Popular Abstract in Swedish Under de senaste årtiondena har både kraftsensorer och digitala kameror kommit att bli vanliga som sensorer i olika robotiktillämpningar. Denna avhandling behandlar olika problem inom visuell rörelseskattning och återkoppling, samt integrationen av dessa tekniker med reglering av kontaktkrafter för en industrirobot. Olika ämnen tas upp, från grundläggande teori till praOver the last decades, both force sensors and cameras have emerged as useful sensors for different applications in robotics. This thesis considers a number of dynamic visual tracking and control problems, as well as the integration of these techniques with contact force control. Different topics ranging from basic theory to system implementation and applications are treated. A new interface develo

First, in the absence of pair correlation the properties of one-particle orbits of neutrons in nuclei close to the neutron drip line are briefly reviewed for both weakly bound neutrons and the neutrons in the continuum. The low-lying states in the continuum, which are close to the Fermi level, are of immediate importance for pair correlation and deformations of those nuclei. Then, the Hartree-Fock

Denna litteraturstudie utgör andra etappen i ett licentiatarbete om utbytbarhet, material- och energiflöden för installationer i byggnader (Orsaker till byte av VVS-installationer; TABK--01/1020).

The mobilization of fat stored in adipose tissue is mediated by hormone-sensitive lipase (HSL) and the recently characterized adipose triglyceride lipase (ATGL), yet their relative importance in lipolysis is unknown. We show that a novel potent inhibitor of HSL does not inhibit other lipases. The compound counteracted catecholamine-stimulated lipolysis in mouse adipocytes and had no effect on resi

The notion of organizations as learning entities has gained considerably in popularity over the last decade, and is now regarded an important issue both theoretically and in practice. Many organizational activities and events have been referred to as learning phenomena, and learning theory is being applied to increasingly varied and complex settings of organizational life. This divergence would su

During the 20 years since the first child was born in Sweden after in vitro fertilisation, clinical policy has changed. During the early 1990s, the clinics performing in vitro fertilisation and the National Board of Health and Welfare agreed to reduce the number of embryos transferred to the uterus during in vitro fertilisation from three to two. Here, we describe the changes in multiple birth rat

The Baltic salmon has during the latter part of the 20th century been subjected to several threats. Most notable have been the high levels of contaminant release and a disease that causes early life mortality of the young. Ever since utilization of water power from the Swedish rivers began in the 1940ies, thus deminishing the natural breeding areas for the salmons, an extensive hatchery program ha

We present a review and our own experience of the demographic aspects of popliteal artery aneurysms (PAAs), their clinical presentation, the treatment alternatives and associated outcome. The incidence of PAAs varies between 0,1-1%. 95% of the patients are male. 50% are asymptomatic at the time of diagnosis. Annually, 5-24% of PAAs develop symptoms. The clinical presentation varies widely with an

Popular Abstract in Swedish Antalet fallolyckor och frakturer ökar ibland den äldre befolkningen och detta innebär en ökande social och ekonomisk belastning för samhället. En viktig orsak till fallolyckor kan vara dålig balans. Kontrollen av upprätt stående och gångförmåga baseras på komplexa processer av neuromuskulär aktivitet. Denna neuromuskulära aktivitet bygger på sensorisk information från Control of the upright stance and locomotion is a complicated process of muscular activity. The muscular activity is dependant on afferent information from the different sensory organs and interpretation in the central nervous system. Age-related degenerative changes exist in all the domains concerned with control of posture. The aims of the studies were to investigate if suspected age-related de

Extracorporeal immunoadsorption (ECIA) is a new method for the selective removal of circulating radiolabeled monoclonal antibodies (MAb) from plasma to increase the uptake in tumor versus normal tissues (T/N-ratio). To ascertain whether the amount of MAb affects T/N ratios immediately and 24 h after ECIA, we used a rat model with two tumor sites--one intramuscular (im) and one below the subrenal c

Popular Abstract in Swedish I januari 1968 inträffade en flygplansolycka på havsisen ca 12 km väster om Thule flygbasen på nordvästra Grönland. Flygplanet, en amerikansk B-52, hade fyra kärnvapen ombord, som sprängdes sönder när planet störtade. Sprängningen orsakades av de konventionella sprängmedel som satt runt kärnladdningarna i de fyra vapnen. Dessa sprängningar var ej av nukleär art, d.v.s. This thesis concerns a nuclear accident that occurred in the Thule (Pituffik) area, NW Greenland in 1968, called the Thule accident. Results are based on different analytical techniques, i.e. gamma spectrometry, alpha spectrometry, ICP-MS, SEM with EDX and different sediment models, i.e. (CRS, CIC). The scope of the thesis is the study of hot particles. Studies on these have shown several interest

Popular Abstract in Swedish Den här avhandlingen handlar om hur kristaller, som innehåller en liten mängd av ämnen tillhörande gruppen sällsynta jordartsmetaller, kan användas för forskning och tillämpningar rörande kvantinformation. Genom att belysa kristallerna med laserljus kan atomernas tillstånd styras och studeras. I avhandlingen diskuteras olika aspekter av hur de sällsynta jordartsatomer sThis thesis describes investigations of the use of cryogenically cooled rare-earth-ion-doped crystals for quantum information processing and quantum optics. Several aspects of the coherent interaction between light and rare-earth ions in solids are addressed. Quantum information science has given physicists new views of quantum mechanics. The transmission of quantum states has already found pract