Two main topics are considered in this thesis: Machining with industrial robot manipulators and optimal motion control of robots and vehicles. The motivation for research on the first subject is the need for flexible and accurate production processes employing industrial robots as their main component. The challenge to overcome here is to achieve high-accuracy machining solutions, in spite of the

I will start by noting that Harry Frankfurt’s concept of wholeheartedness is in conflict with the intuition that free will should be efficacious in general, rather than pertain only to a small subset of decisions. To replace wholeheartedness I introduce a heuristic account for deliberation and decisions. I will show that introspective activity can lead to the individual having two types ‘introspec

A central hypothesis of eco-immunology proposes trade-offs between immune defences and competing physiological and behavioural processes, leading to immunological variation within and among annual-cycle stages, as has been revealed for some species. However, few studies have simultaneously investigated patterns of multiple immune indices over the entire annual cycle in free-living birds, and none

The complexing ability of the binary system trans-aconitic acid (H3L) with regard to Cd(II) and the crystal structures of the binary system Cd(II)-(H3L), [Cd3L2(H2O)(6)] n(1) and ternary systems of Cd(II)-(H3L)-Lewis base [Lewis base = 1,10-phenanthroline (2) and 2,2'-bipyridine (3)] have been determined. Compound I is a rare binodal four-connected three-dimensional (3D) metal-organic framework po

ABSTRACT: BACKGROUND: The objective of this work is to obtain the correct relative DNA contents of chromosomes in the normal male and female human diploid genomes for the use at FISH analysis of radiation-induced chromosome aberrations. RESULTS: The relative DNA contents of chromosomes in the male and female human diploid genomes have been calculated from the publicly available international Human

Popular Abstract in Swedish Personer med insulinbehandlad diabetes saknar, eller har kraftigt försämrad, kroppsegen förmåga att reglera blodsockernivån genom utsöndring av hormonet insulin, och måste därför ta flera injektioner insulin dagligen. De flesta injektioner tas i samband med måltid, och individen bestämmer normalt sina måltidsdoser utifrån aktuell blodsocker- och hälsostatus i kombinatioDiabetes is a disease characterized by insufficient capacity to regulate the blood glucose level. In insulin-dependent diabetes, multiple daily injections of insulin have to be administered. In-between scheduled visits to the care provider, the patient has to manage the glucose control independently. Insulin dosing is a non-trivial task and many patients find it difficult. This is reflected in the

The aim of this article was to present juxtavisceral aortic occlusive disease with particular reference to a novel therapeutic approach, namely protected stenting by means of so called chimney grafts. The juxta renal aortic occlusion is the last aortoiliac occlusive lesion not to be stented routinely because of the risk for trash and/or need for overstenting of vital aortic side branches. The risk

Recently, the anticancer activity of human a-lactalbumin made lethal to tumor cells (HAMLET) has been linked to its increased membrane affinity in vitro, at neutral pH, and ability to cause leakage relative to the inactive native bovine alpha-lactalbumin (BLA) protein. In this study, atomic force microscopy resolved membrane distortions and annular oligomers (AOs) produced by HAMLET when deposited

Dendrochronological analysis was applied to subfossil remains of Scots pine (Pinus sylvestris L.) buried in a South Swedish peat deposit. In combination with peat stratigraphy, this approach was explored for its potential to provide information on the local hydrological and depositional history at the site, forming the basis for a regional palaeohydrological analysis. A 726-year ring-width chronol

We explore the emergence of two contemporary mega water projects in Turkey that are designed to meet the demands of the country's major urban centers. Moreover, we analyze how policy makers in the water sector frame problems and solutions. We argue that these projects represent a tendency to depoliticize water management and steer away from controversial issues of water allocation by emphasizing l

Our existing urban environment has a significant potential to increase the use of renewable energy, mainly by using solar irradiation for heat and electricity. Quantification of the solar potential by means of a solar map is the first step in the acceleration process for using more solar energy in our urban environments. A solar map is a GIS system providing the annual solar irradiation on buildin

Background: The next-to-next-to-next-to-leading order ((NLO)-L-3) nuclear energy density functional extends the standard Skyrme functional with new terms depending on higher-order derivatives of densities, introduced to gain better precision in the nuclear many-body calculations. A thorough study of the transformation properties of the functional with respect to different symmetries is required as

Bisphosphonates (BP) prevent, reduce, and delay cancer-related skeletal complications in patients, and have substantially decreased the prevalence of such events since their introduction. Today, a broad range of BP with differences in potency, efficacy, dosing, and administration as well as approved indications is available. In addition, results of clinical trials investigating the efficacy of BP

In order to increase the understanding of suicidal behaviour, the general aim of the thesis is to gain a profound knowledge of the suicidal individual, and hence to find and ensure a preventive strategy. This will be accomplished by finding and trying new methods for evaluation of suicide risk. The Suicide Assessments Scale, SUAS, and a new self-rating version, SUAS-S were tested. These scales ar

Vid direkt anföring uppvisar såväl anföringssats som anförd sats huvudsats¬egenskaper och det är inte uppenbart hur förhållandet mellan satserna i en anförd mening ska förstås. I denna uppsats undersöks det hierarkiska förhållandet mellan anföringssats och an¬förd sats ur såväl semantisk/pragmatisk som syntaktisk synvinkel. Undersökningens utgångs¬punkt är tre antaganden om huvud- och bisatser: 1)

Introduction A recent genome-wide association study in European systemic sclerosis (SSc) patients identified three loci (PSORS1C1, TNIP1 and RHOB) as novel genetic risk factors for the disease. The aim of this study was to replicate the previously mentioned findings in a large multicentre independent SSc cohort of Caucasian ancestry. Methods 4389 SSc patients and 7611 healthy controls from differe