Sökresultat

In this paper, robotic sensor fusion of acceleration and force measurement is considered. We discuss the problem of using accelerometers close to the end-effectors of robotic manipulators and how it may improve the force control performance. We introduce a new model-based observer approach to sensor fusion of information from various different sensors. During contact transition, accelerometers and

BACKGROUND: There are inconsistent data regarding the association between metabolic factors, separately and combined, and the risk of prostate cancer and death from prostate cancer. METHODS: In the Metabolic Syndrome and Cancer Project (Me-Can), data on body mass index (BMI); blood pressure; and blood levels of glucose, cholesterol, and triglycerides were collected for 289,866 men. Cox proportiona

A new hydrogen absorbing material has been discovered, ScNiAl, which can store 1.5 wt.% hydrogen reversibly. In this compound, hydrogen absorption is a two-step process; solid solution of hydrogen at temperatures below 180A degrees C and decomposition into ScH2 and NiAl at higher temperatures. Detailed analysis of the hydrogen absorption/desorption has been performed using in situ synchrotron radi

During a variety of biological and technological processes, biopolymers are simultaneously subject to both confinement and external forces. Although significant efforts have gone into understanding the physics of polymers that are only confined, or only under tension, little work has been done to explore the effects of the interplay of force and confinement. Here, we study the combined effects of

According to the classical perspective, polity size and democracy are inversely related. In this article, we argue that there is an important exception that manifests itself at the district level in settings where multiparty competition is allowed. Specifically, we find that larger districts encourage greater contestation. This results from a little-noticed mechanical effect as well as from severa

We report on a comprehensive study of electrical and optical properties of efficient near-infrared p(+)-i-n(+) photodetectors based on large ensembles of self-assembled, vertically aligned i-n(+) InP nanowires monolithically grown on a common p(+) InP substrate without any buffer layer. The nanowires have a polytype modulated crystal structure of wurtzite and zinc blende. The electrical data displ

Some developments of nuclear-structure physics uniquely related to Copenhagen School are sketched based on theoretical considerations versus experimental findings and one-particle versus collective aspects. Based on my personal overview I pick up the following topics; (1) Study of vibration in terms of particle-vibration coupling; (2) one-particle motion in deformed and rotating potentials, and yr

A biocatalysis based method for the solvent-free production of N-alkanoyl-N-methylglucamide (MEGA) surfactants was developed and used as a case study for the evaluation of different environmental assessment tools, such as the freeware package EATOS (Environmental Assessment Tool for Organic Synthesis). In order to also consider energy usage and process facilities, e. g. heating, stirring and vacuu

There has been an amazing development of modeling and simulation from its beginning in the 1920s, when the technology was available only at a handful of University groups who had access to a mechanical differential analyzer. Today, tools for modeling and simulation are available for every student and engineer. This paper gives a perspective on the development with particular emphasis on technology

The progression of diabetes is accompanied by increasing demand to the beta-cells to produce and secrete more insulin, requiring complex beta-cell adaptations. Functionally-active and ubiquitous non-coding RNAs (ncRNAs) have the capacity to take part in such adaptations as they have been shown to be key regulatory molecules in various biological processes. In the pancreatic islets, the function of

Results are presented which indicate that high stem tones realizing word accents activate a certain class of suffixes in on-line processing of Central Swedish. This supports the view that high Swedish word accent tones are induced onto word stems by particular suffixes rather than being associated with words in the mental lexicon. Using Event-Related Potentials, effects of mismatch between word ac

The feasibility of sequential anaerobic-aerobic treatment for complete dye degradation was evaluated using three azo dyes, namely Remazol Red RR, Remazol Blue RR and Remazol Yellow RR. The robustness of the anaerobic treatment was investigated in biofilm reactors and the influences of carrier type, hydraulic retention time, dye concentration and dye type were studied. A decolourisation of 98% was

Sugarcane bagasse is a lignocellulosic residue obtained from sugarcane milling, and a potentially interesting raw material that can be used for fuel ethanol production. In the present study, bagasse was steam pretreated at temperatures between 180 and 205 ◦C, with holding times of 5–10 min using SO2 as a catalyst to determine conditions that provide a good recovery of pentoses and a suitable mater

This study addresses polymer surfactant interactions at solid liquid interfaces and how these can be manipulated by modulating the association between ionic surfactant and oppositely charged polymer, with a particular focus on electrostatic interactions. For this purpose, the interaction of a series of cationic copolymers of vinylpyrrolidone and quaternized vinylimidazol with sodium dodecyl sulfat

The surface and electronic structure of single crystal thin films of PtLuSb (001) grown by molecular beam epitaxy were studied. Scanning tunneling spectroscopy (STS), photoemission spectroscopy, and temperature dependent Hall measurements of PtLuSb thin films are consistent with a zero-gap semiconductor or semi-metal. STS and photoemission measurements show a decrease in density of states approach

The importance of lake ecosystems for waterfowl remains a topic of debate. In order to assess how temporal variations in lake features, specifically shifts between alternative stable states, may interact with the waterfowl fauna, we performed a long-term (22 years) study of the shallow Lake Krankesjon, southern Sweden. Lower total numbers of waterfowl occurred during periods with low macrophyte co

Meltwater beneath the large ice sheets can influence ice flow by lubrication at the base or by softening when meltwater refreezes to form relatively warm ice. Refreezing has produced large basal ice units in East Antarctica. Bubble-free basal ice units also outcrop at the edge of the Greenland ice sheet5, but the extent of refreezing and its influence on Greenland’s ice flow dynamics are unknown.

The type I interferon system genes IKBKE and IFIH1 are associated with the risk of systemic lupus erythematosus (SLE). To identify the sequence variants that are able to account for the disease association, we resequenced the genes IKBKE and IFIH1. Eighty-six single-nucleotide variants (SNVs) with potentially functional effect or differences in allele frequencies between patients and controls dete