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Distributed Receding Horizon Kalman Filter

In this paper a distributed version of the Kalman filter is proposed. In particular, the estimation problem is reduced to the optimization of a cost function that depends on the system dynamics and the latest output measurements and state estimates which is distributed among the agents by means of dual decomposition. The techniques presented in the paper are applied to estimate the position of mob

Describing constraint-based assembly tasks in unstructured natural language

Task-level industrial robot programming is a mundane, error-prone activity requiring expertise and skill. Since humans easily communicate with natural language (NL), it may be attractive to use speech or text as instruction means for robots. However, there has to be a substantial amount of knowledge in the system to translate the high-level language instructions to executable robot programs. In th

Sverige: Modernisering utan rättsuppgörelse

Artikeln, som ingår i en omfattande rapport från ett projekt in Nordiska ministerrådets program ”Norden och Europa”, behandlar situationen 1945–48. Efter fredsslutet betraktades världskriget i Sverige snart som en olycklig parentes. 1930-talets reformarbete, inspirerat från U.S.A., kunde fortsätta. Rättsuppgörelsen sträckte sig endast till vissa individer och institutioner, och tog inte upp regeri

Bacterial Adaptive Responses - Coping with Oxygen Limitation, Reactive Nitrogen Species and Disulfide Stress

Bacteria have a remarkable ability to adapt to different environments. When bacteria encounter stress that causes macromolecular damage in the cell, leading to a suboptimal performance of cell metabolism, they can elicit an adaptive response. In this thesis Bacillus subtilis is used as the primary model organism to study bacterial adaptation to oxygen limitation, reactive nitrogen species and disu