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We propose a generalisation of a behaviour tree and motiongenerator based robot arm policy representation for learning and solving tasks such as contact-rich tasks like peg insertion or pushing an object. We use planning to generate skill sequences needed to execute these tasks and rely on reinforcement learning to obtain parameters of the policy. We assume gaussian processes as a suitable method
Background: Robot-assisted nephroureterectomy (RANU) is the primary treatment for upper tract urothelial carcinoma (UTUC) at our hospital for patients with clinical stage less than T2, and for patients with invasive tumours, but unfit for major surgery. Objective: To assess peri-operative conditions and outcomes of RANU at our unit, and to evaluate the safety of the procedure. Methods: The medical
In this thesis, we focus on the problem of estimating receiver and sender node positions given some form of distance measurements between them. This kind of localization problem has several applications, e.g., global and indoor positioning, sensor network calibration, molecular conformations, data visualization, graph embedding, and robot kinematics. More concretely, this thesis makes contribution
Aims/hypothesis: Diabetes is associated with an increased risk of cancer. Prostasin is an epithelial sodium channel stimulator that has been associated with suppression of tumours, glucose metabolism and hyperglycaemia-associated tumour pathology. However, the association between prostasin, diabetes and cancer mortality has not been well investigated in humans. We aim to investigate the associatio
Lactose plays a significant role in daily lives as a constituent of various food and pharmaceutical products. Yet, lactose intolerance conditions demand low-lactose and lactose-free products in the market. These increasing nutritional claims and labels on food products entail simple and reliable methods of analysis that can be used for meeting quality standards, nutritional claims and legal requir
Functional size, or function points, is a language-independent measure of software size. It is used as an estimator of development effort and software code size, in particular in the domain of information systems, while in real-time systems it is not so widely spread. In this paper, functional size measurements are empirically evaluated by applying them to a recently completed project. Two establi
AIMS: Reduced lung function and adverse health outcomes are often observed. This study characterizes genetic susceptibility for reduced lung function and risk of developing a range of adverse health outcomes.METHODS: We studied 27,438 middle-aged adults from the Malmö Diet and Cancer study (MDCS), followed up to 28.8 years. Trait-specific Polygenic scores (PGS) for forced expiratory volume in 1 s
The sexes may have different optima in cognitive traits due to differences in life history strategies and the expense of investing in metabolically costly brain tissue. However, given genetic correlations, each sex could be constrained from reaching its cognitive optimum due to intralocus sexual conflict. We compared learning performance of two male alternative reproductive tactics and females fro
Heterozygotes for major chromosomal rearrangements such as fusions and fissions are expected to display a high level of sterility due to problems during meiosis. However, some species, especially plants and animals with holocentric chromosomes, are known to tolerate chromosomal heterozygosity even for multiple rearrangements. Here, we studied male meiotic chromosome behavior in four hybrid generat
We investigate the enrichment patterns of several delivery scenarios of the volatiles to the atmospheres of ice giants, having in mind that the only well constrained determination made remotely, namely the carbon abundance measurement, suggests that their envelopes possess highly supersolar metallicities, i.e., close to two orders of magnitude above that of the protosolar nebula. In the framework
Zone plates are diffractive optics commonly used in X-ray microscopes. Here, we present a wet-chemical approach for fabricating high aspect ratio Pd/Si zone plate optics aimed at the hard X-ray regime. A Si zone plate mold is fabricated via metal-assisted chemical etching (MACE) and further metalized with Pd via electroless deposition (ELD). MACE results in vertical Si zones with high aspect ratio
Background: Since its discovery in 2007, the importance of the human gut bacterium Prevotella copri (P. copri) has been widely recognized with its links to diet and health status and potential as next generation probiotic. Therefore, precise, convenient and cost-effective diagnostic tools for the detection and quantification of P. copri from clinical and environmental samples are needed. Results:
Composite cryogels containing boronic acid ligands are synthesized for effective separation and isolation of bacteria. The large and interconnected pores in cryogels enable fast binding and release of microbial cells. To control bacterial binding, an alkyne-tagged boronic acid ligand is conjugated to azide-functionalized cryogel via the Cu(I)-catalyzed azide−alkyne cycloaddition reaction. The boro
Silver particle-free inks display immense superiority and potential over silver nanoparticle-based inks in the aspect of synthesis, flexibility and low-temperature processing, which has attracted considerable research interest as an alternative for fabricating conductive structures in recent years. Although recent research on silver particle-free inks has led to beneficial results, there are still
Malfunction and amyloid formation of the Islet Amyloid Polypeptide (IAPP) are factors contributing to Type 2 diabetes. Unravelling the mechanism of IAPP aggregate formation may forward our understanding of this process and its effect on pancreatic β-islet cell. Such mechanistic studies require access to sequence homogeneous and highly pure IAPP. Here we present a new facile protocol for the produc
We analyze the problem of allocating indivisible objects and monetary compensations to a set of agents. In particular, we consider envy-free and budget-balanced rules that are least manipulable with respect to agents counting or with respect to utility gains. A key observation is that, for any profile of quasi-linear preferences, the outcome of any such least manipulable envy-free rule can be obta
