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Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any
Graphical poster summary of conference paper.
Mixed-effects models are used to describe the inter-patient variability in drugs. Modeling of these variabilities include both fixed and random effects. Fixed effects relate covariates such as age and weight to compartment volumes and clearances, whereas random effects account for unexplained variability. Traditionally, the development of fixed effects models is an inefficient process where covari
In the mining industry, flotation is a commonly used process to separate valuable minerals from waste rock in a concentrator. The rougher flotation is the first stage of the process and in Boliden AB’s concentrator at Aitik, it consists of two lines of four flotation cells each. In this paper we consider one line and the buffer tank upstream of it. Modeling this process step, and maintaining an up
In this paper, we investigate the problem of decoder error propagation for spatially coupled low-density parity-check (SC-LDPC) codes with sliding window decoding (SWD). This problem typically manifests itself at signal-to-noise ratios (SNRs) close to capacity under low-latency operating conditions. In this case, infrequent but severe decoder error propagation can sometimes occur. To help understa
Clustering multiple motions from observed point trajectories is a fundamental task in understanding dynamic scenes. Most motion models require multiple tracks to estimate their parameters, hence identifying clusters when multiple motions are observed is a very challenging task. This is even aggravated for high-dimensional motion models. The starting point of our work is that this high-dimensionali
Popular Abstract in Swedish Vad är en familj, vilka kan bilda en familj och vem bestämmer det? Hur ser föreställningarna kring den ideala familjen ut? Och varför anses det viktigt att ha kännedom om sitt ursprung och att tillhöra en familj, en släkt eller en nation? I denna avhandling undersöks den svenska familjepolitiken kring internationella adoptioner och assisterad befruktning. UndersökningenThe purpose of this thesis is to study the norms and values surrounding the family and the nation-state in Swedish family policy as they appear in Official Government Reports (SOU) on international adoption and assisted reproductive technology (ART) between 1953 and 2007. I argue that the committees’ reports can be viewed as normative statements constituting a hegemonic state discourse. The method
Random-walk and diffusion models for two-choice comparison of paired successive or simultaneous stimuli focus on response time (RT), modeled as the time needed to reach one or the other barrier, and its relation to the response probabilities. Logit P1 = ln[P1/(1-P1)], where P1 is the probability of responding ”first greater,” can be seen as a measure of subjective stimulus difference, d. Signed re
Most microlevel studies in the social sciences have focused on the impact of different measured variables. While some studies have also dealt with unobserved variation, it has usually only been controlled for to perfect the estimates of the observables. In this article, the authors applied a modified version of a recently developed method designed to quantify the effect of unobserved variation in
Knowing the natural dynamics of pathogens in migratory birds is important, for example, to understand the factors that influence the transport of pathogens to and their transmission in new geographical areas, whereas the transmission of other pathogens might be restricted to a specific area. We studied haemosporidian blood parasites of the genera Plasmodium, Haemoproteus and Leucocytozoon in a mig
A search for the b (b) over bar decay of the Standard Model Higgs boson is performed with the ATLAS experiment using the full dataset recorded at the LHC in Run 1. The integrated luminosities used are 4.7 and 20.3 fb(-1) from pp collisions at root s = 7 and 8 TeV, respectively. The processes considered are associated (WIZ)H production, where W -> e nu/mu nu, Z -> ee/mu mu, and Z -> nu nu. The obse
In this paper, we outline the need for a coordinated international effort toward the building of an open-access Global Ocean Oxygen Database and ATlas (GO2DAT) complying with the FAIR principles (Findable, Accessible, Interoperable, and Reusable). GO2DAT will combine data from the coastal and open ocean, as measured by the chemical Winkler titration method or by sensors (e.g., optodes, electrodes)
Uncertainty refers to any limitation in knowledge. Identifying and characterizing uncertainty in conclusions is important to ensure transparency and avoid over or under confidence in scientific assessments. Quantitative expressions of uncertainty are less ambiguous compared to uncertainty expressed qualitatively, or not at all. Subjective probability is an example of a quantitative expression of e
Objective: To investigate the risk of stillbirth or neonatal death before 45 post-menstrual weeks in relation to gestational duration, stratified by body mass index (BMI) and parity. Design: Retrospective study. Setting: Data from the Swedish Medical Birth Register. Population: Singleton, cephalic births at between 39+0 and 42+2 weeks of gestation, 2005–2016 (n = 892 339). Methods: Relative risk r
The scientific debate following the initial formulation of the “bad luck” hypothesis in cancer development highlighted how measures based on analysis of variance are inappropriately used for risk communication. The notion of “explained” variance is not only used to quantify randomness, but also to quantify genetic and environmental contribution to disease in heritability coefficients. In this pape
Background: Coagulation activation is a hallmark of cancer, and anticoagulants have shown tumour-inhibiting properties. However, recent trials have failed to demonstrate improved survival with low-molecular-weight heparin (LMWH) in cancer populations. This has raised the question of suboptimal adherence as a possible explanation for the lack of benefit. Still, there is no standardised method to di
The interaction of oppositely charged lock- and key-colloids is investigated using computer simulations. We show that indented spheres, i.e., lock-particles, can be specifically assembled with spherical key-particles using solely electrostatic interactions in addition to a hard overlap potential. An analytic description of the entropic and energetic contributions is derived and supported by simula
Modern integrated circuits (ICs) contain thousands of instruments to enable testing, tuning, monitoring, and so on. These on-chip instruments must be accessed through the ICs’ life- time. However, when ICs are mounted on Printed Circuit Boards (PCBs), access from system-level is challenged due to complex system hierarchies with a multitude of interfaces. In this paper we enable access from system-
Modern integrated circuits (ICs) include thousands of on-chip instruments to ensure that specifications are met and maintained. Scalable and flexible access to these instruments is offered by reconfigurable scan networks (RSNs), e.g. IEEE Std. 1687. As RSNs themselves can become faulty, there is a need to exclude and bypass faulty parts so that remaining instruments can be used. To avoid keeping t
