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A suturing including knot tying is one of the more difficult operations to learn in telesurgical systems. Apprentice surgeons commonly suffer from suture breakage or knot failure. The difficulty, generally, comes from the absence of feedback of interaction force cues in a medical device (e.g., a needle and a thread) . Even if there is haptic feedback to the operator, the operator may have a diffic

The trend within fluid industry is towards continuous production, leading to an increasing demand for new and improved methods that allow real-time monitoring of quality parameters and fast process control. The consistency and viscosity can be described by fluid rheology and are frequently used as quality control parameters. Rheological properties can be correlated with product microstructure, the

Nonlinear and Hybrid Systems in Automotive Control will enable researchers, control engineers and automotive engineers to understand the engine and whole-vehicle models necessary for control. A new generation of control strategies has become necessary because of the increasingly rigorous requirements of vehicle and engine control systems for accuracy, ride comfort, safety, complexity, functionalit

Classic material & cases on European Competition Law and Practice. From the first cases decided by the Court of Justice of the European Union and through the most recent cases decided in 2011. The later the cases, the more difficult it becomes to decide if they fit under the name classics. The case law is organized to cover major issues in a basic presentation on Competition Law. Both for stud

The shadow volume algorithm is a popular technique for real-time shadow generation using graphics hardware. Its major disadvantage is that it is inherently fillrate-limited, as the performance is inversely proportional to the area of the projected shadow volumes. We present a new algorithm that reduces the shadow volume rasterization work significantly. With our algorithm, the amount of per-pixel

Renewable energy sources (RES), such as biomass, can be used to address two important issues in Europe: climate change and energy security. If biomass is produced sustainably and used efficiently, bioenergy contributes very little to CO2 emissions. The overall objective of the work presented in this thesis is to provide a scientific basis describing how bioenergy can play a fundamental role in the

This study explores the emergence of the Christian biblical canon and its significance for the early as well as for the contemporary church. Some major challenges to previous research on the biblical canon are presented. The apostolic formula "the Scriptures and the Lord" is defended as a good summary of the Christian canon, its formation and significance. It is argued that the canon was formed i