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A formulation of an offline motion-planning method for avoidance maneuvers based on a lane-deviation penalty function is proposed,which aims to decrease the risk of a collision by minimizing the time when a vehicle is outside of its own driving lane in the case ofavoidance maneuvers. The penalty function is based on a logistic function. The method is illustrated by computing optimal maneuversfor a
To decrease the complexity of motion-planning optimizations, a segmentation and merging strategy for maneuvers is proposed. Maneuvers that are at-the-limit of friction are of special interest since they appear in many critical situations. The segmentation pointsare used to set constraints for several smaller optimizations for parts of the full maneuver, which later are merged and compared withopti
From the basis of optimal control, a closed-loop controller for autonomous vehicle maneuvers at-the-limit of friction is developed.The controller exploits that the optimal solution tends to be close to the friction limit of the tires.This observation allows for simplifications that enable the use of a proportional feedback control in the control loop,which provides a smooth trajectory promising fo
In situ X-ray diffraction was employed to gain insight into the tensile deformation behavior of harmonic structure (HS) nickel. HS consists of a continuous network of fine grains encompassing islands of coarse grains. With the aid of a newly developed separation algorithm, the X-ray diffraction signals from coarse and fine grains were analyzed separately. Using line profile analysis, the evolution
This open access book deals with the role of written texts in an increasingly diverse and dynamic society, bringing together a series of studies anchored in the Scandinavian research tradition of sakprosa, which roughly translates as ‘subject-oriented prose’ or ‘professional communication’. The authors examine the written text’s capacity to transcend contextual boundaries, as a crucial factor in t
På aktiebolags bolagsstämmor fastställs föregående räkenskapsårs resultat- och balansräkningar. Bolagsledningar frågas ut och granskas av aktieägarna och hålls ansvariga för sina handlingar. Styrelseledamöter, revisorer och valberedningar väljs, och beslut fattas om vinstutdelningar. Men bolagsstämmor är så mycket mer. De är fulla av symboler och känslor som kan lära oss något om den finansiella e
BACKGROUNDThe accuracy of estimation of kidney function with the use of routine metabolic tests, such as measurement of the serum creatinine level, has been controversial. The European Kidney Function Consortium (EKFC) developed a creatinine-based equation (EKFC eGFRcr) to estimate the glomerular filtration rate (GFR) with a rescaled serum creatinine level (i.e., the serum creatinine level is divi
Åsne Seierstads grepp att skildra Afghanistan under talibanregimen utan att döma är omöjligt att värja sig emot. Dick Harrison läser en berättelse om vinnare och förlorare.
The article investigates the reception of Carl Snoilsky’s Svenska bilder (Swedish Pictures) in Swedish schools, from the 1890s until today, in the light of the concept of cultural memory. For more than half a century, Snoilsky’s cycle of poems, depicting important events and figures in Sweden’s early modern history, belonged to the literary school canon; three special school editions were publisheThe article investigates the reception of Carl Snoilsky’s Svenska bilder (Swedish Pictures) in Swedish schools, from the 1890s until today, in the light of the concept of cultural memory. For more than half a century, Snoilsky’s cycle of poems, depicting important events and figures in Sweden’s early modern history, belonged to the literary school canon; three special school editions were publishe
This paper argues that the Kwun Tong Promenade in Hong Kong is an exemplary case of government-driven commodification of public space. The waterfront public space was an integral part of the government's plan to redevelop the former industrial center into a new premier business district. Through document analysis, site observations and interviews, this paper seeks to examine how the government has
Introduction: biomaterials combined with antibiotics are routinely used for the management of bone infections. After eluting high concentrations of antibiotics during the first week, sub-inhibitory concentrations of antibiotics may lead to late repopulation of recalcitrant bacteria. Recent studies have shown that systemically given antibiotics like tetracycline and rifampicin (RIF) could seek and
Sherlock Holmes has travelled across media borders extensively: from technical to technical medium, from basic to basic medium, and from qualified to qualified medium. Through the decades, Sherlock Holmes appeared in many different forms of storytelling and media constellations, so we can analyse the character in terms of transmediality. This chapter discusses one such example: Penny Dreadful, whi
