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In this paper, a novel decentralized leader-follower control scheme for multi–agent systems is devised, where each agent communicates only with a subset of neighboring mates. The goal is to track assigned trajectories for the centroid and the formation of the system. The desired trajectories are known only by a subset of agents, named leaders: the other agents, the followers, are required to estim
This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision avoidance without direct use of obstacle information in the optimization problem. This is achieved by guaranteeing tracking performance of an appropriately designed re
This paper gives a global solution to an H-infinity control problem for systems with symmetric state matrix and state-dependent input matrix. A simple, closed-form expression for the minimizing controller is obtained. This is in contrast to already established theory in which nonlinear H-infinity problems are solved locally. The result is then illustrated through an example, and the potential for
A well-balanced exploration-exploitation trade-off is crucial for successful acquisition functions in Bayesian optimization. However, there is a lack of quantitative measures for exploration, making it difficult to analyze and compare different acquisition functions. This work introduces two novel approaches - observation traveling salesman distance and observation entropy - to quantify the explor
Bayesian optimization (BO ) is an effective method for optimizing expensive-to-evaluate black-box functions. While high-dimensional problems can be particularly challenging, due to the multitude of parameter choices and the potentially high number of data points required to fit the model, this limitation can be addressed if the problem satisfies simplifying assumptions. Axis-aligned subspace appro
Evolutionary molecular studies of island radiations may lead to insights in the role of vicariance, founder events, population size and drift in the processes of population differentiation. We evaluate the degree of population genetic differentiation and fixation of the Canary Islands blue tit subspecies complex using microsatellite markers and aim to get insights in the population history using c
The DEK oncogene is highly expressed in cells from most human tissues and overexpressed in a large and growing number of cancers. It also fuses with the NUP214 gene to form the DEK-NUP214 fusion gene in a subset of acute myeloid leukemia. Originally characterized as a member of this translocation, DEK has since been implicated in epigenetic and transcriptional regulation but its role in these proc
The point of departure of the thesis is the ongoing debate on Orientalism initiated by Edward Said, discussed here in the context of the Western image of China. In the view of Western observers, China has frequently played the role of the Other . Compared to the negative sense that Said and others have given to Orientalism in recent years, as a mode of dominating an arbitrarily defined "Orient", C
The general aim of this thesis was to study how memorial places and objects serve as links and meeting points between the bereaved and their conceptions and memories of the departed. This has been examined in several different ways, from various viewpoints, and placed in different contexts and periods in time. The general result is that there are several and complementary ways through which materi
The purpose of this study was to investigate the reliability of repeated measurements and a possible learning or tiring process in single-limb stabilometry and one-leg hop test. An additional purpose was to study the correlation between different stabilometric variables. Seventy-five healthy subjects were examined twice with a median interval of 7 d, and with three consecutive measurements on each
STUDY DESIGN: Prospective randomized longitudinal clinical trial with matched controls. OBJECTIVES: To investigate the long-term effect of training on postural control and extremity function after an acute anterior cruciate ligament (ACL) injury. BACKGROUND: ACL injuries may cause severe problems with recurrent giving way of the knee and reduced functional capacity. The effect of an acute ACL inju
The early Church was a narrative fellowship which narrativized the Jesus tradition and per-formed it from memory. It did so by using specific narrative and mnemonic forms of commu-nication. The chreia combines features of narrativity, oral performance, and memory and con-stituted a basic element of the narrative mosaic of the Church. The author of the Gospel of Mark indicates a broader pattern of
Training studies in children have suggested that endurance training can give enlargement of cardiac dimensions. This relationship has not been studied on a population-based level in young children with objective methods. A cross-sectional study was made of 248 children (140 boys and 108 girls), aged 8-11 years, from a population-based cohort. Left ventricular end-diastolic diameter (LVDD) and left
BACKGROUND: Major depressive disorder (MDD) is one of the most common psychiatric disorders and is a great disease burden. However, its underlying pathophysiology and aetiology remain poorly understood. Available evidence suggests that circulating microRNAs (miRNAs) are associated with MDD, but it is still unknown whether miRNAs can predict subsequent incident MDD.METHODS: In this nested case-cont
Field delineation is important in bibliometrics. Particularly when measuring scientific performance, the demarcation of the area, to which a science actor belongs, is of the greatest importance. This paper present a method based on searches on Boolean combinations of medical subject headings (MeSH-terms) in a combined Web of Science (WoS) - Medline database. The construction of the MeSH area defin
Phase-noise (PN) estimation and compensation are crucial in millimeter-wave (mmWave) communication systems to achieve high reliability. The PN estimation, however, suffers from high computational complexity due to its fundamental characteristics, such as spectral spreading and fast-varying fluctuations. In this paper, we propose a new framework for low-complexity PN compensation in orthogonal freq
A review of a doctoral issertation on "The Visitation of the Sick in Swedish Medieval and Reformation Traditions".
