In an isolate-free graph G, a subset S of vertices is a semitotal dominating set of G if it is a dominating set of G and every vertex in S is within distance 2 of another vertex of S. The semitotal domination number of G, denoted by $\gamma _{t2}(G)$, is the minimum cardinality of a semitotal dominating set in G. Goddard, Henning and McPillan [‘Semitotal domination in graphs’, Utilitas Math. 94 (2014), 67–81] characterised the trees and graphs of minimum degree 2 with semitotal domination number half their order. In this paper, we characterise all graphs whose semitotal domination number is half their order.

For any positive integer n, let $\sigma (n)$ be the sum of all positive divisors of n. We prove that for every integer k with $1\leq k\leq 29$ and $(k,30)=1,$

$$ \begin{align*} \sum_{n\leq K}\sigma(30n)>\sum_{n\leq K}\sigma(30n+k) \end{align*} $$

for all $K\in \mathbb {N},$ which gives a positive answer to a problem posed by Pongsriiam [‘Sums of divisors on arithmetic progressions’, Period. Math. Hungar. 88 (2024), 443–460].

When generating simultaneous joint movements of a humanoid with multiple degrees of freedom to replicate human-like movements, the approach of joint synergy can facilitate the generation of whole-body robotic movement with a reduced number of control inputs. However, the trade-off of minimizing control inputs and keeping characteristics of movements makes it difficult to improve movement performance in a simple control manner. In this paper, we introduce an approach by connecting and constraining these joints. It is inspired by the fascia network of the human body, which constrains the whole-body movements of a human. Compared to when only joint synergy is used, the effectiveness of the proposed method is verified by calculating the errors of joint positions of generated movements and human movements. The paper provides a detailed exploration of the proposed method, presenting simulation-experimental results that affirm its effectiveness in generated movements that closely resemble human movements. Furthermore, we provide one possible method on how these concepts can be implemented in actual robotic hardware, offering a pathway to improve movement control in humanoid robots within their mechanical limitations.

Between 1750 and 1850, at least twenty versions of the Greenlandic Bible were published through the efforts of Greenlandic catechists, Danish Lutherans, German Moravians, the Danish Bible Society and the British and Foreign Bible Society (BFBS). This article assesses the role of Greenlandic and other Inuit translators as they were engaged in the colonial project of devising a complete version of the scriptures in their own language. Using the relatively untapped correspondence of the BFBS, it considers how and why the status of Inuit translators changed over the course of the missionary translation project. In one response to the reception of new Bibles, Inuit people offered gifts of blubber to the BFBS to support translations for other mission communities. To understand the meaning of this exchange, this essay brings together the methodologies and perspectives of missionary linguistics. It uncovers the unique role played by Greenlandic and other Inuit translators and catechists, foregrounding their contribution to a successful national project, the creation of a national language for independent Greenland and the emergence of literate Christian communities. By reading along and against the grain of colonial archives, it seeks to recover something of the names and motivation of Inuit scripture translators.

As some of the most intensively devoted football fans in Germany, ultras coordinate crowd atmosphere in the arena to support their respective clubs on the field while actively positioning themselves against sport’s governing bodies, whom they see as corrupted by the strategies used to transform professional football from a game into a capitalist industry. Focusing on travel and transportation as a key feature of hardcore fandom, I examine the relationship between ultras’ activities in transit to games and their congregation in public spaces (on the streets, on trains, at rest stops, in stadia), in which quotidian ambience is often hijacked and repurposed as an estranged form of public address. I focus on the dynamic ways that ultras move through space as a means of charting the stages in which fan scenes become crowds, and crowds are mobilized as a means of protesting against the alienating dynamics of modern football, the contrasting stylistics of which result in divergent outsider interpretations and reactions from the state, the German Football Association (DFB), the media, and onlookers confronted by ultras’ public transgressions. Through the fan scene’s ability to coordinate movement and heighten bodily capacity, varied expressions of antisocial behavior become a means of harnessing fans’ own disaffection in a way that reclaims public space as it conjures a heightened emotive environment.

Late Pleistocene deposits in the southern Kola Peninsula, adjacent to the White Sea, evidence the complex alternation between marine transgressions and glacial expansions in northern Europe during successive late Pleistocene warm and cold stages. According to lithostratigraphic and chronological data from key sections, southern Kola Peninsula underwent two phases of the Boreal marine transgression during Marine Isotope Stage (MIS) 5; marine environments, encompassing the very end of MIS 4 and almost the entirety of MIS 3, were also recognized. Age determinations using electron spin resonance (ESR) and infrared optically stimulated luminescence (IR-OSL) techniques reveal marine sediments with ages ranging from 138–128 ka to 72.4 ± 5.6 ka in the Varzuga, Chavanga, Chapoma 1 and 2, and Bolshaya Kumzhevaya sections, indicating initial and second phases of the Boreal transgression. The presence of marine deposits with ages ranging from ca. 59 ka to 37 ka in the Chavanga, Kamenka, Chapoma 2, and Bolshaya Kumzhevaya sections also suggests an accumulation stage in the marine environment. The research material from the studied sections provides evidence of a short glacier expansion into coastal areas of the White Sea during early MIS 4 and a continuous glaciation from the late MIS 3 and throughout MIS 2.

