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This paper presents theoretical and experimental results on observer-based impedance control. Impedance control is a technique for robot force control, which is often used to deal with geometric uncertainty. The aim of this technique is to obtain a dynamic relation between position and force in interaction similar to Newton's second law. Here the velocity is used to modify the damping of the imped
Scandoromani: Remnants of a Mixed Language is the first, comprehensive, international description of the language of the Swedish and Norwegian Romano, also labeled resande/reisende. The language, an official minority language in Sweden and Norway, has a history in Scandinavia going back to the early 16th century. A mixed language of Romani and Scandinavian, it is spoken today by a vanishingly smal
Based on a study of Swedish and Finnish industrial design consultancies (IDCs) we discuss how changes in industry have affected id-consultancies cope with growth, organizational and management issues. The traditional industrial designer worked in a small consultancy mainly with clients focusing on mass-produced products. The clients were basically domestic even if they operated worldwide. Investme
Societies of the early 21st century are composed of many intersecting cultures, defined by status as citizens or recent immigrants and other societal hierarchies. Past-oriented segments of state populations decry the loss of essentialized national identities. What is lacking in this set-up of the debate is the young generation. This volume brings together European and Canadian studies in sociology
The development of a common data base system for wastewater treatment operating data evaluation is discussed. Data records from wastewater treatment plants which have been converted into standard files in a common data base are used as a case study. Advanced programs for data analysis and simulation have been used to evaluate the data in the common data base. The paper discusses software standardi
Popular Abstract in Swedish Bioprocesser är samlingsnamnet på alla de system där man utnyttjar någon biologiskt aktiv komponent (biokatalysator) för att utföra (katalysera) en bestämd reaktion. I den här avhandlingen används ordet bioprocess för mikrobiologiska odlingsprocesser, och biokatalysatorn är då en mikroorganism. Man kan utnyttja mikroorganismer för att producera t.ex. enzymer (för miljövThe control of cultivation conditions and its influence on growth and production have been investigated. The use of fed-batch processes have been demonstrated for several cultivation systems and so has the use of different control signals in these systems. Fed-batch cultivation of Pseudomonas cepacia with on-line measurement and control of the growth rate limiting (toxic) substrate, sodium-salicy
Popular Abstract in English Microbes are present everywhere in the environment and have quite an intimate relationship with humans. Much of our perception about microbes is as disease causing agents but on the other hand it is also the microbes that present cure for the disease. Besides using microbes for traditional applications, for example for providing antibiotics, production of fermented foodDemands for efficient, greener, economical and sustainable production of chemicals, materials and energy have led to development of industrial biotechnology as a key technology area to provide such products from bio-based raw materials from agricultural-, forestry- and related industrial residues and by-products. For the bio-based industry, it is essential to develop a number of building blocks or
In the past decade, the molecular basis for most of the blood group systems has been investigated intensively. Many blood group genes have been cloned and the polymorphisms of clinically significant blood group systems have been elucidated. The aim of this study was to investigate the molecular genetic variation found in various phenotypes and in different ethnic populations, to identify new allel
Different kind of classifications system for distal radius fractures has been published for almost a century. Very few of these has been validated. AOs classification in its three main group has a good observer agreement and is quiet simple as so. A evidence based Swedish treatment algorithm is proposed and good uniform outcome score (DASH) is demonstrated.
