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This thesis proposes a solution to the problem of making an autonomous nonholonomic ground vehicle track a special trajectory while following a reference velocity profile. The proposed strategies have been analyzed, simulated and eventually implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous vehicles. The system architectu
Bakgrund: OF Ekeri är ett nationellt företag med kontor i Markaryd. De levererar och hyr ut ett stort utbud av olika typer av lastbilssläp som till exempel släpvagnar, påhängsvagnar och reservdelar. Nästan alla företag i dag har någon form av informationssystem, men många av dem är ineffektiva. OF Ekeri är medvetna om att deras sätt att hantera deras information inte är uppdaterad och därför de haBackground: OF Ekeri is a national company with an office in Markaryd. They deliver and rent a wide selection of different types of truck trailers, semitrailers and spare parts. Today almost all companies have some kind of information system and many of them are inefficient. OF Ekeri is aware of that their way of managing their information is not up to date and therefore they have asked for help r
The purpose of this essay was to examine how six refugees have experienced their life in Sweden over time. Our main issue was to learn how they experienced to meet a new society and culture and how it has affected them. We were also interested finding out if the new society has changed their way of thinking and acting. To fulfil our purpose to answer these questions we made the interviews based on
Over the last decade, the interest in research on extraterrestrial planets has expanded dramatically. With the number of confirmed exoplanets having increased tenfold over the last ten years, we now know that many different types of exoplanets exist. Modern telescopes, both ground- and space-based, like the Very Large Telescope (VLT) or the James Webb Space Telescope (JWST) will drive forward the
The inability of organisations to develop successfully and their lack of a holistic view and of relevant quantitative facts are factors that played a major role in my choice of a research area for this and my licentiate thesis (Ljungberg, 1994). These two theses together represent the work conducted for the PhD degree. There is a strong need in this research area for increased insight into the de
To achieve high thermal efficiencies, 30 percent and higher, for small gas turbines a recuperator is mandatory. As the recuperator represents 25–30 percent of the overall machine cost, efforts are now being focused on establishing new low-cost recuperator concepts for gas turbine engines. In this paper the cross corrugated (CC), also called chevron pattern, heat transfer surface is reviewed to ass
In this study, we performed a population viability analysis on 3 domestic horse breeds (Equus caballus) of Danish origin, namely, the Frederiksborg, the Knabstrupper, and the Jutland breeds. Because of their small population sizes, these breeds are considered endangered. The Vortex software simulation package was used for the population viability analysis. First, we investigated the future viabili
This article is concerned with the conditions for contemporary European film production as exemplified by the particular example of Scandinavia and Sweden. The investigation is a comparative survey where particular statistics, on contemporary as well as historical audiovisual production, serves as a base for a compare and contrast study. More specifically, an attempt is made to assess and relate s
Popular Abstract in Swedish Membranteknik är en separationsteknik där stora partiklar skiljs av från mindre partiklar m.h.a. ett membranfilter. I min forskning har jag tittat på hur membranfiltrering kan användas inom bioteknikindustrin. Jag har tittat på hur mjölksyra kan renas upp från en lösning av jäst "vetemjölsvälling" samt hur första steget i uppreningen av protein A från en industriellt prMembrane filtration is a very gentle separation technique and can be used at low temperatures. This makes it suitable for liquids that contain micro-organisms and/or are heat sensitive, which is often the case in liquids processed in the field of biotechnology. However, one drawback is that these liquids are often very complex, which is a disadvantage when using membrane technology as it makes the
Recent advances in magnetic resonance imaging have made it possible to visualize and quantify flow of cerebrospinal fluid (CSF) in the brain. The net flow of CSF through the cerebral aqueduct was used to measure CSF production in six normal volunteers at different times during a 24-h period. CSF production varied greatly both intra- and interindividually. The average CSF production in each time in
Purpose: The aim of this study was to assess the performance-based visual ability among independently living elderly subjects and to investigate whether there was any association between visual ability and falls. Subjects and methods: A total of 298 randomly selected subjects aged 70-85 years were invited for an examination including monocular and binocular visual acuity (VA), contrast sensitivity
In order to compare measurements in different laboratories and with different models and measuring principles a small Round Robin test was suggested. 8 test institutions were able to join the study (with foot model sizes from 254 mm to 275 mm and test boot sizes from 41 to 44). We got also a declaration of interest from several other institutes that were not able to carry out the tests. A database
Popular Abstract in Swedish De två studier som presenterats i föreliggande avhandling avser att belysa sambandet mellan den administrativa organisationen av skolan och rektors möjligheter att leda den pedagogiska verksamheten. Vidare avser den att granska sambandet mellan lärargruppens anda och tillfredsställelsen med rektors ledarskap. Studierna avser också att granska hur rektors förmåga att etaThe thesis focuses on the elementary school principal’s formal responsibility and role in connection with his spatial and psycho-social nearness to the teachers. On one hand it is a comparison between schools in Sweden and Iceland, while on the other hand it is a case study of the principal’s leadership in several different school organisations. These studies are based on the theory that even if t
Popular Abstract in Swedish Ekokardiografisk undersökning av hjärtat utvecklades i Lund i början av 1950 talet av kardiologen Inge Edler tillsammans med fysikern Helmuth Hertz och har under de första 30 åren huvudsakligen utförts via bröstkorgsväggen så kallat transthorakalt ultraljud. Under 1980 talet utvecklades tekniken och man fick instrument som via matstrupen kunde utföra en ekokardiografiskThe subject of this thesis is the clinical use of transesophageal echocardiography (TEE) in patients with stroke or atrial fibrillation. Subjects were examined with echocardiography and sonography of the carotid artery. A control group of randomly selected volunteers without cerebrovascular disease was compared to patients with ischemic stroke. Cardiac pathology was classified as minor potential e
Since a tightly regulated complement system is needed for a successful pregnancy, we hypothesized that alterations in complement inhibitors may be associated with idiopathic, recurrent miscarriage. We sequenced all exons coding for three complement inhibitors: C4b-binding protein (C4BP), CD46 and CD55 in 384 childless women with at least two miscarriages that could not be explained by known risk f
Intraneuronal inclusions containing alpha-synuclein (a-syn) constitute one of the pathological hallmarks of Parkinson's disease (PD) and are accompanied by severe neurodegeneration of A9 dopaminergic neurons located in the substantia nigra. Although to a lesser extent, A10 dopaminergic neurons are also affected. Neurodegeneration of other neuronal populations, such as the cholinergic, serotonergic