In this paper, an unmanned bicycle (UB) with a reaction wheel is designed, and a second-order mathematical model with uncertainty is established. In order to achieve excellent balancing performance of the UB system, an adaptive controller is designed, which is composed of nominal feedback control, compensating control using extreme learning machine observer and reaching control via integral terminal sliding mode (ITSM) and barrier function (BF)-based adaptive law. Owing to the features of BF-based ITSM (BFITSM), not only any uncertainty or disturbance upper bound is not needed any longer but also the finite-time convergence of the closed-loop system can be ensured with a predefined error bound. Moreover, the BF-based control gain can be adaptively adjusted according to the update of the lumped uncertainty such that the overestimation is removed. The stability analysis of the closed-loop system is given according to Lyapunov theory. Comparable experimental results on an actual UB are carried out to validate the superior balancing performance of the proposed controller.

In January 1967, under the infamous military head Joseph-Désiré Mobutu, the Democratic Republic of Congo nationalized its mining industry based on anticolonial rhetoric of “economic sovereignty.” Only two years later, the same Mobutu government welcomed foreign companies and investors with open arms to the inaugural Foire Internationale de Kinshasa. Even at this crucial postcolonial moment when ideas of economic independence and self-sufficiency had become so highly valued, an attachment to — even affinity towards — foreign capital persisted throughout Congolese politics. This article explores the political and intellectual tensions that arose from the postcolonial utilization of foreign capital for state consolidation and synthesizes these contradictions into a broader understanding of early development approaches in Mobutu's Congo. In contrast to those who have framed the Congolese leader's ideology as a rearticulation of colonial logics or the authoritarian whims of an individual, I argue that these early notions of Mobutist development should be understood as a kind of “worldmaking,” emerging from an anticolonial ideology that asserted Congo’s economic sovereignty while simultaneously inserting itself into the global streams of finance. By tracing the Mobutu government's fluctuating relationship to foreign finance, this research offers a longer history of the “neoliberal moment” in Congo — one in which the intellectual underpinnings for liberalization had percolated in Congolese nationalist politics for several decades.

This essay argues that Edwin Abbott's 1884 science fiction novel, Flatland, engages Victorian theological debates about the dimensionality of spiritual beings to reexamine the epistemological relationship between readers and literary characters. Liberal theologians at the fin de siècle turned to mathematical models of higher dimensions to reconcile the existence of immaterial spirits with a rational framework. Abbott's novel, set in a ghostly plane world populated only by polygons, imagines characters as analogous to spiritual forms in both their immateriality and their resistance to empirical modes of perception. Yet where theologians turned to higher dimensions to render immaterial entities scientifically knowable, Flatland uses its protagonist's higher-dimensional explorations to defamiliarize realism's techniques for making characters knowable—specifically, its spatialization of characters as beings with an accessible, dimensional interiority that grants readers a feeling of omniscience. Dismissing this omniscient relation to character as a posture that invites a dangerous epistemological complacency, Flatland uses its dimensional conceit to dramatize instead the strenuous imaginative work a reader must perform to temporarily inhabit a character's limited perspective—work that Abbott conceives as uniquely theological. For Abbott, theology thus acts not as a discourse of certainty and doctrinal closure but rather as a vital imaginative resource for rethinking fictional form.

In their recent book, Arendt, Natality and Biopolitics, Rosalyn Diprose and Ewa Plonowska Ziarek reconstruct Hannah Arendt's concept of natality in order to diagnose and resist biopolitical threats to democratic plurality. Their analysis leads them to engage indigenous reproductive justice organizing; that engagement is the focus of my critique. I argue that their understanding of the biopolitical targeting of indigenous people needs further development. Diprose and Ziarek tend to read indigenous organizers as working toward inclusion in the democratic plurality of settler societies. While that is the aim of some indigenous organizations and actors, that is not the aim of many, including a theorist and activist they engage, Katsi Cook (Mohawk). I suggest that their engagement with indigenous reproductive justice organizing is shaped by the important, but unthematized role settler colonialism has in Arendt's work. I further argue that Cook provides crucial theoretical and practical challenges to the settler state and its role in feminist theoretical projects of critique.

Type 2 diabetes mellitus (T2DM) is a metabolic disorder that has reached epidemic proportions worldwide, posing a huge treat on people’s health and quality of life. From a pathogenetic prospective, T2DM is driven by insulin resistance defined as a blunted response of tissues to insulin which leads to chronic hyperglycaemia. Mechanistically, lipotoxicity and particularly the intracellular accumulation of ceramides in the skeletal muscle and the liver, is a primary metabolic aberration underpinning insulin resistance. Indeed, intracellular ceramide accumulation can hamper insulin signal transduction pathway thereby promoting insulin resistance. This review will provide an updated overview of the metabolic defects underlaying ceramide buildup and the molecular mechanism by which ceramides imping upon insulin signalling. Additionally, the role of specific ceramide subspecies as potential biomarkers for T2DM and the role of both long- and medium-chain saturated fatty acids as a modulator of ceramide metabolism will be discussed.

