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Robotic force control refers to the control and programmable specification of the interaction forces between a robot end effector and the work object, where either the end effector or the work object is attached to the robot manipulator. A rudimentary approach is to consider the joint torques and controlled variables, and then to compute those torques such that a presumably rigid manipulator effec
The colors and contrasts of the nocturnal world are just as rich as those found in the diurnal world. This chapter describes a recent biomimetic advance inspired by the visual systems of nocturnal insects. Since the underlying principles of both animal and camera vision are similar, it is natural to try to mimic the neural processes of nocturnal animals in order to construct efficient computer vis
Response time is a measure of quality of service in com- puter systems. Estimation techniques, suitable for support systems for mobile phone systems, are explored. These sys- tems are complex queueing systems with large databases. The trac generated by users and system adminstrators changes rapidly, some loads can be measured other cannot. Attempts to capture all details give models that are not s
Popular Abstract in Swedish SAMMANFATTNING PÅ SVENSKA Grupp B streptokocker (GBS) Grupp B streptokocker (GBS), på latin Streptococcus agalactiae, är det vanligaste fyndet vid bakteriella infektioner, som blodförgiftning (sepsis), hjärnhinneinflammation (meningit) och lunginflammation (pneumoni) hos nyfödda barn. Sjukdomsförloppet är ofta våldsamt och livshotande. Sedan 1970-talet har det skett enABSTRACT Streptococci constitute a heterogeneous group of Gram-positive bacteria, divided into different serological groups on the basis of antigenic differences in a cell wall-associated carbohydrate. This thesis describes related surface proteins expressed by bacteria in two of these groups, the group B streptococcus (GBS) and the group A streptococcus (GAS). GBS is an encapsulated bacterium th
Today’s cloud data center infrastructures are not even near being able to cope with the enormous and rapidly varying capacity demands that will be reality in a near future. So far, very little is understood about how to transform today’s data centers (being large, power-hungry facilities, and operated through heroic efforts by numerous administrators) into a self-managed, dynamic, and dependable i
Resource-optimization of the infrastructure for service oriented applications require accurate performance models. In this paper we investigate the performance dynamics of a MySQL/InnoDB database server with write-heavy workload. The main objective of our investigation was to understand the system dynamics due to the buffering of disk operations that occurs in database servers with write-heavy wor
Detta arbete behandlar medgivandeutredningen (senare benämnd utredningen) av familjehem ur ett rättssäkerhetsperspektiv. Utredningar av familjehem görs utifrån bestämmelser i Socialtjänstlagen (SoL) och det är denna lag som utgör grunden för utredningarna. I arbetet görs därför först en beskrivning och kort genomgång av vad som historiskt föregått den lagstiftning som resulterat i SoL och den ramlThe investigation of the foster home – a study of the rule of law and the best interest of the child This essay deals with the investigation of the foster home and the requirements that the Social Services Act (hereafter referred to as SoL) holds for this. The issue is dealt with in the perspective of the rule of law of the requirements in the investigation, and the best interest of the child. T
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
A single antenna based virtual antenna array at the receiver can be used to find direction of different incoming radio signals impinging at the receiver. In this paper, we investigate the performance of random 3D virtual antenna arrays for DoA estimation. We have computed a Cramer-Rao Lower Bound (CRLB) for DoA estimation if the true antenna positions are not known, but these are estimated with an
A review of a doctoral issertation on "The Visitation of the Sick in Swedish Medieval and Reformation Traditions".
Due to increased urbanisation, and climate change, there have been calls for a more sustainable management of stormwater. Blue-green measures have been recognised as a sustainable solution and a necessary complement to pipe-bound approaches. The aim of this study is to identify barriers and drivers in the implementation of blue-green measures in a Swedish context, to increase the understanding of
Most sectors of modern society are currently undergoing rapid digitalization. With the progress of this development IT networks are becoming an ever more crucial asset whose failure are prone to cause economic losses and risks to health and safety of the population. Due to this development, it is increasingly important that IT networks are designed to be resilient, meaning that they either maintai
The anesthetic drug propofol is commonly used to control hypnotic depth (suppression of awareness) in patients undergoing surgery or intensive care. In addition to manual titration, a model-based open-loop feed-forward strategy called target-controlled infusion (TCI) has attained some clinical popularity. Research on closed-loop control, with awareness estimates derived from an electroencephalogra
The understanding of small antennas has evolved tremendously since the initial investigations close to 80 years ago. In this presentation, we highlight some fundamental results on Q-factor, bandwidth, and gain.
Static program analysis plays a crucial role in ensuring the quality and security of software applications by detecting bugs and potential vulnerabilities in the code. Traditionally, these analyses are performed offline, either as part of the continuous integration/continuous deployment pipeline or overnight on the entire repository. However, this delayed feedback disrupts developer productivity,
Background: Testing is imperative to validate the functionalities and safety of autonomous driving systems. Simulated scenario-based testing is commonly adopted for autonomous driving systems, which aims to construct various driving scenarios and validate the autonomous driving systems in simulation. Nevertheless, identifying relevant test scenarios, especially critical ones that expose hazards or
Cyber-physical Systems (CPSs) are often safety-critical and deployed in uncertain environments. Identifying scenarios where CPSs do not comply with requirements is fundamental but difficult due to the multidisciplinary nature of CPSs. We investigate the testing of control-based CPSs, where control and software engineers develop the software collaboratively. Control engineers make design assumption
