Many contact operations in robotics require accurate positioning, which is made difficult by the presence of rapidly varying interaction forces and compliances in gear boxes and links. In order to compensate for such effects, rapid feedback from the measured tool position in several degrees of freedom is needed. This paper presents a dynamic visual tracking technique based directly on intensity me

The main objective of this thesis was to gain further insight into the relationship between the exposed surfaces and the functional properties of antibodies and their complexes with antigens in solution. To study this relationship, a new technique, liquid-liquid partition chromatography (LLPC) in aqueous two-phase systems, was developed further with respect to sensitivity, selectivity and reproduc

This thesis concerns a highly efficient nanoparticle-based capillary electrochromatography separation technique and its coupling with mass spectrometric detection. From chromatographic theory, it is well known that the separation efficiency increases with decreasing particle size. However, as the particle size decreases, the pressure required to push a liquid through the column also increases. Thi

There has been an increasing interest in a new technique for making emulsions known as membrane emulsification, which uses a microporous membrane operated in cross-flow. The continuous phase is pumped along the membrane and sweeps away dispersed phase droplets forming from pore openings as shown in Fig. 1. The effects ofprocess parameters in membrane emulsification have been studied, especially on

Popular Abstract in Swedish Den här avhandlingen handlar om hur kön görs i en av det sociala arbetets praktiker, nämligen missbrukarvården. Socialt arbete kan förstås som en normaliserande praktik som ger uttryck för samhällets normer och värderingar. Dess syfte är att fostra och anpassa människor så att de passar in i samhället. Under senare år har intresset för att synliggöra och hantera könsfråThe aim of this dissertation is to use intersectional analysis to investigate how gender is made in drug abuse treatment and to examine how the formation of gender interplays with the formation of sexuality, class and ethnicity. Central questions are: What gender(s) are to be shaped in druge abuse treatment? What happens to a gender perspective with emancipatory ambitions when it is incorporated i

This thesis analyses the renegotiation of Swedish national identity in newspapers’ coverage of the Olympics of 1912. The “sun-shine Olympics”, as Swedes have come to term the event, idealises early twentieth-century Sweden and early sports events. Researchers have shown that this era was far from idyllic in Sweden: it was characterised by various battles concerning the proper national community. N

A speech data packet loss concealment algorithm based on pitch period repetition is presented and a novel low complexity method to refine a pitch period estimate is introduced. Objective performance measurements show that this pitch refinement improves the quality of packet loss concealment. Hardware-software codesign techniques have been investigated to implement the algorithm. Using a coprocesso

Popular Abstract in Swedish I denna avhandling undersöktes förekomsten och regleringen av neuropeptiden PACAP (pituitary adenylate cyclase-activating polypeptide) i det sensoriska nervsystemet hos råtta och mus och hur de normala nivåerna av PACAP ändrades vid olika betingelser som t.ex. nervavskärning och lokal inflammation. Dessutom undersöktes PACAPs roll vid smärta genom att studera om smärtsvThe data presented in this thesis deal with the neuropeptide pituitary adenylate cyclase-activating polypeptide (PACAP) in adult sensory neurons. We have used different injury and pain models to determine the involvement of PACAP during such conditions. The role of neurotrophins for PACAP expression was also investigated. PACAP is one of the excitatory neuropeptides expressed in small sized DRG ne