In robotic operations where a manipulator is involved, it is well-known that the quantities measured by a wrist force/torque sensor are corrupted by the dynamicsof the end effector and manipulator. To solve this problem,an observer, which fuses information from force sensors andaccelerometers, was designed recently in order to estimate the contact force exerted by a manipulator to its environment

Popular Abstract in Swedish Komplementsystemet är ett system bestående av cirka 35 proteiner i blodet och på cellytor, som ingår i kroppens medfödda immunförsvar. Det är ett mycket viktigt men också explosivt system, potentiellt skadligt för kroppens egna celler, som kräver strikt reglering. Denna avhandlings huvudaktör, C4b-bindande protein (C4BP), nedreglerar komplementsystemet. C4BP har en ovanThe subject of this thesis is plasma protein C4b-binding protein (C4BP). C4BP is an important regulator of the classical pathway of the complement system, a cascade-like system comprised of over 35 proteins, which partakes in the defence against micro-organisms and is involved of clearance of immune-complexes and apoptotic cells. C4BP contains two different types of subunits, seven identical alfa-

A PIV method has been used to determine the internal motion in an oil drop during formation and to validate a numerical simulation of the drop formation process. The PIV system included a microscope attached to the camera, which gave a focal depth of 50 µm and a possibility to measure the velocity in the centre cross section of the drop. Oil was forced through a capillary with a diameter of 200 µm

The monograph consists of an extensive survey of psychological and behavioral genetic research on migraine, reports of three empirical studies in this area and an extensive English summary. Study 1 indicated persons with migraine (n=28) drawn from a neurological clinic to have experienced negative psychosocial events to a significantly greater extent during their development than persons free of m

Under åren 1995-99 beviljades 183 projekt medel ur EU:s sociala fond (mål 3) vid Länsarbetsnämnden i Skåne. Projektet New Deal var ett av dessa. Projektets syfte var trefaldigt; att få långtidsarbetslösa inom kontor och handel att ändra yrkesinriktning, utveckla nya metoder och arbetssätt för att hantera strukturell arbetslöshet samt sprida ny kunskap till den reguljära verksamheten. Processutvärd

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Protein biosynthesis is performed on ribosomes. The ribosome is a complex of ribosomal RNA and proteins forming two subunits. A messenger RNA strand is decoded on the small subunit by charged aminoacyl transfer RNA (aa-tRNA) molecules and each tRNA molecule delivers its amino acid to the growing polypeptide chain on the large subunit. RNA performs the central reactions and ribosomal proteins and f

Plant cells carry Ca2+ ATPases to maintain the low resting level of cytosolic Ca2+ (0.1-0.2 µM) found in all eukaryotes. Plant Ca2+ ATPases are mainly located in the plasma membrane, the endoplasmic reticulum and in the vacuolar membrane, and consequently large Ca2+ gradients are created across these membranes. The Ca2+ gradients are used by the cell to transmit information in a variety of physiol

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