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Formulation and interpretation of optimal braking and steering patterns towards autonomous safety-critical manoeuvres

Stability control of a vehicle in autonomous safety-critical at-the-limit manoeuvres is analysed from the perspective of lane keeping or lane changing, rather than that of yaw control as in traditional ESC systems. An optimal control formulation is developed, where the optimisation criterion is a linear combination of the initial and final velocity of the manoeuvre. Varying the interpolation param

Similar distribution of pelvic sentinel lymph nodes and nodal metastases in cervical and endometrial cancer. A prospective study based on lymphatic anatomy

Objective: Comparing the anatomical distribution of metastatic and non-metastatic pelvic sentinel lymph nodes (SLN) in cervical and endometrial cancer. Methods: Detailed SLN mapping results were prospectively retrieved in cervical (n = 145) or high-risk endometrial cancer (n = 201) patients undergoing a robotic staging procedure. Cervically injected Indocyanine Green (ICG), allowing for reinjectio

Mechanochemical synthesis of stable, quantum-confined CsPbBr3perovskite nanocrystals with blue-green emission and high PLQY

Cesium lead halides are a family of bright, visible-light emitting materials with near-unity photoluminescence quantum yield (PLQY) in nanocrystals (NCs). The usual way to achieve visible light-emission tunability is by mixing halides, which often leads to phase separation and poor stability. While the NCs should also show size-dependent PL emission, reports on strong quantum confinement in these

Gudar och människor bland texter och paratexter : Om varför Gamla testamentet inte har några författare

It is a wellknown fact that the books of the Hebrew Bible are, to a great extent, anonymous and that the individuals long identified as their authors (Moses, Isaiah, David, Solomon, and so on) are not the ones who have penned them. How, then, should the few paratexts that do, in fact, relate texts explicitly to named individuals be understood? In this article, I argue that such a question is essen

Gene-environment interactions and metal toxicity

Humans are exposed to various metals through many different routes and each person’s genetic background contributes to their susceptibility to metal toxicity. In addition, recent evidence points to a role for the genetics of the human microbiome in metal uptake and toxicity. DNA sequence variation in genes that regulate metal toxicokinetics and toxicodynamics influences metal accumulation and rete

Ecological impact of introduced and native crayfish on freshwater communities : European perspectives

Interest in the culture of freshwater crayfish throughout Europe has increased during the last few decades. However, the effects of both introduced and native crayfish species on the structure and diversity of freshwater communities has received little attention. In this paper, I review the impact of crayfish on macrophytes, algae, invertebrates, amphibians and fish; also I compare the impact of i