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We consider the problem of trajectory generation for time-optimal path tracking for the class of pseudo-omnidirectional mobile robots. An Euler-Lagrange model of the robot dynamics is derived, and by writing it on special form a convex reformulation of the path-tracking problem can be utilized. This enables the use and regeneration of time-optimal trajectories during runtime. The proposed approach

Background: In the present study, the aim is to examine the risk of fetal loss related to environmental 2,2',4,4',5,5'-hexachlorobiphenyl (CB-153) or 1,1-dichloro-2,2-bis(p-chlorophenyl)ethylene (p,p'-DDE) exposure. Methods: We related LC/MS/MS measurements of CB-153 and p, p'-DDE in serum samples to interview-data on previous fetal loss in populations of pregnant women from Poland, Ukraine and Gr

We report on a gated tunnel diode (GTD) and its operation in a 60 GHz pulsed oscillator, also known as a wavelet generator. The wavelet generator operates with the aid of a reactive bias stabilizing network, which minimizes the DC power consumption. This allows for 60 GHz wavelets as short as 56 ps to be produced, with a corresponding energy consumption of 1.0 pJ, which is a factor of 3.6 lower as

Optical interferometric logic gates in metal slot waveguide network are designed and investigated by electromagnetic simulations. The designed logic gates can realize all fundamental logic operations. A single Y-shaped junction can work as logic gate for four logic functions: AND, NOT, OR and XOR. By cascading two Y-shaped junctions, NAND, NOR and XNOR can be realized. The working principle is ana

Endoleaks after endovascular aortic repair (EVAR) are a common cause of treatment failure and secondary interventions. Endoleak classification is important to determine both prognosis as well as need for treatment. With increasingly complex endovascular aortic procedures, endoleak classification according to the original classification has become more difficult. A classification into direct and in

Angular correlations between unidentified charged trigger particles and various species of charged associated particles (unidentified particles, pions, kaons, protons and antiprotons) are measured by the ALICE detector in p-Pb collisions at a nucleon-nucleon centre-of-mass energy of 5.02 TeV in the transverse-momentum range 0.3 < p(T) < 4 GeV/c. The correlations expressed as associated yield per t

Proximal femoral (hip) strength computed by subject-specific CT scan-based finite element (FE) models has been explored as an improved measure for identifying subjects at risk of hip fracture. However, to our knowledge, no published study has reported the effect of loading condition on the association between incident hip fracture and hip strength. In the present study, we performed a nested age-

The Palestine problem was one of the first conflicts the newly formed United Nations (UN) was obliged to contend with. Secretary-General Trygve Lie played an active part in the proceedings, and his consistent support for the partition plan and Israeli UN membership has led to charges of Zionist sympathies and that his actions were based on this personal political bias. What explains the UN Secreta

The modernisation of Swedish households during the twentieth century prompted a considerable productivity growth in household production. This paper examines the association between this process and the allocation of female time in Swedish urban households during the period 1920-1990. Estimates presented in the paper suggest a minimum potential time reduction for a fixed volume of routine househol

The efficiencies of homogeneous and heterogeneous photo-Fenton oxidation were compared for treatment of azo dye containing synthetic textile wastewater. The influence of parameters such as the presence of NaCl and starch was evaluated and optimal iron and H2O2 dosage determined. Complete decolorization of Remazol Red RR was achieved at all investigated NaCl and starch concentration. Mineralization

Popular Abstract in Swedish Genom att studera forna inlandsisar kan vi få en inblick i hur en inlandsis påverkar och påverkas av till exempel klimatförändringar och havsnivåvariationer i tidsperspektiv från hundratals till hundratusentals år. I Skandinavien är det framförallt spåren efter nedisningar under den senaste istiden, Weichsel-istiden, som bevarats. I den här studien fokuserar vi på ÖstIn this thesis the Weichselian glaciation history of southernmost Sweden and the southwestern Baltic Basin is discussed, with special emphasis on Middle and Late Weichselian ice advances and subsequent deglaciations. The main study area was Kriegers Flak in the southwestern Baltic Sea where pre-Late Weichselian sediments were identified. We suggest that the lowermost till on Kriegers Flak, dated t

Background: Identifying children with childhood-onset neurodevelopmental problems (NDPs, defined here as autism spectrum disorders [ASDs], attention-deficit/hyperactivity disorder [AD/HD], tic disorders [TDs], learning disorders [LDs] and development coordination disorder), using easily administered screening instruments, is a prerequisite for epidemiological research. Such instruments are also cl

Heme A is a prosthetic group unique for cytochrome a-type respiratory oxidases in mammals, plants and many microorganisms. The poorly understood integral membrane protein heme A synthase catalyzes the synthesis of heme A from heme O. In bacteria, but not in mitochondria, this enzyme contains one or two pairs of cysteine residues that are present in predicted hydrophilic polypeptide loops on the ex

Occupational exposure to particulate air pollution has been associated with an increased risk of cardiovascular disease. However, the risk to welders working today remains unclear. We aimed to elucidate the cardiovascular effects of exposure to welding fumes.

Uppfattningen att digital text är immateriell är fortfarande utbredd och kanske är det förklaringen till att det inte skrivs särskilt mycket om betydelsen hos och effekterna av det jag menar utgör det digitala dokumentets materialitet – de digitala mediernas hårdvaror. Utformningen av och funktionen hos dessa har en lång rad implikationer för såväl individ som samhälle, och jag berör några av dem

Ordet ”testamente” förekom för första gången i svenska sammanhang vid mitten av 1100-talet. Under medeltiden användes testamenten huvudsakligen för gåvor till kyrkan, men under 1600-talet förändrades tillämpningen. Upprättandet av ett testamente blev istället, precis som idag, en möjlighet för den enskilde att själv bestämma över fördelningen av den egna egendomen vid ett framtida arvskifte. Använ

Popular Abstract in English Concrete is one of our most common building materials and is used both for buildings, bridges and other heavy structures. Typically, concrete structures are very durable, but sometimes they need to be strengthened. The reason may be cracking due to environmental effects, that a bridge is to be used for heavier traffic, new building codes, or damage resulting from earthqA 3D nonlinear finite element analysis modelling framework was developed for simulating the behaviour of beams retrofitted with fibre reinforced polymer (FRP). The ABAQUS program was used for this purpose. Concrete was modelled using a plastic damage model. Steel bars were modelled as an elastic perfectly plastic material, with perfect bond between concrete and steel. A cohesive model was used for

We study sets of non-typical points under the map fβ↦βx mod 1 for non-integer β and extend our results from [Fund. Math. 209 (2010)] in several directions. In particular, we prove that sets of points whose forward orbit avoid certain Cantor sets, and the set of points for which ergodic averages diverge, have large intersection properties. We observe that the technical condition β>1.541 found in th