I examine Alan Moore and Kevin O’Neill’s adaptation of Margaret Cavendish’s Blazing World in the comic series The League of Extraordinary Gentlemen. I interpret philosophical aspects of Cavendish’s fictional landscape, including her vitalist materialism and naturalized talking animals, as they appear in series The League of Extraordinary Gentlemen, rendered through 3-D images and corresponding 3-D glasses worn by readers. Through this world adaptation, Moore and O’Neill onboard themes of naturalness, experimentation, technology-aided perceptual processes, and travel to intersecting worlds to enhance The League of Extraordinary Gentlemen’s commentary on the formative influence of fiction on authors and audiences.

The ability of quadruped robots to overcome obstacles is a critical factor that limits their practical application. Here, a design concept and a control algorithm are presented that aim at enhancing the explosive force of quadruped robots during jumping by utilizing elastic energy storage components. The hind legs of the quadruped robot are designed as energy storage units. Tension springs are utilized as components for storing energy and are installed in a parallel structure on the hind leg. Energy is stored during the compression process of the robot’s torso and released during the jumping phase. The optimal foot force is calculated using a single rigid body model. The mapping relationship between the force applied to the foot and the resulting joint torque is established by developing a dynamic model of the hind legs. Simulation experiments were conducted using the Webots physics engine to compare the impact of varying spring stiffness on joint torque during the jumping process. This study determined the optimal spring stiffness under specific conditions. The hind legs’ torque saving ratio reaches 19%, and the energy-saving ratio reaches 13%, which validates the effectiveness and feasibility of integrating elastic energy storage components.

In 1949, human skeletal remains discovered by RCMP Inspector Henry Larsen near Cape Felix, King William Island, Nunavut, were identified as an adult male of European ancestry and a member of the 1845 Franklin Northwest Passage Expedition. The identification has never been questioned and is considered significant to reconstructions of the fate of the Franklin expedition because the sailor’s death presumably pre-dated the desertion of HMS Erebus and HMS Terror in April 1848 and because no other human remains of expedition personnel have ever been found between Victory Point and Cape Felix. The aim of this study was to re-examine the basis on which the ancestry of the skeleton was interpreted to be European. A review of archival records revealed previously unpublished details concerning the location and context of the discovery, and re-assessments of the antiquity and of key morphological attributes of the bones suggest they are those of an adult male Inuk and have no connection to the 1845 Franklin expedition.

Pandemics present opportunities for states to acquire emergency powers by narrativizing pandemics as “acts of God,” “acts of war,” “acts of outsiders,” “sanitation-hygiene,” or “acts of the invisible enemy.” These narratives conveniently justify the imposition of undefined and often unrestrained constitutional or extra-constitutional emergency powers to reshape individual, social, and governance modalities. These narratives conveniently establish the setting for states to justify the imposition of broad emergency powers by determining the plot of pandemic-appropriate modalities for individuals, society, and governance mechanisms and classifying the characters of pandemic as protagonists and antagonists as per the plot and settings of the preferred narrative. This article attempts to reveal the theoretical and applicational interconnections between state-sponsored narratives and exercise of emergency powers during the pandemic governance in plague, cholera, influenza, and Covid-19 pandemics.

Hyper-redundant manipulators (HRMs) exhibit promising adaptability and superior dexterity in cavity detection tasks, owing to their snake-like segmented backbones. Due to the safety concern in contactless operating tasks, reliable motion planning in a confined environment for HRMs is very challenging. However, existing expanding-based obstacle avoidance methods are not feasible in narrow environments, as they will excessively occupy free spaces required for maneuvering. In this work, a local collision-free motion planning strategy based on dynamic safety envelope (DSE) is proposed for HRMs. First, the local motion of HRMs is analyzed in detail, and DSE is proposed for the first time to describe the boundary of the collision-free area. Then, to maximize the efficient utilization of narrow spaces, a reference trajectory for HRM is roughly planned without expanding obstacles. Further, a tip-guided trajectory tracking method based on configuration prediction is proposed by considering the discrete characteristics of rigid links to avoid obstacles. During the tracking process, DSEs are applied to evaluate collision risk and optimize the configuration. Finally, to validate the effectiveness of our proposed method, simulations are conducted, followed by experiments by using a 18-degrees of freedom mobile HRM prototype system.

Salvia miltiorrhiza is an outcrossing and perennial herb native to China. Although well-known for its medicinal value, there is a lack of knowledge regarding its natural population genetics. Here, we used 12 microsatellite markers to investigated population genetic diversity and structure of 215 samples from populations naturally distributed in central eastern China. A moderate level of genetic diversity was detected probably due to the over-mining of its roots. The allelic richness (AR) ranged from 3.034 to 4.889 with an average of 3.891. Moreover, pairwise estimates of FST among the populations of S. miltiorrhiza varied from 0.036 to 0.312 and two clusters were obtained by STRUCTURE and discriminant analysis of principal components. It is likely that the genetic differentiation of these two clusters was formed during glacial periods. Our result provides insights into the conservation of this valuable medicinal plant.