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We study construction problems where multiple robots rearrange stacks of prefabricated blocks to build stable structures. These problems are challenging due to ramifications of actions, true concurrency, and requirements of supportedness of blocks by a surface or a robot and stability of the overall structure at all times. We propose a general elaboration tolerant method to solve a wide range of c
In this paper we propose a general power model along with a versatile optimization methodology that can be applied to different applications for minimizing service delay while satisfying power budget in data centers. We test our methodology on two totally different applications from both cloud computing and enterprise scenarios. Our solution is novel in that it takes into account the dependencies
New robot applications increasingly require external sensing to accomplish robustness and performance despite the variations and uncertainties that come with the increasing demands on flexibility for manufacturing of customized products. The demands on productivity then require high performance, which for well known feedback-control reasons means short response times from external process event to
Study Design Controlled laboratory study; cross-sectional. Background Postural control following anterior cruciate ligament reconstruction (ACLR) primarily has been investigated during static single-leg balance tasks. Little is known about dynamic postural control deficits post-ACLR. Objectives To compare dynamic postural control (bilaterally) in persons who have undergone ACLR and healthy control
This work presents a robotic implementation of Christmas gift wrapping. Handling paper is a challenging task for an industrial robot as it easily tears and folds in unexpected ways. In this application, a dual-arm industrial robot with simple two-finger grippers was used, and the robot was programmed using a standard position-based approach. The wrapping was accomplished with the help of plastic s
This paper presents a flexible architecture suitable for concurrent processing of multiple radio standards. The proposed architecture is based on a coarse-grained reconfigurable cell array, consisting of distinct processing and memory cells. Flexibility of the architecture is demonstrated by performing a coarse time synchronization and fractional frequency offset estimation for multiple OFDM stand
For the last years, automation is widely used to relieve humans from repetitive tasks, primarily and firstly within manufacturing. However, for products with less ideal (or hard to model) properties, and when forces depends on human interaction, automated testing has not been explored until now. This work presents the analysis of the (human-dependent) motions/forces based on a fully implemented te
A key challenge in X-ray crystallography is to find a good point on the crystal on which to center the beam because the crystal takes radiation damage after a number of shots which significantly distort the measurements. Therefore, the beam needs to be aimed manually by an operator, which results in significant additional effort and time.This paper presents an approach toward automating the beam a
The paper present a parallel implementation of an image processing algorithm for the on-line, non-destructive quality assurance of the non-woven, fibrous web materials. The task of the algorithm is to compute the material microstructure descriptors. The premise underlying this work is that the microstructure determines the performance of the material and characterization of the microstructure may
Introduction: Detection of circulating tumour cells (CTCs) in peripheral blood has an established prognostic significance in patients with metastatic breast cancer. Change in the number of detected CTCs is also an indication of response to therapy. Characterisation of CTCs could provide easily accessible treatment predictive information of present cancer cells within the patient and could reveal i
The (14)C content of 60 human blood serum samples from residents of Malmö (Sweden) in 1978, obtained from a biobank, has been measured to estimate the accuracy of (14)C bomb-pulse dating. The difference between the date estimated using the Calibomb software and sampling date varied between -3 ± 0.4 and +0.2 ± 0.5 years. The average age deviation of all samples was -1.5 ± 0.7 years, with the delay
Braided convolutional codes (BCCs) are a class of spatially coupled turbo-like codes (SC-TCs) with excellent belief propagation (BP) thresholds. In this paper we analyze the performance of BCCs in the finite block-length regime. We derive the average weight enumerator function (WEF) and compute the union bound on the performance for the uncoupled BCC ensemble. Our results suggest that the union bo
Molecular tracers in secondary organic aerosols (SOAs) can provide information on origin of SOA, as well as regional scale processes involved in their formation. In this study 9 carboxylic acids, 11 organosulfates (OSs) and 2 nitrooxy organosulfates (NOSs) were determined in daily aerosol particle filter samples from Vavihill measurement station in southern Sweden during June and July 2012. Severa
Background The impact of the prophylactic vaccine against human papillomavirus (HPV) types 6, 11, 16, and 18 (HPV6/11/16/18) on all HPV-associated genital disease was investigated in a population that approximates sexually naive women in that they were "negative to 14 HPV types" and in a mixed population of HPV-exposed and -unexposed women (intention-to-treat group). Methods This analysis studied
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
Partially premixed combustion aims to reduce NOx and particulate matter emission without fuel consumption penalty. Low temperature reactions are important for the partially premixed combustion. In the current study, a self-adaptive strategy is introduced to predict the motoring pressure by means of an equivalent isentropic index. The start of the low temperature reactions is detected when the pres
Atmospheric new particle formation (NPF) is an important phenomenon in terms of global particle number concentrations. Here we investigated the frequency of NPF, formation rates of 10 nm particles, and growth rates in the size range of 10–25 nm using at least 1 year of aerosol number size-distribution observations at 36 different locations around the world. The majo
Here we present a method for high-precision drilling using an industrial robot with high-bandwidth force feedback, which is used for building up pressure to clamp up an end-effector to the work-piece surface prior to drilling. The focus is to eliminate the sliding movement (skating) of the end-effector during the clamp-up of the end-effector to the workpiece surface, an undesired effect that is du
A generic robot library written in the Julia programming language is presented. A bridging framework, also presented, exposes the ABB externally guided motion research interface (EGMRI) low-level robot motion correction interface to the Julia language and other entities, such as Python and ROS. A usage example on Julia contact force estimation on an ABB YuMi robot concludes the document.
