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Industrial robotics is a complex domain, not easily amenable to formalization using semantic technologies. It involves such disparate aspects of the real world as geometry, dynamics, constraint-satisfaction, planning and scheduling, real-time control, robot-robot and human-robot communication and, finally, intentions of the robot user. To represent so different kinds of knowledge is a challenge an

This dissertation presents the design and implementation of a new block diagram programming language, Bloqqi, for building control systems with focus on variability. The language has been developed in collaboration with industry with the goal of reducing engineering time and improving reuse of functionality.When building a control system for a plant, there are typically different variants of the s

In order to prevent payload module from overheating or to be burnt up by large aerodynamic heating, a Thermal Protection System (TPS) with high performance is necessary to maintain normal work during flights. Actively cooled thermal protection systems become more and more popular with their advantages in flexible design, high cooling capability and reutilization. In the present research, an active

Relapse after successful initial correction of idiopathic clubfoot with the Ponseti method is often related to poor compliance with the foot abduction orthosis (FAO). The aim of this study was to evaluate treatment with custom-made dynamic orthoses. Twenty children with idiopathic clubfoot (30 feet) who had been treated with dynamic orthoses after the correction phase according to the Ponseti cast

Förbränning är både vår största källa till energi och ett stort hot mot miljön i form av föroreningar och växthusgaser. Ett par av de stora bovarna i sammanhanget är koldioxid och kväveoxider och de stora mängderna av dessa i atmosfären. Där bidrar koldioxid till den globala uppvärmningen i egenskap av växthusgas. Kväveoxider påverkar både miljö och människors hälsa negativt genom att bilda marknCombustion of fuels is a major source of energy and at the same time a threat to the environment. Carbon dioxide (CO2) emissions are one of the obstacles on the route to cleaner energy. Combining Carbon Capture and Storage-technology (CCS) with use of biofuels lead to a negative net release of CO2 can be achieved. With some CCS-techniques the CO2 is repurposed in the combustion process together wi

The current study focused on the surface integrity issues associated with broaching of Inconel 718 and the structural stability of the broached specimen at high temperatures, mainly involving the microstructural changes and residual stress relaxation. The broaching operation was performed using similar cutting conditions as that used in turbo machinery industries for machining fir-tree root fixing

Purpose: To investigate the possible differences between SPECT/CT based whole-remnant and maximum-voxel dosimetry in patients receiving radio-iodine ablation treatment of differentiated thyroid cancer (DTC). Methods: Eighteen DTC patients were administered 1.11 GBq of 131I-NaI after near-total thyroidectomy and rhTSH stimulation. Two patients had two remnants, so in total dosimetry was performed f

Reducing the prevalence of mastitis caused by Staphylococcus aureus (S. aureus) is essential to improve animal health and reduce economic losses for farmers. The clinical outcome of acute mastitis and risk of progression to persistent mastitis can, at least to some extent, be related to genetic variants of the strain causing the infection. In the present study we have used microarrays to investiga

The ignition of nitromethane/O2/N2 mixtures was investigated via shock tube experiments in the temperature range 947–1333 K at reflected shock pressures near 8, 16 and 32 atm. The ignition was recorded as the intensity maxima of unfiltered luminosity in the range 240–530 nm. Under the experimental conditions of the present study, ignition was found to proceed via a two stage process. Dependencies

Many populations are small and isolated with limited genetic variation and high risk of mating with close relatives. Inbreeding depression is suspected to contribute to extinction of wild populations, but the historical and demographic factors that contribute to reduced population viability are often difficult to tease apart. Replicated introduction events in non-native species can offer insights

Adult skeletal tissue is composed of heterogeneous population of cells that constantly self-renew by means of a controlled process of activation and proliferation of tissue-resident stem cells named satellite cells. Many growth factors, cytokines and myokines produced by skeletal muscle cells play critical roles in local regulation of the inflammatory process and skeletal muscle regeneration durin

The extent and type of nutrient limitation will affect soil microorganism activity and may change the balance between organism groups, like fungi and bacteria. Limiting nutrients have traditionally been measured as increased respiration after adding nutrients, but this will not differentiate between fungal or bacterial responses. We compared respiration, bacterial and fungal growth after alleviati

Hydrophobic resin acids (RAs) are synthesized by conifer trees as part of their defense mechanisms. One of the functions of RAs in plant defense is suggested to be the perturbation of the cellular membrane. However, there is a vast diversity of chemical structures within this class of molecules, and there are no clear correlations to the molecular mechanisms behind the RA's toxicity. In this study

District heating satisfies about 60% of the heat demand in Swedish buildings. Today, more than two thirds of the heat supply to the district heating systems is based on biomass and waste, and biomass alone accounts for about half of the heat supply. The purpose of this paper is to present the Swedish experiences of introducing and expanding the use of biomass in the district heating systems and to

Zebrafish is emerging as a complement to mammals in behavioral studies; however, there is a lack of comparative studies with rodents and humans to establish the zebrafish as a predictive translational model. Here we present a detailed phenotype evaluation of zebrafish larvae, measuring 300-3000 variables and analyzing them using multivariate analysis to identify the most important ones for further

Objective - T cell immunoglobulin and mucin domain (Tim) proteins are expressed by numerous immune cells, recognize phosphatidylserine on apoptotic cells, and function as costimulators or coinhibitors. Tim-1 is expressed by activated T cells but is also found on dendritic cells and B cells. Tim-4, present on macrophages and dendritic cells, plays a critical role in apoptotic cell clearance, regula

Greater pollination intensity can enhance maternal plant fitness by increasing seed set and seed quality as a result of more intense pollen competition or enhanced genetic sampling. We tested experimentally these effects by varying the pollen load from a single pollen donor on stigmas of female flowers of Dalechampia scandens (Euphorbiaceae) and measuring the effects on seed number and seed mass.

Microstructure and crystallographic texture are the key factors that determine the sputtering target properties. Clock rolling plays an important role in improving the microstructure homogeneity, but the effect of strain during rolling on deformation and recrystallization behavior is not clear. Thus, high-purity tantalum (Ta) plates were 135° clock rolled to 70% and 87% reduction and then annealed