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In this work, we discuss the modeling, control, and implementation of a rimless wheel with a torso. We derive and compare two control methodologies: a discrete-time controller (DT) that updates the controls once-per-step and a continuous-time controller (CT) that updates gains continuously. For the discrete controller, we use least-squares estimation method to approximate the Poincare ́ map on a certain section and use discrete- linear-quadratic-regulator (DQLR) to stabilize a (closed-form) linearization of this map. For the continuous controller, we introduce moving Poincare ́ sections and stabilize the transverse dynamics along these moving sections. For both controllers, we estimate the region of attraction of the closed-loop system using sum-of-squares methods. Analysis of the impact map yields a refinement of the controller that stabilizes a steady-state walking gait with minimal energy loss. We present both simulation and experimental results that support the validity of the proposed approaches. We find that the CT controller has a larger region of attraction and smoother stabilization as compared with the DT controller. 

ABSTRACT We measure the gas-phase metallicity gradients of 248 galaxies selected from Data Release 2 of the SAMI Galaxy Survey. We demonstrate that there are large systematic discrepancies between the metallicity gradients derived using common strong emission line metallicity diagnostics. We determine which pairs of diagnostics have Spearman’s rank coefficients greater than 0.6 and provide linear conversions to allow the accurate comparison of metallicity gradients derived using different strong emission line diagnostics. For galaxies within the mass range 8.5 < log (M/M⊙) < 11.0, we find discrepancies of up to 0.11 dex/Re between seven popular diagnostics in the metallicity gradient–mass relation. We find a suggestion of a break in the metallicity gradient–mass relation, where the slope shifts from negative to positive, occurs between 9.5 < log (M/M⊙) < 10.5 for the seven chosen diagnostics. Applying our conversions to the metallicity gradient–mass relation, we reduce the maximum dispersion from 0.11 dex/Re to 0.02 dex/Re. These conversions provide the most accurate method of converting metallicity gradients when key emission lines are unavailable. We find that diagnostics that share common sets of emission line ratios agree best, and that diagnostics calibrated through the electron temperature provide more consistent results compared to those calibrated through photoionization models. 

Abstract The eighteenth data release (DR18) of the Sloan Digital Sky Survey (SDSS) is the first one for SDSS-V, the fifth generation of the survey. SDSS-V comprises three primary scientific programs or “Mappers”: the Milky Way Mapper (MWM), the Black Hole Mapper (BHM), and the Local Volume Mapper. This data release contains extensive targeting information for the two multiobject spectroscopy programs (MWM and BHM), including input catalogs and selection functions for their numerous scientific objectives. We describe the production of the targeting databases and their calibration and scientifically focused components. DR18 also includes ∼25,000 new SDSS spectra and supplemental information for X-ray sources identified by eROSITA in its eFEDS field. We present updates to some of the SDSS software pipelines and preview changes anticipated for DR19. We also describe three value-added catalogs (VACs) based on SDSS-IV data that have been published since DR17, and one VAC based on the SDSS-V data in the eFEDS field. 

A<sc>bstract</sc> A search for pair production of squarks or gluinos decaying via sleptons or weak bosons is reported. The search targets a final state with exactly two leptons with same-sign electric charge or at least three leptons without any charge requirement. The analysed data set corresponds to an integrated luminosity of 139 fb⁻¹of proton-proton collisions collected at a centre-of-mass energy of 13 TeV with the ATLAS detector at the LHC. Multiple signal regions are defined, targeting several SUSY simplified models yielding the desired final states. A single control region is used to constrain the normalisation of theWZ+ jets background. No significant excess of events over the Standard Model expectation is observed. The results are interpreted in the context of several supersymmetric models featuring R-parity conservation or R-parity violation, yielding exclusion limits surpassing those from previous searches. In models considering gluino (squark) pair production, gluino (squark) masses up to 2.2 (1.7) TeV are excluded at 95% confidence level. 

A<sc>bstract</sc> A search for supersymmetry targeting the direct production of winos and higgsinos is conducted in final states with either two leptons (eorμ) with the same electric charge, or three leptons. The analysis uses 139 fb⁻¹ofppcollision data at$$ \sqrt{s} $$ $\sqrt{s}$= 13 TeV collected with the ATLAS detector during Run 2 of the Large Hadron Collider. No significant excess over the Standard Model expectation is observed. Simplified and complete models with and withoutR-parity conservation are considered. In topologies with intermediate states including eitherWhorWZpairs, wino masses up to 525 GeV and 250 GeV are excluded, respectively, for a bino of vanishing mass. Higgsino masses smaller than 440 GeV are excluded in a naturalR-parity-violating model with bilinear terms. Upper limits on the production cross section of generic events beyond the Standard Model as low as 40 ab are obtained in signal regions optimised for these models and also for anR-parity-violating scenario with baryon-number-violating higgsino decays into top quarks and jets. The analysis significantly improves sensitivity to supersymmetric models and other processes beyond the Standard Model that may contribute to the considered final states. 

Search for a new pseudoscalar a-boson decaying to muons in events with additional top quark pairs. 

A<sc>bstract</sc> A search for dark matter produced in association with a Higgs boson in final states with two hadronically decayingτ-leptons and missing transverse momentum is presented. The analysis uses 139 fb⁻¹of proton-proton collision data at$$ \sqrt{s} $$ $\sqrt{s}$= 13 TeV collected by the ATLAS experiment at the Large Hadron Collider between 2015 and 2018. No evidence of physics beyond the Standard Model is found. The results are interpreted in terms of a 2HDM+amodel featuring two scalar Higgs doublets and a pseudoscalar singlet field. Exclusion limits on the parameters of the model in selected benchmark scenarios are derived at 95% confidence level. Model-independent limits are also set on the visible cross-section for processes beyond the Standard Model producing missing transverse momentum in association with a Higgs boson decaying intoτ-leptons. 

Abstract A search for pair-produced vector-like quarks using events with exactly one lepton (eor$$\mu $$ $\mu$), at least four jets including at least oneb-tagged jet, and large missing transverse momentum is presented. Data from proton–proton collisions at a centre-of-mass energy of$$\sqrt{s}=$$ $\sqrt{s}=$13 $$\text {TeV}$$ $\text{TeV}$, recorded by the ATLAS detector at the LHC from 2015 to 2018 and corresponding to an integrated luminosity of 139 fb$$^{-1}$$ ${}^{-1}$, are analysed. Vector-like partnersTandBof the top and bottom quarks are considered, as is a vector-likeXwith charge$$+5/3$$ $+5/3$, assuming their decay into aW,Z, or Higgs boson and a third-generation quark. No significant deviations from the Standard Model expectation are observed. Upper limits on the production cross-section ofTandBquark pairs as a function of their mass are derived for various decay branching ratio scenarios. The strongest lower limits on the masses are 1.59 $$\text {TeV}$$ $\text{TeV}$assuming mass-degenerate vector-like quarks and branching ratios corresponding to the weak-isospin doublet model, and 1.47 $$\text {TeV}$$ $\text{TeV}$(1.46 $$\text {TeV}$$ $\text{TeV}$) for exclusive$$T \rightarrow Zt$$ $T\to Zt$($$B/X \rightarrow Wt$$ $B/X\to Wt$) decays. In addition, lower limits on theTandBquark masses are derived for all possible branching ratios.