Industrial robots are important when the degree of automation in industry is increased. To enable the use of robots also when the products change rapidly, the programming must be quick and easy to perform. One way to accomplish this is to use lead-through programming, i.e., the user manually guides the robot. This paper presents a sensorless approach, and thus avoids the need for a typically expen

The chapter discusses the potential of public procurement to contribute to sustainable development through circular economy ideas.

The concept “Broken Technologies” is related to the question: “Which is the benefit of humanity studies?” Of course the question is rhetorical because, how could this question be answered if the benefit was not obvious? Any answer supposes that we understand what we are asking for and the study of “what we mean” is one of the axes of the epistemology of the humanities. Anyway, we can also put the

Popular Abstract in Swedish En av de viktigaste frågeställningarna inom molekylär genetik är hur uttrycket av människans ca 30-40 000 gener regleras i tid och rum. En typ av reglering som är väldigt viktig är transkriptionell reglering och denna utövas av proteiner som kallas transkriptionsfaktorer. Dessa binder till specifika områden i DNA strängarna i närheten av genkodande regioner och kan däriNeuroblastoma is a childhood tumor derived from primordial neural crest cells. The tumor cells exhibit a phenotype similar to that of developing neuroblasts, which indicates that the tumor arises due to perturbed differentiation of the sympathetic nervous system. It is well established that transcription factors control the steps leading to neuronal differentiation, and a number of basic helix-loo

The adverse effects from reactions of reactive aggregates in concrete dams are well known worldwide. The mechanisms ruling alkali silica reactions (ASR) are partly but not fully understood. A majority of the Swedish concrete dams are so far considered to be protected from ASR due to the common use during the 50:s, 60:s and 70:s of the Swedish low alkali cement Limhamn LH. Today there is a discussi

Programming real-time effects for contemporary GPUs requires writing shader programs to run on the GPU as well as code for the render state setup logic performed by the CPU. While the GPU parts are well supported by high level programming languages, the effect frameworks commonly used for the CPU parts are lacking both in functionality and expressive power, which makes them difficult to work with.

In higher music education, all over the world, there has been an increased interest in reshaping the curriculum in order to provide the tools needed by musicians and music teachers in order for them to function in a global society. Many institutions have opened up to new genres like traditional folk music, world music, jazz and popular music. As a consequence, new didactic and pedagogic perspectiv

Popular Abstract in Swedish I denna bok undersöks det begynnande 1800-talets svenska reform av kyrkosången. I fokus står J C F Hæffners koralbok 1820, med dess privat utgivna andra del 1821, som här för första gången ägnas en ingående idéhistorisk analys. Hæffners utgåva har kritiserats hårt för att ha tagit död på den s.k. folkliga koralsången — ”dödshugget mot vår nationella tonkonst” — och istäThis thesis analyses the Swedish chorale book in two parts edited by J.C.F. Hæffner in 1820-21 to the new hymnal by Wallin of 1819. This is done in relation to the ideas and practices of the time; earlier and up to present times this chorale style has been described as a “petrified” hymnody, with a rhythmic equalisation, slow tempo, melodic trivialization and harmonic uniformity. To understand th

Abstract in German:Wie gestaltete sich die diskursive katholische Männlichkeit in den nordischen Ländern in dieser Zeit des Nationalismus und Konfessionalismus? Und wie verhielten sich die katholischen Männlichkeitsideale zu den im nordischen Volkschristentum der Zeit artikulierten Ideen zur Männlichkeit? Diese Fragen bilden den Ausgangspunkt der vorliegenden Studie über Männerideale und Konstrukt

Study of the reception by historians of the Danish TV-series 1864.

I Ryssland spelar de litterära klassikerna en roll som på ett avgörande sätt skiljer sig från svenska förhållanden. På grund av den utbredda analfabetismen vid bolsjevikernas makttillträde har böcker och läsande blivit starkt förknippade med det sovjetiska moderniseringsprojektet. De nya makthavarna såg som sin uppgift att sprida det som i väst har uppfattats som ett borgerligt bildningsideal till