A fundamental problem in robotics is generating the motion for a task. How to translate a task to motion or a series of movements is a non-trivial problem. The complexity of the task, the structure of the robot, and the desired performance determine the sequence of movements, the path, and the course of motion as a function of time, namely the trajectory. As we discuss in this thesis, a trajectory

Popular Abstract in Swedish Uppskattningsvis 140–180 000 patienter i Sverige har förmaksflimmer. Den totala förekomsten är dock okänd eftersom vissa patienter också helt saknar symtom och därför inte har kännedom om sin sjukdom. Förmaksflimmer, som både kan vara kroniskt eller komma i attacker, innebär att förmaken inte aktivt pumpar ner blodet i hjärtats kammare. Istället sker mer okoordinerade sBackground: Oral antigoagulation treatment (OAT) with warfarin have a narrow therapeutic window and patients exhibit a highly variable doseresponse that is attributable to genetic, disease-related,and environmental factors as well as prescription and nonprescription drugs, dietary vitamin K and alcohol. The effect of warfarin treatement on blood coagulation is measured using international normaliz

Guanylate cyclase activating protein 1 (GCAP1) is a neuronal Ca2+ sensor (NCS) that regulates the activation of rod outer segment guanylate cyclases (ROS-GCs) in photoreceptors. In this study, we investigated the Ca2+-induced effects on the conformation and the thermal stability of four GCAP1 variants associated with hereditary human cone dystrophies. Ca2+ binding stabilized the conformation of al

The heat transfer characteristics of an impinging jet into a crossflow have been investigated by the liquid crystal thermography technique. The jet nozzle is circular and is inclined at 10 deg with respect to the target wall. In a turbulent flow regime, the effects of the jet Reynolds number, the velocity ratio, and the crossflow Reynolds number on the heat transfer are examined. The results show

Background: Familial clustering of incident prostate cancer and some cancers at other discordant sites has been reported. Less is known about familial clustering of fatal prostate cancer with any fatal discordant cancers. Estimates on familial aggregation based on mortality are free from bias of overdiagnosis. Patients and methods: We used the nationwide Swedish Family-Cancer Database to calculate

Objectives Osteoarthritis (OA) is the most common form of arthritis with a clear genetic component. To identify novel loci associated with hip OA we performed a meta-analysis of genome-wide association studies (GWAS) on European subjects. Methods We performed a two-stage meta-analysis on more than 78 000 participants. In stage 1, we synthesised data from eight GWAS whereas data from 10 centres wer

Does plasticity contribute to adult cognitive development, and if so, in what ways? The vague and overused concept of plasticity makes these controversial questions difficult to answer. In this article, we refine the notion of adult cognitive plasticity and sharpen its conceptual distinctiveness. According to our framework, adult cognitive plasticity is driven by a prolonged mismatch between funct

Fluorescence diffuse imaging suffers from limited spatial resolution. In this letter, we report a scanning imaging approach to increase the resolution of fluorescence diffuse imaging using nonlinear fluorophores. The resolution of a linear flurophore was compared with nonlinear upconverting nanoparticles (NaYF4 : Yb3+ /Tm3+ ) in a tissue phantom. A resolution improvement of a factor of 1.3 was fou

This paper presents the development of a non-dimensional model of a continuous cross-flow atomic layer deposition (ALD) reactor with temporally separated precursor pulsing and a structured model-based methodology for scaling up the substrate dimensions. The model incorporates an ALD gas–surface reaction kinetic mechanism for the deposition of thin ZnO films from Zn(C2H5)2 and H2O precursors that w

Realistic radio channel models are crucial for the success of vehicle-to-vehicle (V2V) system investigations. In this paper, we summarize the important parameters for V2V channel models and describe relevant measurement campaigns. Also, we develop and evaluate an ns-3 simulation model of a realistic V2V channel model that is based on measurements in Sweden. The channel model incorporates the effec

High-yield uniform silver nanorices were synthesized by a facile polyol process without the introduction of shape-selected seeds. Nanorices exhibit two plasmon resonance peaks in the visible and near-infrared regions respectively due to their anisotropy. XRD patterns demonstrated the HCP phase coexists with the FCC phase in nanorices. The novel structure of nanorices was characterized by TEM study

EUROPRISE is a Network of Excellence sponsored from 2007 to 2011 by the European Commission within the 6th Framework Program. The Network encompasses a wide portfolio of activities ranging from an integrated research program in the field of HIV vaccines and microbicides to training, dissemination and advocacy. The research program covers the whole pipeline of vaccine and microbicide development fr

Recent technological advancements now allow us to obtain geographical position data for a wide range of animal movements. Here we used light-level geolocators to study the annual migration cycle in great reed warblers (Acrocephalus arundinaceus), a passerine bird breeding in Eurasia and wintering in sub-Saharan Africa. We were specifically interested in seasonal strategies in routes and schedules

Azimuthal angle (Delta phi) correlations are presented for charged hadrons from dijets for 0.4 < p(T)< 10 GeV/c in Au+Au collisions at root s(NN)=200 GeV. With increasing p(T), the away-side distribution evolves from a broad and relatively flat shape to a concave shape, then to a convex shape. Comparisons to p+p data suggest that the away-side can be divided into a partially suppressed "head" regi

Fires in nuclear power plants can be an important hazard for the overall safety of the facility. One of the typical fire sources is a pool fire. It is therefore important to have good knowledge on the fire behaviour of pool fire and be able to predict the heat release rate by prediction of the mass loss rate. This final report describes the state of the art within the area of pool fire modelling a