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This thesis deals with feedback control using two different sensor types, force sensors and cameras. In many tasks robotics compliance is required in order to avoid damage to the workpiece. Force and vision are the most useful sensing capabilities for a robot system operating in an unknown or uncalibrated environment. An overview of vision based estimation, control and vision/force control is give
The addition of contrast media such as BaSO4 or ZrO2 to bone cement has adverse effects in joint replacements, including third body wear and particle-induced bone resorption. Ground PMMA containing particles of the non-ionic water-soluble iodine-based X-ray contrast media, iohexol (IHX) and iodixanol (IDX), has, in bone tissue culture, shown less bone resorption than commercial cements. These wate
To investigate the morphological basis for olfactory reception in the carrot psyllid (Trioza apicalis) we used scanning and transmission electron microscopy. Our study reveals a very sparse sensillar setup. We identify and describe several different types of single-walled sensilla likely to have an olfactory function, as well as mechanosensory hairs and intracuticular sensilla. A T. apicalis anten
Object: A method is proposed that provides spectroscopic images with high spatial resolution and moderate spectral resolution at very short total data acquisition times. Materials and methods: Balanced steady-state free precession (bSSFP, TrueFISP, FIESTA, b-FFE) is combined with a multiecho readout gradient and frequency-sensitive reconstruction such as Fourier reconstruction known from echo-plan
The formation of TiO2 films on clean and pre-oxidized Si(1 1 1) through chemical vapor deposition of titanium(IV) isopropoxide (TTIP) in ultra-high vacuum has been examined by synchrotron radiation photoelectron spectroscopy, X-ray absorption spectroscopy (XAS) and scanning tunneling microscopy. In both cases, TTIP deposition at 500 °C eventually results in an anatase TiO2 film with a carbon-free
Rapporten behandlar alumners och arbetsgivares erfarenheter av brandingenjörsutbildningen vid Lunds universitet. Undersökningen genomfördes som en nätenkät riktad till samtliga som avlagt brandingenjörsexamen vid Lunds universitet samt en skriftlig enkät till tio av deras arbetsgivare. Resultaten visade att alumnerna var mycket nöjda med utbildningen som helhet, men kritiska till att viss färdighe
Various approaches to flame-spread and fire-growth modelling are discussed and are evaluated using experimental results from different tests. Use of Computational Fluid Dynamics, CFD, in fire modelling is discussed and the performance of different CFD codes in wall flow modelling is analysed. Different pyrolysis models are discussed with respect to their major assumptions and the input data requir
Inactivation of the Ink4 gene locus locus on 9p comprising the tumour suppressor gene p16ink4a and its neighbours p14ARF and p15ink4b is common in childhood acute lymphoblastic leukaemia (ALL), but the prognostic significance is controversial. DNA from 230 patients was retrospectively analysed by Southern blotting, single strand conformation polymorphism (SSCP) and sequencing techniques. The resul
Forty-one names of species and varieties of Hieracium sect. Hieracium, H. sect. Vulgata and H. sect. Bifida originally described from the province of Värmland, western central Sweden, are lectotypified.
In recent years, the growing scientific interest in design has led to great advances in our knowledge of authentic design processes. However, as these findings go counter to the existing theories in both design research and cognitive science, they pose a serious challenge for both disciplines: there is a wide gap between what the existing theories predict and what designers actually do. At the sa
The aim of this study is to investigate whether current statistics can quantify the benefits of fire brigades. A detailed investigation by the London Fire Brigade of most fires in the greater London area has been underway since 1994. The present study concerns 307 fires in non-residential buildings between 1994 and 1997. Times to detection, to arrival of the fire brigade, and to extinguishment of
Chicken cooked under well-controlled conditions and commercial chicken products were screened for heterocyclic amines (HAs). Chicken samples were boiled, deep-fried, pan-fried, oven-roasted, cooked in an unglazed clay pot or in a roasting bag in the oven, and oven broiled. 2-amino-3,8-dimethylimidazo[4,5-f]quinoxaline (MeIQx), 2-amino-3,4,8-trimethylimidazo[4,5-f]quinoxaline (4,8-DiMeIQx), 2-amino
Bone mineral density (BMD) was measured in the upper part of the skull, the femoral neck, and the total body by dual energy X-ray absorptiometry in 56 male and 33 female active athletes, 18-40 years of age, together with 64 male ex-weight lifters, 35-79 years of age. The active athletes were compared with 41 male and 54 female controls, the ex-weight lifters with 133 male controls. The purpose of
Background. To characterize history, signs, and symptoms in women with a history of recurrent vulvovaginal candidosis (RVVC) and who had consulted with symptoms generally associated with the condition. Methods. Eighty-three women with a history consistent with RVVC were interviewed regarding 32 parameters and 10 signs found at the clinical examination were noted. Candida cultures were made from t
Gas6 and protein S are two homologous secreted proteins that depend on vitamin K for their execution of a range of biological functions. A discrete subset of these functions is mediated through their binding to and activation of the receptor tyrosine kinases Axl, Sky and Mer. Furthermore, a hallmark of the Gas6-Axl system is the unique ability of Gas6 and protein S to tether their non receptor-bin
