Force sensing provides robots the capability to accomplish tasks where physical interaction with the environment is required, such as assembly. Small position uncertainties can then be corrected for by sensing the contact forces. This thesis considers the problem of force-controlled assembly, including how tasks can be specified in a simple and intuitive way and how robust task execution under unc

In this paper, we analyze the performance of regularized channel inversion (RCI) precoding in multiple-input single-output (MISO) broadcast channels with confidential messages under transmit-side channel correlation. We derive a deterministic equivalent for the achievable per-user secrecy rate which is almost surely exact as the number of transmit antennas and the number of users grow to infinity

The aim of this study was to investigate how the biomass of extramatrical mycorrhizal mycelia (EMM) is influenced by the addition of different phosphorus (P), potassium (K) and PK fertilizers in peatland forests with variable P and K availability. Four fertilizers were used: apatite, biotite, Rauta-PK (TM) (apatite and ferrosulphate) and a test fertilizer (50% apatite and 50% recycled iron phospha

The influence of counterions and co-ions on the stability and thickness of foam films stabilized by anionic dodecyl sulfate (DS(-)) has been studied in a thin film pressure balance. Particularly, the effect on the properties of foam films of (i) the counterions Li(+), Na(+), and Cs(+) of DS(-) and (ii) monovalent inorganic salts added to sodium dodecyl sulfate solutions is considered. Generally, a

In this paper, we introduce a novel sparse method for joint estimation of the direction of arrivals (DOAs) and pitches of a set of multi-pitch signals impinging on a sensor array. Extending on earlier approaches, we formulate a novel dictionary learning framework from which an estimate is formed without making assumptions on the model orders. The proposed method alternatively uses a block sparse a

Abstract The aim of this qualitative study was to examine the different facets of meaning that people who are severely mentally ill and unemployed may find in their everyday occupations. Twelve unemployed people with severe mental illness, six who attended day centres and six who did not, were interviewed regarding their experience of meaning in everyday occupations. The data were analysed with co

Alpha(1)-microglobulin is a 26 kDa plasma and tissue glycoprotein that belongs to the lipocalin protein superfamily. Recent reports show that it is a reductase and radical scavenger and that it binds heme and has heme-degrading properties. This study has investigated the protective effects of alpha(1)-microglobulin against oxidation by heme and reactive oxygen species in the human erythroid cell l

Proceeding from previously published studies of the provenance of southern Scandinavian flint based on visual classification and chemical sourcing, this paper presents a comprehensive study of flint provenancing.Existing knowledge of the appearance and geological origin of flint types is discussed and reappraised, and newchemical analyses of flint from 25 localities are presented. The results show

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

A core-ionized H(2)O molecule in liquid water primarily relaxes through normal Auger decay, leading to a two-hole final state in which both valence holes are localized on the same water molecule. Electronic coupling to the environment, however, allows for alternative decays resembling Intermolecular Coulombic Decay (ICD), producing final states with one of the holes delocalized on a neighboring wa

This doctoral thesis comprises a critical edition of a previously unpublished manuscript from the late seventeenth century, which is housed in Lund University Library. The manuscript consists of copies of eighty-eight letters and other documents in Latin. The originals were, in most cases, written by country vicars from Scania, a Swedish province that until 1658 was part of Denmark. The identity o

The workforce in many countries nowadays is becoming older due to demographic change. Compared with many other occupations, farmers often work until a higher age. This study analysed occupational accidents to farmers in Sweden from an age perspective using data on 223 work injuries on farms and 990 road accidents involving tractors. The results showed that older farmers were not significantly more

A novel Thomson parabola ion spectrometer design is presented, in which a gradient electric field configuration is employed to enable a compact design capable of high resolution measurements of ion energy and charge-to-mass ratio. Practical issues relating to the use of the spectrometer for measurement of ion acceleration in high-power laser-plasma experiments are discussed. Example experimental r

Popular Abstract in Swedish En värld av mikrober Vi lever i en värld full av olika bakterier och svampar, så kallade mikrober. Med tanke på artrikedomen och mängden av infektiösa mikrober vi dagligen kommer i kontakt med kan det nästan tyckas som ett smärre mirakel att vi trots allt är så friska som vi är. Detta är dock nästan helt och hållet vårt medfödda immunförsvars förtjänst. Immunförsvaret Abstract The epidermis is one of our primary interfaces towards the external milieu. Following injury, the physical barrier function of the skin is destroyed and the epidermis is left vulnerable to microbial invasion. Inducible innate immune response mechanisms exist to keep the wound site free from infection, thus allowing the wound to heal and the epidermis to re-establish its barrier function.