This paper presents the design and validation of a novel and universal 6D seam-tracking system that reduces the need for accurate robot trajectory programming and geometrical databases in robotic arc welding. Such sensor-driven motion control together with adaptive control of the welding process is the foundation for increased flexibility and autonomous behavior of robotic and manufacturing system

Popular Abstract in Swedish Denna avhandling behandlar hur elektromagnetiska vågor utbreder sig i olika material. Vanligtvis antar man i elektromagnetiska problem att materialen är linjära, det vill säga om man vet att man får en viss utsignal från materialet vid en given insignal, så förväntar man sig att få två gånger så stor utsignal om man fördubblar insignalen. I avhandlingen försöker vi klarThis thesis is concerned with the propagation of transient electromagnetic waves in nonlinear media. It consists of a General Introduction and five scientific papers. The General Introduction gives a broad overview of nonlinear electromagnetic phenomena. The emphasis is on the representation of the constitutive functional modeling the material's response to electromagnetic excitation, and the met

A systematic assessment of radiotherapy for cancer was conducted by The Swedish Council on Technology Assessment in Health Care (SBU) in 2001. The assessment included a review of radiotherapy techniques in current use in Sweden. The following conclusions were drawn: Radiotherapy demands adequate knowledge of diagnostic methods, anatomy, cancer biology and of the physical and biological properties

The adsorption of modified polyacrylamides (PAM) at the silica surface has been studied by ellipsometry. To study the influence of the type of modification of the polyacrylamide on the adsorption behaviour, we have used cationic, anionic and hydrophobically modified polyacrylamides with varying charge density and degree of hydrophobisation. The adsorbed amount and adsorbed layer thickness were obt

The study was aimed at investigating the conditions and circumstances for the recruitment of prostitutes, as well as their reproductive history, working conditions, knowledge of and attitudes to sexually transmitted diseases (STDs), and use of prophylactic antibiotic therapy of these diseases. Two hundred prostitutes were investigated by in-depth interviews at STD clinics, private practices and ho

Utgående från Carl von Linnés skrift ”Hantverkarnas sjukdomar (Morbi artificium)”, 1765, diskuteras 1600- och 1700-talets syn på fältsjukan, vad som ansågs vara dess orsaker och hur den yttrade sig i samband med de olika krigen i Skåne med omnejd. Slutligen ett antal kontrafak-tiska funderingar utmynnande i frågan vilket som har be-tytt mest i krigshistorien – slagen eller fältsjukorna.

Abstract Deoxyribonucleoside kinases, which catalyse the phosphorylation of deoxyribonucleosides, are present in several copies in most multicellular organisms and therefore represent an excellent model to study gene duplication and specialisation of the duplicated copies through partitioning of substrate specificity. Recent studies suggest that in the animal lineage one of the progenitor kinases,

Policy proposals for the management of water resources need to take into account two emerging themes: public involvement in the development of resource use policy and water management on a catchment level. The CATCH-model, a decision support system for catchment-based water management, builds on the use of ‘discourse and deliberation’ within stakeholder groups to define relevant socio-economic par

Background and aim of the study: The study aim was to analyze the relationship between patient-prosthesis mismatch (PPM) and in-hospital complications and mortality after aortic valve replacement (AVR). Methods: AVR was performed in 1,819 patients between January 1996 and July 2006. Follow up investigations were performed after a mean of 4.3 years (range: 0 days to 10.6 years). Univariate and mult

Objective - To assess the cognitive impairment and the association between neuropsychological measures and neuroimaging 1 year after aneurysmal subarachnoid hemorrhage (SAH). Method - Forty-two patients were examined clinically according to Glasgow Outcome Scale (GOS). Computed tomography (CT), single photon emission computed tomography (SPECT) and neuropsychological examination were performed. Re

During a 16-year period, 49 children were treated for Wilms' tumor (WT); 7 were bilateral, 5 synchronous and 2 metachronous. The age at primary diagnosis was 6 months to 5 years (mean 2.4 years). All but 1 child received preoperative chemotherapy with tumor reduction. Unilateral nephrectomy was performed in 2 metachronous cases. In 3 synchronous WTs, the tumor was enucleated in 5 kidneys and a hem

Using a cell model to describe a fibrous porous medium theoretical expressions ale deduced relating effective gas diffusivity to the volume fraction of the fibres. Cylindrical as well as band-shaped fibres are studied. The new models, which are based on solutions to the diffusion equation, agree well with existing correlations. The models are compared with experimental data for water vapour diffus

Popular Abstract in Swedish Syftet med den här avhandlingen har varit att förstå hur grupper av vi och dom skapas och består, framför allt inom utbildning och skola, och särskilt inom gymnasiala Komvux. I vardagligt tal menar människor oftast att dom är invandrare, medan vi är svenskar. Jag har visat att denna uppdelning, som sker nästan automatiskt, är alltför förenklad och svart-vit. Ett undersyThis thesis, set in an educational context (Swedish Komvux, high school adult education), deals with how groups of us and them are constructed, changed and reproduced. In order to understand the processes of us and them I have looked at the interconnections between gender, ethnicity and class utilising participant observations and semi-structured interviews. The main theoretical points of departu

Activated protein C (APC) is a serine proteinase that regulates blood coagulation. In plasma it is inhibited mainly by the protein C inhibitor (PCI). The plasma concentrations of APC-PCI complex is increased in hypercoagulative states such as deep venous thrombosis. Formation of the APC-PCI complex induces a drastic conformational change in PCI that exposes new epitopes (neoepitopes) on the molecu

The chloroplast grana margins of spinach thylakoids were isolated by sonication and aqueous-two-phase partitioning and their electron transport properties examined. Photosystem II and I electron transport activities were measured and compared to the appressed and non-appressed grana core and stroma lamellae, respectively, as well as to whole thylakoids. The results show that the PS II complexes in