Filetype
An approach to resilient planning and control of autonomous vehicles in multi-vehicle traffic scenarios is proposed. The proposed method is based on model predictive control (MPC), where alternative predictions of the surrounding traffic are determined automatically such that they are intentionally adversarial to the ego vehicle. This provides robustness against the inherent uncertainty in traffic
Aquaporin channels facilitate bidirectional water flow in all cells and tissues. AQP4 is highly expressed in astrocytes. In the CNS, it is enriched in astrocyte endfeet, at synapses, and at the glia limitans, where it mediates water exchange across the blood-spinal cord and blood-brain barriers (BSCB/BBB), and controls cell volume, extracellular space volume, and astrocyte migration. Perivascular
We present high-power Yb:YAG lasers combined with nonlinear pulse compression in multi-pass cells. We show that these are suitable for integration in FEL facilities in terms of pulse stability, jitter, temporal contrast and intra-burst behaviour.
A continuous rotary membrane emulsification (cRME) system, allowing the decoupling of droplet generation from continuous phase (CP) flowrate, is presented here for the first time. The decoupling results in higher productivity and greater control compared to traditional crossflow and rotational membrane emulsification processes. A design of experiment (DoE) investigated the influence on droplet for
Amphiphilic polyoxometalate (POM) surfactants were prepared by covalently grafting double hydrophobic tails with chain lengths C12H25, C14H29, C16H33 or C18H37 onto the lacunary Wells-Dawson {P2W17O61} headgroup. The critical micelle concentrations (CMCs) of these novel surfactants in aqueous solutions were determined by conductivity, and micelle formation was studied by small angle neutron scatte
Recently a new, time saving, approach to the determination of the composition at which a microemulsion is balanced has been developed using the so called HLD-titration. The key of the method is the observation that in correspondence of the balanced state where the microemulsion coexist with excess oil and water (Winsor III phase equilibrium), the level reached by the three-phasic system under stir
An inspiring conversation between Sister Jayanti, European Director of Brahma Kumaris, and Professor Christine Wamsler, Director of the Contemplative Sustainable Futures Program.
As a complex hydrological problem, rainfall-runoff (RR) modeling is of importance in runoff studies, water supply, irrigation issues, and environmental management. Among the variety of approaches for RR modeling, conceptual approaches use physical concepts and are appropriate methods for representation of the physics of the problem while may fail in competition with their advanced alternatives. Co
To promote human flourishing throughout society, opportunities for arts participation must encompass all citizens. A primary means to promote this is arts education and activities for schoolchildren. Equal opportunities for participation are currently not enjoyed by students with disabilities. In a population-based and cross-sectional study carried out on a 2016 public-health survey including 27,3
This study presents a novel application of multivariate iterative learning control (ILC) to the continuous, chromatographic ion-exchange purification of biopharmaceuticals for consistent and reliable production. The ILC algorithm used was based on a linearized model of the retention times of two compounds as functions of the starting and ending values of a linear salt gradient. Simulations of an i
In this article, we propose a novel solution to detect multiple targets using a distributed multiple-input multiple-output (MIMO) radar under the so-called 'defocused transmit-defocused receive' operating mode. The proposed method employs a grid-based data matching algorithm, aiming to associate the target responses to potential target locations, solving the resulting data puzzle that evaluates th
Methods for inference and simulation of linearly constrained Gaussian MarkovRandom Fields (GMRF) are computationally prohibitive when the number ofconstraints is large. In some cases, such as for intrinsic GMRFs, they may even beunfeasible. We propose a new class of methods to overcome these challenges in the common case of sparse constraints, where one has a large number of constraints and each o
Om måluppfyllelse ska kunna säkerställas för alla studenter behöver förutsättningar ges för lärandeprogression mot utbildningens mål. För att stärka dessa förutsättningar har progressionsplaner utvecklats för de naturvetenskapliga utbildningarna vid Lunds universitet. Progressionsplanen konkretiserar varje examensmål i etappmål med gradvis ökade krav och ger därigenom en överblick över den förvänt
Conservation properties of iterative methods applied to implicit finite volume discretizations of nonlinear conservation laws are analyzed. It is shown that any consistent multistep or Runge-Kutta method is globally conservative. Further, it is shown that Newton’s method, Krylov subspace methods and pseudo-time iterations are globally conservative while the Jacobi and Gauss-Seidel methods are not
Freight transport in urban areas needs to become more sustainable. There is much potential to reduce emissions by transitioning to electric freight vehicles (EFVs). The context of this study is Sweden, a country with ambitious goals for transitioning to fossil-free road transport that incentivizes the adoption of EFVs through regulations, subsidies and environmental zones. However, it seems that f
Leptons with essentially the same properties apart from their mass are grouped into three families (or flavours). The number of leptons of each flavour is conserved in interactions, but this is not imposed by fundamental principles. Since the formulation of the standard model of particle physics, the observation of flavour oscillations among neutrinos has shown that lepton flavour is not conserved
This paper introduces the first minimal solvers that jointly estimate lens distortion and affine rectification from the image of rigidly-transformed coplanar features. The solvers work on scenes without straight lines and, in general, relax strong assumptions about scene content made by the state of the art. The proposed solvers use the affine invariant that coplanar repeats have the same scale in
In this paper, we propose a novel 3-DOF visual odometry method to estimate the location and pose (yaw) of a mobile robot when the robot is navigating indoors. Particularly, we mainly aim at dealing with the corridor-like scenarios where the RGB-D camera mounted on the robot can capture apparent planar structures such as floor or walls. The novelties of our method lie in two-folds. First, to fully
