A flexible method for six-degree-of-freedom combined vision/force control for interaction with a stiff uncalibrated environment is presented. An edge-based rigidbody tracker is used in an observer-based controller, and combined with a six-degree-of-freedom force- or impedance controller. The effect of error sources such as image space measurement noise and calibration errors are considered. Finall

C-fibre neuropeptides, such as tachykinins and calcitonin-gene related peptide (CGRP), play an important role in neurogenic inflammation. The present work deals with five different aspects of the physiology and pharmacology of C-fibres. 1) Tachykinin receptor antagonists of peptide and non-peptide nature have been employed to identify the tachykinin receptors of the rabbit iris as NK1 and NK3 type

Temporal adverbs (时间副词 shíjiān fùcí) in Modern Standard Chinese (MSC) are a group of words assuming the role of adverbial modifier (状语 zhuàngyǔ), expressing a temporal notion. Both characteristics are problematic; adverbs (副词 fùcí) are defined as a word class with the sole function of assuming the role of adverbial modifier, but several words traditionally categorized as temporal adverbs have synt

Popular Abstract in Swedish Urininkontinens är en utbredd folksjukdom och ett stort folkhälsoproblem. Omkring 500 000 människor i Sverige, mest kvinnor (2/3) är drabbade. Förekomsten av inkontinens ökar med stigande ålder. Ofrivilligt urinläckage orsakar många gånger både medicinska och sociala handikapp med minskad livskvalitet som följd. Undersökningar har visat att endast 25% av de inkontinentaDysfunction of the pelvic floor can lead to incontinence and different forms of lower urinary tract symptoms (LUTS). Urinary incontinence is a common problem and about 500 000 persons in Sweden, mostly (2/3) women, suffering from incontinence. The general aim of this thesis was to characterize the function and dysfunction of the pelvic floor muscles in healthy and incontinent women. Vaginal EMG, p

The traditional presentation about historical time-passing consists in a linear succession of facts in which some aspects of the life world evolve from others in an irreversible manner. The presentation of change is connected to the presentation of gradual or revolutionary linear changes that are irrevocable. I believe that this presentation could be considered correct for living organisms, but do

This work stages a conversation between the French phenomenological philosopher Maurice Merleau-Ponty and philosophical theology, specifically as developed along an Augustinian trajectory. As the conversation unfolds, the outline of a new ontology is progressively sketched out – one that seeks to preserve the integrity of human beings as part of the natural world, as well as the integrity of the n

The scope of this study is to compare John Philoponus and Cosmas Indicopleustes, two Christian individuals of different backgrounds and belonging to different fractions of the Church in the turbulent time for the Church in sixth century Alexandria. Any Christian is likely to feel the need to define how the tenets of his or her faith relate to contemporary science. As long as Christianity has exis

This paper analyzes and explains the mechanism behind long-term voltage collapse in the NORDIC32 test system. For this purpose a simplified test system called N5area, reflecting the key voltage collapse characteristics of NORDIC32 is proposed. Applying control algorithms is much easier in N5area than in NORDIC32. Load recovery and generator excitation current limiter actions which are two importan

Anthology, consisting of texts on the poetry of Lasse Söderberg. Contributions by Lars Gustaf Andersson & Anders Mortensen ("Foreword"); Jonas Ellerström ("Söderberg, Lasse"); Per Erik Ljung ("Det ringde en man från Rotary"); Jan-Gunnar Sjölin ("I ljuset av surrealismen"); Paul Tenngart ("Bland akrobater och andra märkliga figurer"); Octavio Paz ("Skott"); Lars-Håkan Svensson ("Lasse Söderberg

Popular Abstract in Swedish Cellulosa är ett av de vanligast förekommande biologiska ämnena på jorden och en mycket viktig råvara. Cellulosa är en polymer, uppbyggd av glukosmolekyler som är bundna till varandra i kedjor. Kedjorna kan bli mycket långa och består ofta av flera tusen glukosmolekyler. Eftersom cellulosakedjor är lineära kan de packa sig parallellt med varandra och bilda styva fibrer Soluble derivatives of cellulose have become increasingly important in industrial products e.g. in pharmaceutical applications and in technical dispersions. The polymer characteristics of modified celluloses are to a high degree determined by the substituent distribution along the polymeric backbone. The distribution will be more or less heterogeneous both due to the fact that polymers from renewa