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When using industrial robots in production lines both speed and accuracy is of great importance. This thesis investigates how off-line optimization can be used to create references to a control structure with the aim of traversing a given path in as little time as possible, under given input constraints, without deviating from the path. In this thesis Modelica and Optimica is used to formulate and
Aim, Scope and BackgroundThe interest in environmental questions has increased enormously during the last decade. Environmental protection has become an issue of strategic importance within the manufacturing industry and many companies are now working in the field of Design for Environment (DFE). The main purpose of DFE is to create products and services for achieving a sustainable society. Design
OBJECTIVE: To investigate the relation between biomarkers of inflammation and subsequent development of giant cell arteritis (GCA).METHOD: Participants in the population-based Malmö Diet Cancer Study (MDCS; N = 30447), established 1991-1996, who were subsequently diagnosed with GCA, were identified in a structured process. GCA-free controls, matched for sex, year of birth, and year of screening we
We explore the heating and differentiation of rocky planets that grow by rapid pebble accretion. Our terrestrial planets grow outside of the ice line and initially accrete 28% water ice by mass. The accretion of water stops after the protoplanet reaches a mass of 0.01 ME where the gas envelope becomes hot enough to sublimate the ice and transport the vapour back to the protoplanetary disc by recyc
Objectives: In radiotherapy, delineation uncertainties are important as they contribute to systematic errors and can lead to geographical miss of the target. For margin computation, standard deviations (SDs) of all uncertainties must be included as SDs. The aim of this study was to quantify the interobserver delineation variation for stereotactic body radiotherapy (SBRT) of peripheral lung tumours
Global in its outlook, this Research Agenda systematically reviews and critiques existing research on sustainable cities, calling for greater engagement with a diversity of perspectives. It interrogates foundational assumptions in the field and offers reframed perspectives on sustainability. Chapters also explore diverse approaches, actors and domains, locating emerging dynamics and new directions
This paper investigates employment outcomes for a large sample of Ph.D. students who were enrolled in a doctoral training program in Italy in the period 2008–14. The empirical analysis is based on survey data obtained from a questionnaire distributed to 23,500 individuals in 2016. In Italy, student enrolment in a Ph.D. involves a university-based selection process; most students then receive eithe
Extracorporeal membrane oxygenation (ECMO) is a last resort therapy for patients with respiratory failure where the gas exchange capacity of the lung is compromised. Venous blood is pumped through an oxygenation unit outside of the body where oxygen diffusion into the blood takes place in parallel to carbon dioxide removal. ECMO is an expensive therapy which requires special expertise to perform.
Traditionally, alkaline water electrolysis (AWE) uses diaphragms to separate anode and cathode and is operated with 5–7 M KOH feed solutions. The ban of asbestos diaphragms led to the development of polymeric diaphragms, which are now the state of the art material. A promising alternative is the ion solvating membrane. Recent developments show that high conductivities can also be obtained in
In patients unsuitable for standard, infrarenal endovascular aneurysm repair (EVAR) due to an inadequate or inappropriate infrarenal neck, various options have been proposed to achieve a suitable endovascular repair. The primary objective in this setting is to move the endograft sealing zone to a healthier, more cranial segment of the aorta. The need for a solution for problematic proximal neck an
The robust Capon beamformer has been shown to alleviate the problem of signal cancellation resulting from steering vector errors, caused, e.g., by calibration and/or angle- of-arrival errors, which would otherwise seriously deteriorate the performance of an adaptive beamformer. Here, we examine robust Capon beamforming of multi-dimensional arrays, where robustness to angle-of-arrival errors is nee
We examine consumer certainty of future preferences and overconfidence in predicting future preferences. We explore how preference certainty and overconfidence impact the option value to revise today's decisions in the future. We design a laboratory experiment that creates a controlled choice environment, in which a subject's choice set (over food snacks) is known and constant over time, and the t
Complex formation between [Pd(H2O)(4)](2+) and oxalate (ox = C2O42-) has been studied spectrophotometrically in aqueous solution at variable temperature, ionic strength and pH. Thermodynamic parameters at 298.2 K and 1.00 mol dm(-3) HCIO4 ionic medium for the complex formation [Pd(H2O)(4)](2+) + H(2)ox (sic) Pd(H2O)(2)(ox)] + 2H(3)O(+) with equilibrium constant K-1H (in mol dm(-3)) are logio K-1,K
The development of new therapies for the treatment of type 2 diabetes requires robust, reproducible and well validated in vivo experimental systems. Mice provide the most ideal animal model for studies of potential therapies. Unlike larger animals, mice have a short gestational period, are genetically similar, often give birth to many offspring at once and can be housed as multiple groups in a sin
Aging exerts profound effects on the hematopoietic system, leading to a loss of homeostatic control and reduced regenerative capacity. Clinical consequences of these changes include anemia, compromised immune function and an increased prevalence of myeloid disorders among the elderlies. A growing body of evidence suggests that defects at the stem and progenitor cell levels contribute to many of th
European Environmental Research Infrastructures (ENVRIs) on the ESFRI level are core facilities for providing data, research products and services from the four subdomains of Earth system science – Atmosphere, Marine, Solid Earth, and Biodiversity/Terrestrial Ecosystems. The ENVRI Cluster represents the core component of the European environmental research infrastructure landscape, with the ENVRI
