Yes, if you look close, the paper is replete with error-filled generative reproductions of existing illustrations in the citations; including Fig. 6 (MC Escher struts), Fig. 7 (sprouting greeble tubes), and Fig. 8 (actuators replaced by tubes connected to mystery manifolds).
Even Fig. 2 shows the spike geometry magically changing, which is not addressed in the text and seems like an error carried over from the original illustration in the cited source.
Casts serious doubt on the credibility of the rest of the work.
CTRL+F “Deming” - Thank you. Organizations with vitality reason about the operation of the whole system, not simply the performance of actors in isolation.