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Structure-from-Motion (SfM) has become a ubiquitous tool for camera calibration and scene reconstruction with many downstream applications in computer vision and beyond. While the state-of-the-art SfM pipelines have reached a high level of maturity in well-textured and well-configured scenes over the last decades, they still fall short of robustly solving the SfM problem in challenging scenarios.
Chains of tasks are ubiquitous and used in a broad spectrum of applications. In these chains, tasks execute according to their timing. Then, they communicate by writing to and reading from shared memory. The schedule of tasks and the read/write instants are naturally subject to uncertainties (variability in the execution time, interference due to shared resources of higher priority tasks, etc.). D
Digital control systems introduce unavoidable computational latencies. For some controllers this time delay inhibits practical use, even though they in theory could provide more efficient control. For example, solving an optimization problem each sampling period when using model predictive control. By sampling faster than the computation time and executing independent controllers on distributed ha
A decentralized strategy for object transportation is presented, assuming that the object is grasped by a team of N cooperative manipulators. The proposed strategy consists of two steps. First, each robot estimates the wrenches applied to the object by all the others robots, even without all-to-all communication. Second, an admittance control scheme is used to limit internal wrenches, preventing e
This paper presents a method for online estimation of contact properties during in-hand sliding manipulation with a parallel gripper. We estimate the static and Coulomb friction as well as the contact radius from tactile measurements of contact forces and sliding velocities. The method is validated in both simulation and real-world experiments. Furthermore, we propose a heuristic to deal with fast
Resource provisioning for applications hosted in the cloud is a difficult task due to inherent performance variability in the infrastructure. Control theory has proven to be an efficient tool to increase the predictability of cloud applications. However, a prerequisite for a successful control design is an adequate model of the involved dynamics. In this paper we focus on modeling of controlled se
Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any
This letter presents dc characteristics and low-frequency noise (LFN) measurements on single vertical InAs nanowire MOSFETs with 35-nm gate length and HfO2 high-kappa dielectric. The average normalized transconductance for three devices is 0.16 S/mm, with a subthreshold slope of 130 mV/decade. At 10 Hz, the normalized noise power S-I/I-d(2) measures 7.3 x 10(-7) Hz(-1). Moreover, the material-depe
The increase of total choline in tumors has become an important biomarker in cancer diagnosis. Choline and choline metabolites can be measured in vivo and in vitro using multinuclear MRS. Recent in vivo C-13 MRS studies using labeled substrates enhanced via dynamic nuclear polarization demonstrated the tremendous potential of hyperpolarization for real-time metabolic studies. The present study dem
A readily mass-producible, flip-chip assembled, and slot-coupled III-V compound semiconductor dielectric resonator antenna operating in the millimeter-wave spectrum has been fabricated and characterized. The antenna has a 6.1% relative bandwidth, deduced from its 10 dB return loss over 58.8-62.5 GHz, located around the resonance at 60.5 GHz. Gating in the delay-domain alleviated the analysis of th
PURPOSE: To investigate a wavelet-based filtering scheme for denoising of arterial spin labeling (ASL) data, potentially enabling reduction of the required number of averages and the acquisition time. METHODS: ASL magnetic resonance imaging (MRI) provides quantitative perfusion maps by using arterial water as an endogenous tracer. The signal difference between a labeled image, where inflowing arte
Viral vector-mediated gene transfer has emerged as a powerful means to target transgene expression in the central nervous system. Here we characterized the efficacy of serotypes 1 and 5 recombinant adeno-associated virus (rAAV) vectors encoding green fluorescent protein (GFP) after stereotaxic delivery to the neonatal rat and minipig striatum. The efficiency of GFP expression and the phenotype of
Purpose: It has previously been shown that continuous intratracheal insufflation of oxygen (CIO) is superior to intermittent positive pressure ventilation (IPPV) regarding gas exchange and haemodynamics. The purpose of this study was to investigate gas exchanged and haemodynamics with a new technique of phase-controlled intermittent insufflation of oxygen (PIIO) compared to CIO. Method: Twenty (20
Lewy bodies, which are a pathological hallmark of Parkinson's disease, contain insoluble polymers of alpha-synuclein (alphasyn). Among the different modifications that can promote the formation of toxic alphasyn species, C-terminal truncation is among the most abundant alterations in patients with Parkinson's disease. In vitro, C-terminal truncated alphasyn aggregates faster and sub-stoichiometric
Drug-induced dyskinesias in dopamine-denervated animals are known to depend on both pre- and postsynaptic changes of the nigrostriatal circuitry. In lesion models used thus far, changes occur in both of these compartments and, therefore, it has not been possible to dissect the individual contribution of each compartment in the pathophysiology of dyskinesias. Here we silenced the nigrostriatal dopa
The development of good writing skills is fundamental not only to publish scientific results, but also to have a deeper understanding of complex subjects. However reports from the Swedish Higher Education Authority from 2012-2015 suggest that engineering students at Lund University have unsatisfactory academic writing skills. Our paper investigates how students of the Faculty of Engineering at Lun
Friedreich’s ataxia (FRDA) is an autosomal recessive neurodegenerative disease caused by defeciency in frataxin, a highly conserved protein central to iron homeostasis in mirochondria. The function of frataxin is related to its capability to bind, store and deliver iron to different biochemical process such as iron-sulfur cluster assembly and heme biosynthesis. Most FRDA pateints have extended GAA
