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Improving contact force estimation accuracy by optimal redundancy resolution

Estimating Cartesian contact forces and torques enables external force supervision for robotic manipulators and even force-controlled applications while avoiding the need for additional external sensing. Redundant manipulators facilitate the problem of Cartesian contact force and torque estimation (CCFE) at the TCP, since an increased amount of joint level information is available for estimating t

Hydro-climatic variability and agricultural production on the shores of Lake Chad

The purpose of this study is to present and analyze previously unpublished quantitative agricultural data for the area on the shores of Lake Chad in Chad, and explore its relations to hydro-climatic factors (lake levels, rainfall and temperature). This is a rural area with livelihoods based on agropastoral and fishing activities, which are directly dependent on the region's high-varying hydro-clim

Occupational Choices for People with Psychiatric Disabilities : Comparing Attendees and Non-Attendees at Community-Based Day Centers

Research has shown that people with psychiatric disabilities who attend a day center rate their satisfaction with daily occupations equally in comparison with non-attendees. The current study investigates which occupations the target group performs and also differences in occupational choices between attendees and non-attendees. Reported occupations were analyzed with content analysis. Day center

High genetic variability of vagrant polar bears illustrates importance of population connectivity in fragmented sea ice habitats

Projections by the Intergovernmental Panel on Climate Change (IPCC) and sea ice forecasts suggest that Arctic sea ice will decline markedly in coming decades. Expected effects on the entire ecosystem include a contraction of suitable polar bear habitat into one or few refugia. Such large-scale habitat decline and fragmentation could lead to reduced genetic diversity. Here we compare genetic variab

Optimum design and control of grid integrated electrical hubs considering lifecycle cost and emission

Grid connected renewable energy systems are becoming popular due to reasons such as rapid escalation of energy prices, depletion of fossil fuel resources and pollutant emitted by conventional energy sources. Therefore, technologies for incorporating renewable energy technologies into the existing electricity grid needs to be researched more considering the changes in grid architecture. This study

The European species of Foersterella Dalla Torre (Hymenoptera : Tetracampidae), including the description of two new species

The European species of Foersterella Dalla Torre 1897 (Hymenoptera: Tetracampidae) are treated, including two previ-ously described species, F. erdoesi Bouček and F. reptans (Nees), and two new species, F. angusticornis sp. nov. and F. fuscicornis sp. nov. Morphological concepts of the species are based mainly on characters in the male antenna, which fe-males lack, and with the exception of F. erd

Tundra meets atmosphere : Seasonal dynamics of trace gas exchange in the High Arctic

Arktiska miljöer har de senaste decennierna upplevt en stark temperaturökning, vilket påverkar tundrans kolcykel.Smältande permafrost, minskande snötäcke och förändringar i hydrologiska mönster är exempel på pågående processer som förändrar samspelet mellan mark och atmosfär samt ekosystemens säsongsdynamik.Då ett antal av dessa processer involverar utbyte av växthusgaser, såsom spårgaserna metan Arctic environments have experienced strong warming in recent decades, which is affecting the carbon cycle of tundra ecosystems.Degrading permafrost, diminishing snow cover, and changing hydrology are examples of ongoing processes that affect the land-atmosphere interactions and seasonal ecosystem dynamics.Since a number of the affected processes involve the exchange of atmospheric greenhouse gase

Type and quantity of organic amendments determine the amount of carbon stabilized in particle-size fractions of a semiarid degraded soil

A 9-month lab experiment was carried out with three different amendments (vine pruning wastes, PW; composted vine pruning wastes, cPW; and sewage sludge, SS) added at three different rates (90, 180, and 240 t ha−1, dry weight) in order to test whether the type or the quantity of the amendments applied to a semiarid, degraded soil determined the Corg accumulation in its particle-size fractions (coa

Louis Vuitton in the bazaar : Negotiating the value of counterfeit goods in Shanghai's Xiangyang market

Much work on counterfeiting takes the perspective of brand holders and focuses on strategies for restricting the infringement of their intellectual property rights (IPR). This article takes a different approach. Based on long-term ethnographic fieldwork in a market bazaar in Shanghai, the article examines the way in which market participants negotiate the value of counterfeit goods. Brand holders

Contradictory individualized self-blaming : a cross-sectional study of associations between expectations to managers, coworkers, one-self and risk factors for musculoskeletal disorders among construction workers

BACKGROUND: Within work sociology, several studies have addressed construction workers' practices of masculinity, class, economy, safety risks and production. However, few studies have investigated room for agency in relation to bodily pain or musculoskeletal disorders and even fewer have made a quantitative approach. Accordingly, by means of a questionnaire, we examined the association between co

Behavioral characteristics and injection practices associated with skin and soft tissue infections among people who inject drugs : A community-based observational study

Background: People who inject drugs (PWID) are at increased risk for bacterial skin and soft tissue infections (SSTIs). Although SSTIs pose significant health risks, little is known about their prevalence and characteristics in the population of PWID in the United States. This study investigates whether behavioral factors related to skin and equipment hygiene and tissue-damaging injection practice

Multi-MHz time-of-flight electronic bandstructure imaging of graphene on Ir(111)

In the quest for detailed spectroscopic insight into the electronic structure at solid surfaces in a large momentum range, we have developed an advanced experimental approach. It combines the 3D detection scheme of a time-of-flight momentum microscope with an optimized filling pattern of the BESSY II storage ring. Here, comprehensive data sets covering the full surface Brillouin zone have been use