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Model Predictive Control (MPC) is an efficient point-to-point trajectory-generation method for robots that can be used in situations that occur under time constraints. The motion plan can be recalculated online to increase the accuracy of the trajectory when getting close to the goal position. We have implemented this strategy in a Franka Emika Panda robot, a redundant collaborative robot, by exte

Experimental studies are carried out to investigate the heat transfer performance of six different arrangements of truncated ribs in internal cooling channel by fixing the Reynolds number. The convective heat transfer mechanisms of the considered cases are detailed and analyzed based on the fluid flow characteristics by using three dimensional numerical simulations. The results show that among six

Bacterial endotoxin is a potent inflammatory antigen abundant in the human intestine. Endotoxins circulate in the blood at low concentrations in all healthy individuals. Elevated levels of circulatory endotoxins may cause inflammation with the development of chronic disease, either affecting metabolism, neurological disease, or resistance to viral and bacterial infections. The most important endot

Stories are being increasingly recognised for their potential as creators, not only depicters, of change. As such, they are receiving greater interest within sustainability science, not least in the approaches specifically focused on transformative processes of co-creation. But while highly powerful, stories are confined by both inherent and external frameworks that, if not acknowledged, limit the

Semialgebraic proof systems have been studied extensively in proof complexity since the late 1990s to understand the power of Gröbner basis computations, linear and semidefinite programming hierarchies, and other methods. Such proof systems are defined alternately with only the original variables of the problem and with special formal variables for positive and negative literals, but there seems t

In this release note we describe the 1.2 update to NLOX, a computer program for calculations in high-energy particle physics. New features since the 1.0 release and other changes are described, along with usage documentation. New version program summary: Program title: NLOX Developer's repository link: http://www.hep.fsu.edu/~nlox Licensing provisions: CC BY NC 3.0 Programming language: C++. Fortr

Law enforcement demands self-management, intrinsic motivation, high energy levels and tolerance to stress. The concept of self-management might involve both autonomy and responsibility. Autonomy and responsibility, however, are often considered and measured as the same construct even thought at a conceptual level they can be seen as a separate dual construct. Our aims were: (a) to investigate the

Objectives: Cognitive aging has been extensively investigated using both univariate and multivariate analyses. Sophisticated multivariate approaches such as graph theory could potentially capture unknown complex associations between multiple cognitive variables. The aim of this study was to assess whether cognition is organized into a structure that could be called the “cognitive connectome,” and

A growing body of evidence suggests that the deep oceans during the early Paleozoic Era were widely oxygen deficient, despite evidence for increased marine oxygenation during the Neoproterozoic. However, the temporal and geographic extents and dynamics of reducing marine conditions within these oceans are not well understood. Here, we investigate marine redox history during the Drumian through the

(1) Background: Reconditioning of the paraspinal lumbar extensor muscles by isolated lumbar extension resistance exercises (ILEX) has shown good clinical results for patients with chronic unspecific low back pain. However, the clinical value and safety for patients with specific spine pathologies is unclear. In this study, clinical outcome and influencing factors were retrospectively analyzed for

Aims/hypothesis: The aim of this work was to study the incidence over time of lower extremity amputations and determine variables associated with increased risk of amputations in people with type 1 diabetes. Methods: Individuals with type 1 diabetes registered in the Swedish National Diabetes Registry with no previous amputation from 1 January 1998 and followed to 2 October 2019 were included. Tim

Background: Out of Hospital Cardiac arrest (OHCA) survivors with ST elevation (STE) with or without shockable rhythms often benefit from coronary angiography (CAG) and, if indicated, percutaneous coronary intervention (PCI). However, the benefits of CAG and PCI in OHCA survivors with nonshockable rhythms (PEA/asystole) and no STE are debated. Methods: Using the International Cardiac Arrest Registr

Demands for novel lactic acid bacteria with potential to be used as probiotics along with healthy fermented plant-based products increase worldwide. In this study, a novel Lactiplantibacillus plantarum P31891 strain with enzymatic capacity to degrade tannins and ferment xylose was used as starter culture for fermentation of a quinoa-based beverage. The probiotic potential of the selected strain wa

Insect migration redistributes enormous quantities of biomass, nutrients and species globally. A subset of insect migrants perform extreme long-distance journeys, requiring specialized morphological, physiological and behavioral adaptations. The migratory globe skimmer dragonfly (Pantala flavescens) is hypothesized to migrate from India across the Indian Ocean to East Africa in the autumn, with a

This special issue tackles two “trendy” topics much discussed at present by the community of scholars (and practitioners too) interested in regional economic development: systems and ecosystems. These metaphors have proved popular, and enduring, currently experiencing something of a buzz or moment in the sunshine. This special issue pushes them out of their comfort zone to explore contexts, elemen

Ketoprofen is a non-steroidal anti-inflammatory drug with analgesic, antipyretic, and anti-inflammatory properties. It is available in both oral and topical formulations. Photocontact allergy to topically applied ketoprofen has been the most frequent side effect of the formulation, and is fairly well studied. The risk of development of photocontact allergy and of persistent photosensitivity as the

I denna avhandling beskrivs processesen att implementera och optimisera metoder inom kvantitativ magnetresonansomografi (MRT) på en fältstyrka av 7 T. Metoderna är baserade på gradientekon med påtvingad transversell urfasning (spoiling) och applicerade på den mänskliga hjärnan i syfte att avbilda i huvudsak tre olika MR-parametrar: Den longitudinella relaxationstiden (T1), magnetization transfer sQuantitative MRI (qMRI) refers to the process of deriving maps of MR contrast parameters, such as relaxation times, from conventional images. If the qMRI maps have a high degree of precision and a low degree of bias, they can be compared longitudinally, across subjects, and (ideally) between measurement protocols and research sites. They also provide a more direct biophysical interpretation of the

Growth-dependent welfare states contribute to climate emergency. The ecological economics, degrowth, and sustainable welfare literatures demonstrate that to re-embed Western production and consumption patterns in environmental limits, an encompassing social-ecological transformation would need to be initiated very soon. This article focuses on the potential roles of the welfare state and social po