iowa City, Iowa, at Kinnick Stadium, with a capacity of 69,250. The Hawkeyes are coached by Kirk Ferentz, who is in his 27th season as the head coach and is the longest current tenured head coach in NCAA Division I FBS. The Hawkeyes have won 13 conference championships (including 11 in the Big Ten). Iowa has been ranked #1 in the AP and Coaches Poll 15 times.

Hayden Fry
John Hayden Fry (February 28, 1929 – December 17, 2019) was an American college football player and coach. He served as the head football coach at Southern Methodist University (SMU) from 1962 to 1972, North Texas State University—now known as the University of North Texas—from 1973 to 1978, and the University of Iowa from 1979 to 1998, compiling a career coaching record of 232–178–10. Fry played in college at Baylor University. He was inducted into the College Football Hall of Fame as a coach in 2003.
Miss World 2017
Miss World 2017 was the 67th edition of the Miss World pageant, held at the Sanya City Arena in Sanya, China, on 18 November 2017.

Stephanie Del Valle of Puerto Rico crowned Manushi Chhillar of India as her successor at the end of the event. It was the sixth victory for India in the history of the pageant, tying with Venezuela for the most wins in the pageant's history.

Stephanie Del Valle
Stephanie del Valle Díaz (born December 30, 1996) is a Puerto Rican musician, model and beauty queen who was crowned Miss World 2016. She became the second contestant from Puerto Rico to win the Miss World title, after Wilnelia Merced in 1975. She previously won Miss Mundo de Puerto Rico 2016.
R v Faulkner
R v. Faulkner (1877) is a key reported appeal the Court for Crown Cases Reserved: holding that the mens rea for committing one criminal act does not necessarily transfer to all possible, potentially in other ways criminal, consequences of that act.

Mens rea
In criminal law, mens rea (/ˈmɛnz ˈreɪə/; Law Latin for "guilty mind") is the mental state of a defendant who is accused of committing a crime. In common law jurisdictions, most crimes require proof both of mens rea and actus reus ("guilty act") before the defendant can be found guilty.
Journal of the History of Biology
The Journal of the History of Biology is a quarterly peer-reviewed academic journal covering the history of biology as well as philosophical and social issues confronting biology. It is published by Springer Science+Business Media and the editors-in-chief are Nicolas Rasmussen (University of New South Wales) and Vassiliki Betty Smocovitis (University of Florida). According to the Journal Citation Reports, the journal has a 2015 impact factor of 0.897.

Nicolas Rasmussen
Nicolas "Nic" Rasmussen FAHA (born 1962) is a historian of modern life sciences, and a professor in the School of Humanities and Languages at the University of New South Wales. With major interests in the history of amphetamines, the history of drug abuse, and the history of clinical trials, he has higher degrees in history and philosophy of science, developmental biology, and public health.
Bucksbaum Center for the Arts
The Bucksbaum Center for the Arts is part of Grinnell College, located in Grinnell, Iowa.  The center was completed in May 1999, and actually contains the old Fine Arts complex.  The center was designed by renowned architect César Pelli.

The facilities include:

Faulconer Gallery - A 7,420-square-foot (689 m2) gallery space that houses the college's Permanent Collection as well as traveling exhibitions. The gallery is named for donors Vernon and Amy Faulconer.

The Sebring-Lewis Recital Hall - A 4,050-square-foot (376 m2) concert hall.

The Flanagan Studio Theatre - A 2,000-square-foot (190 m2) theatre (formerly the Arena Stage), named for Federal Theatre Project director and 1911 Grinnell graduate Hallie Flanagan.

The Roberts Theatre - A traditional thrust-stage theatre that seats 450 people.

The Wall Performance Lab - A black box theatre.

6 fully equipped art studios, in addition to a computer lab, scene shop, dance studio, and 15 practice rooms.

Black box theater
A black box theater is a performance space, typically a square or rectangular room, with black walls and a black, flat floor. The simplicity of the space allows it to be used to create a variety of configurations of stage and audience interaction. The black box is a relatively recent innovation in theatre.
2006 Oldham Metropolitan Borough Council election
Elections to Oldham Metropolitan Borough Council were held on 4 May 2006.  One third of the Council was up for election.

The Labour Party retained overall control of the Council.

After the election, the composition of the council was:

Labour 31

Liberal Democrat 27

Conservative 1

Independent (politician) 1

Metropolitan Borough of Oldham
The Metropolitan Borough of Oldham is a metropolitan borough of Greater Manchester in England. It is named after its largest town, Oldham. The borough had a population of 251,560 in 2024, making it the sixth-largest district by population in Greater Manchester. The borough spans 142 square kilometres (55 sq mi).
Mary Jones (actress)
Mary Jones (20 February 1915 – 31 March 1990) was a Welsh film actress.

Jones was born in Rhayader, Radnorshire. She appeared in films like  Hay Fever (1946),  Celestial Fire (1928), The Big Chance (1957), The Promise (1969) and Under Milk Wood (1972).

