This paper proposes an energy-efficient walking generation method utilizing limit cycles generated by nonlinear model predictive control (NMPC). Conventional limit cycle walking methods rely on strong feedback, such as output zeroing control, to attract the robot’s state toward a predefined periodic trajectory. However, we hypothesize that employing feedback control that better leverages the robot’s dynamics can improve energy efficiency during walking. Our previous work confirmed that using limit cycles generated by NMPC can produce energy-efficient walking patterns. This study builds upon this foundation and proposes a new method for generating walking in a general five-link bipedal robot. Through extensive numerical simulations, we demonstrate that the proposed method achieves highly energy-efficient walking while exhibiting excellent convergence to periodic trajectories.

Avian schistosomatids are blood flukes parasitizing a wide spectrum of aquatic birds. However, its research in the Neotropics is ongoing with several putative new taxa pending description. Although waterfowl represent the most important avian hosts for these flukes, only a small proportion of these birds have been assessed for schistosomatids. This study aimed to describe avian schistosomatids from two native ducks from the Southern Cone of South America. A total of 24 Chiloe wigeon (Mareca sibilatrix) and three Cinnamon teals (Spatula cyanoptera) from different localities in Chile and Argentina were dissected to retrieve schistosomatids. The retrieved worms were described through an integrative approach considering morphology (staining and SEM) and molecular tools (PCR: COI, 28S rRNA genes). The new schistosomatid: Trichobilharzia kulfu sp. nov. was recovered from the viscera of Chiloe wigeon. It was closely related to other undescribed Trichobilharzia taxa from the United States, also from Mareca ducks. The new species was morphologically and molecularly different from other Trichobilharzia species, and it was included in the clade Q. In addition, SEM imaging proved to be an important tool to describe unnoticed traits on the tegument of worms. This new species represents the second Trichobilharzia taxon from the Neotropics described through an integrative approach. Furthermore, the Cinnamon teals harboured Trichobilharzia querquedulae. Considering there are several avian schistosomatids described only through morphological or molecular tools, there is a clear need to include a comprehensive approach in the description of avian schistosomatids, considering the remarkable richness of schistosomatids in Neotropics.

In these replies, I respond to critical comments on my book (Radical Skepticism and Epistemic Intuition, Oxford 2021) from Julia Smith, Louis Doulas, Bill Lycan, and Matthias Steup, who (along with me) contributed to a symposium on that book for this journal. I discuss the following topics (among others), all in the context of my commonsense response to radical skepticism: epistemic intuitions, evidence, disagreement, philosophical pessimism, epistemic modesty, inference to the best explanation, theoretical virtues, particularism, methodism, epistemic circularity, and higher-level requirements on epistemic justification.

This paper studies the impact of the COVID-19 epidemic on economic and health outcomes in China from January 20 to September 28, 2020. We first document China’s containment policies and present empirical evidence on the role of the online economy. We then use a SIR-macro model to study the macroeconomic and health outcomes of the epidemic. The model can generate infection and death dynamics broadly consistent with the data and the U-shaped recovery of the Chinese economy at the weekly frequency. The analysis reveals that, in addition to the containment policies, the development of the online economy (both online consumption and remote work) plays a critical role in fighting an epidemic.

Antiquities in the Middle East region face various threats, including illicit trade, theft, and forgery. This research examines a leather manuscript obtained by the Palestinian Tourist Police following the arrest of an antiquities smuggler. The manuscript contains Phoenician inscriptions along with symbols such as the Menorah, Shofar, and a plant branch. Radiocarbon dating using accelerator mass spectrometry (AMS) techniques determined the manuscript’s date to be post-1950 CE. Therefore, the results indicate that the manuscript is a modern forgery, likely created for commercial purposes. Additionally, the text contains several grammatical errors, further supporting the conclusion that it is not an authentic historical artifact.

The phenomenon of insect emergence represents a transfer of mass and energy from aquatic to terrestrial systems and is a critical part of ecosystem connectivity and functioning. Traditional methods of studying insect emergence rely on the capture of insects as they emerge and on morphological identification with taxonomic keys. This can be both time consuming and impact study populations, obstacles that can be removed with DNA obtained from biological remnants. The present proof-of-concept study investigated the potential of using exuviae collected from the water surface as a DNA source. Emergence trap samples and insect exuviae were collected from a pond and a small creek. Sample types were generally not statistically distinguishable, but the exuviae samples identified more orders containing amphibiotic insects and a higher level of diversity within these orders than the trap samples did. This higher level of diversity seen in exuviae samples may be due to limitations of emergence traps, including that they alter environmental variables in their collection area. We demonstrated that identification of emerging aquatic insects through metabarcoding of exuviae is a useful method for the study of insect emergence and could be used for biodiversity assessments and studies on emergence times and to better understand ecosystem connectivity.

This article presents the implementation of a new monopulse auto-tracking architecture at the Oran ground station (GS). This architecture is based on a metaheuristic particle swarm optimisation (PSO) algorithm, which measures and adjusts the Q(R) summation associated with the satellite’s main beam direction to ensure optimal synchronisation between the GS and the satellite in terms of antenna pointing. This implementation was validated through practical tests during ALSAT-2B satellite flybys, comprising two distinct scenarios. In the first scenario, the satellite captures new images while simultaneously transmitting data from previously recorded images, thus leading to a misalignment between its antenna and the GS. The second scenario focused solely on data transmission; the satellite being directly aligned with the GS. The results indicate that the pointing error accuracy remains below 0.6 degrees, in accordance with the nominal specifications, thereby enhancing communication performance with a higher received signal level of −55 dBm, which resulted in no loss of images.

Our group has previously characterised a post-violet infrared stimulated luminescence (pVIRSL) signal and developed a post-violet infrared single-aliquot regenerative-dose (pVIR-SAR) protocol for estimation of paleodoses. The protocol provides an opportunity for measuring polymineral samples as violet stimulation prior to IRSL measurement, bleaches natural luminescence signal of quartz, and makes it possible to probe photo-transferred charges in feldspar through IR stimulation. This study presents the results of the pVIR-SAR protocol on natural polymineral fine- (4–11 μm) and coarse-grain (90–150 μm) samples, including volcanic ash, pottery, and fluvial deposits from varied geological provenances. The results show that pVIR-SAR ages of both these fine- and coarse-grain samples are consistent with geological reasoning and available age controls thereby suggest that with the use of the pVIR-SAR protocol, mineral separation can be dispensed. This study also reports on the bleachability, athermal fading rates, and alpha efficiencies of pVIRSL for these samples and corresponding results are compared with IRSL at 50°C and post-IR IRSL (pIRIRSL) at 290°C. The pVIRSL signal has a better bleachability and reproducibility compared to the pIRIRSL signal. For the fluvial deposits dated in this study, the fine-grain samples provide ages consistent with the expected chronology.