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Locomotion requires careful coordination across the various joints and muscles of the body, which can be disrupted after neuromotor injuries such as stroke. People poststroke often have weakness in their paretic, or more impaired, ankle plantarflexors and a corresponding reliance on the hip joint to generate sufficient forward propulsion. The field of robotic rehabilitation has developed wearable systems that provide joint- and task-specific training for survivors of stroke, and in turn, increase use of the ankle muscles. However, capturing ankle use at the plantarflexor level remains a challenge with conventional tools given the unknown relative contributions of the dorsiflexor muscles. Moreover, variability across individuals complicates the interpretation of user response to these robotic interventions. In this work, we used standard biomechanical analysis as well as shear wave tensiometry in five people post-stroke to gain insight into user-specific ankle and hip adaptations in response to three levels of targeted plantarflexion exosuit resistance. We show that at a group and individual-level, evidence suggests a shift in biomechanical strategy from relying on the hip to using the ankle to modulate propulsion, with a subset of participants completely shifting to the ankle by the end of training. This work represents a step towards exploring more individualized methods for characterizing user response during adaptation to wearable robotic training interventions. 

The growth of renewable energy technologies creates significant challenges for the stability of the system because of their intermittency. Nonetheless, we can value these technologies with storage systems. We model the supply by a renewable technology, wind, into a storage facility using the leaky bucket mechanism. The bucket is synonymous with storage while the leakage is equivalent to meeting load. Modelica is used to capture: (i) the time-dependence of the state of the bucket based on a physical model of storage; (ii) the stochastic representation of wind energy using wind speed data that is fed into a physical model of a wind technology; and (iii) the load, modeled as a resistor-inductor circuit. The strength of Modelica in using non-causal equations for basic sub-systems that are linked together is harnessed through its libraries. We find that there is a diminishing return to storage. Beyond a certain level of storage, the integration of a reliable baseload power supply is required to diminish the risk due to reduced reliability. The need for storage systems as a hedge against intermittency is dependent on the interplay between the supply volatilities and the stochastic load to guarantee an acceptable level of quality of service and reliability. 

Abstract The Gravitational-Wave Transient Catalog (GWTC) is a collection of short-duration (transient) gravitational-wave signals identified by the LIGO–Virgo–KAGRA Collaboration in gravitational-wave data produced by the eponymous detectors. The catalog provides information about the identified candidates, such as the arrival time and amplitude of the signal and properties of the signal’s source as inferred from the observational data. GWTC is the data release of this dataset, and version 4.0 extends the catalog to include observations made during the first part of the fourth LIGO–Virgo–KAGRA observing run up until 2024 January 31. This Letter marks an introduction to a collection of articles related to this version of the catalog, GWTC-4.0. The collection of articles accompanying the catalog provides documentation of the methods used to analyze the data, summaries of the catalog of events, observational measurements drawn from the population, and detailed discussions of selected candidates. 

Abstract We report the observation of gravitational waves from two binary black hole coalescences during the fourth observing run of the LIGO–Virgo–KAGRA detector network, GW241011 and GW241110. The sources of these two signals are characterized by rapid and precisely measured primary spins, nonnegligible spin–orbit misalignment, and unequal mass ratios between their constituent black holes. These properties are characteristic of binaries in which the more massive object was itself formed from a previous binary black hole merger and suggest that the sources of GW241011 and GW241110 may have formed in dense stellar environments in which repeated mergers can take place. As the third-loudest gravitational-wave event published to date, with a median network signal-to-noise ratio of 36.0, GW241011 furthermore yields stringent constraints on the Kerr nature of black holes, the multipolar structure of gravitational-wave generation, and the existence of ultralight bosons within the mass range 10⁻¹³–10⁻¹²eV. 

Abstract On 2023 November 23, the two LIGO observatories both detected GW231123, a gravitational-wave signal consistent with the merger of two black holes with masses $137_{-18}^{+23}{M}_{\odot }$and $101_{-50}^{+22}{M}_{\odot }$(90% credible intervals), at a luminosity distance of 0.7–4.1 Gpc, a redshift of $0.40_{-0.25}^{+0.27}$, and with a network signal-to-noise ratio of ∼20.7. Both black holes exhibit high spins— $0.90_{-0.19}^{+0.10}$and $0.80_{-0.52}^{+0.20}$, respectively. A massive black hole remnant is supported by an independent ringdown analysis. Some properties of GW231123 are subject to large systematic uncertainties, as indicated by differences in the inferred parameters between signal models. The primary black hole lies within or above the theorized mass gap where black holes between 60–130M_⊙should be rare, due to pair-instability mechanisms, while the secondary spans the gap. The observation of GW231123 therefore suggests the formation of black holes from channels beyond standard stellar collapse and that intermediate-mass black holes of mass ∼200M_⊙form through gravitational-wave-driven mergers. 

The gravitational-wave signal GW250114 was observed by the two LIGO detectors with a network matched-filter signal-to-noise ratio of 80. The signal was emitted by the coalescence of two black holes with near-equal masses $m_1={33.6}_{-0.8}^{+1.2}{M}_{\odot }$and $m_2={32.2}_{-1.3}^{+0.8}{M}_{\odot }$, and small spins ${\chi }_{1,2}\le 0.26$(90% credibility) and negligible eccentricity $e\le 0.03$. Postmerger data excluding the peak region are consistent with the dominant quadrupolar $(\ell =|m|=2)$mode of a Kerr black hole and its first overtone. We constrain the modes’ frequencies to $\pm 30\%$of the Kerr spectrum, providing a test of the remnant’s Kerr nature. We also examine Hawking’s area law, also known as the second law of black hole mechanics, which states that the total area of the black hole event horizons cannot decrease with time. A range of analyses that exclude up to five of the strongest merger cycles confirm that the remnant area is larger than the sum of the initial areas to high credibility.