Under Milk Wood (1972 film)
Under Milk Wood is a 1972 British drama film directed by Andrew Sinclair and based on the 1954 radio play Under Milk Wood  by the Welsh writer Dylan Thomas, commissioned by the BBC and later adapted for the stage. It featured performances by Richard Burton, Elizabeth Taylor, Siân Phillips, David Jason, Glynis Johns, Victor Spinetti, Ruth Madoc, Angharad Rees, Ann Beach, Vivien Merchant, and Peter O'Toole as the residents of the fictional Welsh fishing village of Llareggub.
Noyon Khutagt
The Noyon Khutagt (Mongolian: Hоён Xутагт) is a monk of the Nyingma school of Tibetan Buddhism in the Gobi region of Mongolia. The present Noyon Khutagt is believed to be the ninth incarnation of the original Mongolian Noyon Khutagt, who himself was believed to be a reincarnation of a much earlier person in Tibetan Buddhist history.

Gobi Desert
The Gobi Desert is a large, cold desert and grassland region in southern Mongolia and North China. It is the sixth-largest desert in the world.

The name of the desert comes from the Mongolian word gobi, used to refer to all of the waterless regions in the Mongolian Plateau; in Chinese, gobi is used to refer to rocky, semi-deserts such as the Gobi itself rather than sandy deserts.
Bartolomeu Constantin Săvoiu
Bartolomeu Constantin Săvoiu (born 18 February 1945 in Bucharest) is a general in the reserves of the Romanian Land Forces, as well as Grand Master of the Romanian National Grand Lodge 1880 (M.L.N.R. 1880). He is also a French citizen.

Grand Master (Freemasonry)
A Grand Master is a title of honour as well as an office in Freemasonry, given to a freemason elected to oversee a Masonic jurisdiction, derived from the office of Grand Masters in chivalric orders. He presides over a Grand Lodge and has certain rights in the constituent Lodges that form his jurisdiction. In most cases, the Grand Master is styled "Most Worshipful Grand Master." One example of a differing title exists in the Grand Lodge of Pennsylvania, where the Grand Master is titled "Right Worshipful". Under the Grand Lodge of Scotland, the role is titled "Grand Master Mason".
SE postcode area
The SE (South Eastern) postcode area covers a broad area of the south and south-east of the London, England post town from the Albert Embankment to West Heath and the nearest edges of Sidcup and Selhurst. It loosely corresponds to the boroughs of Southwark, Lewisham and Greenwich plus indicated parts of the boroughs of Croydon (north), Lambeth (east), Bexley (west) and Bromley (northwest).

Albert Embankment
Albert Embankment is part of the river bank on the south side of the River Thames in Central London. It stretches approximately one mile (1.6 km) northward from Vauxhall Bridge to Westminster Bridge, and is located in the London Borough of Lambeth.
Francis H. Friend
Francis Howard Friend (February 17, 1898 - November 24, 1958) was an American politician from Maine. Friend served in the Maine House of Representatives (1920-1934) and Maine Senate (1935-1944). A Republican, Friend represented part of Somerset County, Maine, including his residence in Skowhegan. From 1940 to 1942, Friend served as Senate Majority Leader and was President of the special session called in 1942. He died in 1958 and is buried at Southside Cemetery in Skowhegan.

Maine Senate
44°18′26″N 69°46′54″W﻿ / ﻿44.307138°N 69.781586°W﻿ / 44.307138; -69.781586

The Maine Senate is the upper house of the Maine Legislature, the state legislature of the U.S. state of Maine. The Senate currently consists of 35 members representing an equal number of districts across the state, though the Maine Constitution allows for "an odd number of Senators, not less than 31 nor more than 35". Unlike the lower House, the Senate does not set aside nonvoting seats for Native tribes.  Because it is a part-time position, members of the Maine Senate usually have outside employment as well.

The Senate meets at the Maine State House in Augusta. Members are limited to four consecutive terms with each term being two years but may run again after a two-year wait.
Ohkay Owingeh Airport
Ohkay Owingeh Airport (IATA: ESO, FAA LID: E14, formerly Q14) is a public use airport located in Rio Arriba County, New Mexico, United States. It is three nautical miles (6 km) northeast of the central business district of the city of Española. The airport is owned by the Ohkay Owingeh Tribal Council.

The airport was known as the San Juan Pueblo Airport until 2008. The name change occurred due to the San Juan Pueblo returning to its pre-Spanish name in November 2005. The Tewa name Ohkay Owingeh means "place of the strong people".

The airport briefly saw commercial airline service in 1978 when Trans Western Airlines of Utah added Espanola as a stop along a route between Albuquerque and Denver. Other stops were also made at Santa Fe, Taos, and Alamosa.

Rio Arriba County, New Mexico
Rio Arriba County (Spanish: Condado de Río Arriba) is a county in the U.S. state of New Mexico. As of the 2020 census, the population was 40,363. Its county seat is Tierra Amarilla. Its northern border is the Colorado state line.

Rio Arriba County comprises the Española, New Mexico, micropolitan statistical area, which is also included in the Albuquerque–Santa Fe–Los Alamos combined statistical area.