This paper presents a novel control architecture for hybrid stiff and compliant control for minimally invasive surgery which satisfies the constraints of zero lateral velocity at the entry point for serial manipulators. For minimally invasive surgery it is required that there is no sideways motion at the point where the robots enter the abdomen. This is necessary to avoid any damage to the patient

Although many studies have investigated the role of customer orientation and learning orientation on a firm's performance in small, medium, and large enterprises, the literature provides little empirical evidence about the role of customer orientation and learning orientation within the hotel industry. This current work investigates the influence of these variables on new service development and t

Soft tissue sarcomas (STS) are challenging as they represent a morphologically and genetically heterogeneous groups of tumors. A multitude of genetic changes, often in the form of fusion genes, were recognized during the 1980's and now constitute a diagnostic lexicon in several STS subtypes, whereas many of the more common subtypes are genetically complex without distinct alterations. Refined STS

The transfer of heat between electrons and phonons plays a key role for thermalmanagement in future nanowire-based devices, but only a few experimental measurements of electron-phonon (e-ph) coupling in nanowires are available. Here, we combine experimental temperature measurements on an InAs/InP heterostructure nanowire system with finite element modeling to extract information on heat flow media

This article analyzes Natan against the background of an increasingly mobile world where social relations and practices have become disembedded and social capital decreases. Natan outlines an inability to feel at home in modern society, and counters this experience by restoring a nostalgic home for a seemingly homeless man.

Objective: To examine the contents of the Mayo-Portland Adaptability Inventory (MPAI-4) by mapping it to the International Classification of Functioning, Disability and Health (ICF). Methods: Each of the 30 scoreable items in the MPAI-4 was mapped to the most precise ICF categories. Results: All 30 items could be mapped to components and categories in the ICF. A total of 88 meaningful concepts wer

Abstract in Undetermined How signal diversity evolves under stabilizing selection in a pheromone-based mate recognition system is a conundrum. Female moths produce two major types of sex pheromones, i.e., long-chain acetates, alcohols and aldehydes (Type I) and polyenic hydrocarbons and epoxides (Type II), along different biosynthetic pathways. Little is known on how male pheromone receptor (PR) gHow signal diversity evolves under stabilizing selection in a pheromone-based mate recognitionsystem is a conundrum. Female moths produce two major types of sex pheromones, i.e., long-chainacetates, alcohols and aldehydes (Type I) and polyenic hydrocarbons and epoxides (Type II), alongdifferent biosynthetic pathways. Little is known on how male pheromone receptor (PR) genes evolvedto perceive the

Popular Abstract in Swedish Förmaksflimmer är den vanligaste rytmrubbningen i hjärtat. Man beräknar att 1-2% av befolkningen har förmaksflimmer. Förmaksflimmer blir vanligare med stigande ålder. Bland personer äldre än 75 år har 5-10% förmaksflimmer. Var fjärde person över 40 år riskerar att drabbas av förmaksflimmer någon gång i livet. Förmaksflimmer ger bl.a. en ökad risk för blodproppar och strAtrial fibrillation (AF) is the most common sustained cardiac arrhythmia in the general population, and a major cause of morbidity and mortality. Low-grade inflammation, erythrocyte volume variation, and subclinical atherosclerosis have repeatedly been associated with cardiovascular disease, but it remains unclear whether these risk factors are also associated with incident AF. This thesis is bas

The acceptable noise level (ANL) test is used to quantify the amount of competing background noise (BNL) that a listener is willing to accept when listening to speech at the most comfortable level (MCL). ANL is calculated by subtracting the BNL from the MCL. Most studies show large intersubject ANL variability and a few also demonstrate large intrasubject variability. Very few predictor variables

Purpose: To evaluate the dose distribution of a 120-MeV laser-plasma accelerated electron beam which may be of potential interest for high-energy electron radiation therapy. Methods: In the interaction between an intense laser pulse and a helium gas jet, a well collimated electron beam with very high energy is produced. A secondary laser beam is used to optically control and to tune the electron b

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Background and Objectives Weak expression of A/B histo-blood group antigens is often explained by single nucleotide substitutions at the ABO locus. However, hybrid alleles containing segments from different ABO alleles can result in unexpected phenotypes and may complicate genotype analysis. We investigated the basis of weak B phenotype in a referred sample. Materials and Methods A healthy young w

Specialist plant species in calcareous sandy grasslands are threatened by acidification and high nutrient levels in the topsoil. We investigated whether topsoil removal and soil perturbation in degraded sandy grasslands could lead to establishment of specialist species belonging to the threatened xeric sand calcareous grassland habitat. Restoration actions performed in 2006 resulted in increased s

Preclinical studies in mice suggest that the natural killer cell receptor NKp46 may be a new molecular target for delaying the progression of type 1 diabetes by interfering with unexpected natural killer cell-mediated recognition of pancreatic beta cells.

Copolymeric NiPAM:BAM nanoparticles of varying hydrophobicity were found to retard fibrillation of the Alzheimer's disease-associated amyloid beta protein (A beta). We found that these nanoparticles affect mainly the nucleation step of A beta fibrillation. The elongation step is largely unaffected by the particles, and once the M is nucleated, the fibrillation process occurs with the same rate as

Purpose: Diagnosis of chronic atrophic fundal gastritis (CAFG) is important to understand the pathogenesis of gastric diseases and assess the risk of gastric cancer. Autofluorescence imaging videoendoscopy (AFI) may enable the detection of mucosal features not apparent by conventional white-light endoscopy. The purpose of this study was to estimate the diagnostic ability of AFI in CAFG. Methods: A

Background. A contralateral tumor occurs in 3.5-5% of men diagnosed with testicular germ cell cancer (TGCC). Biopsy of the contralateral testis may detect intratubular germ cell neoplasia ITGCNU, a precursor of TGCC. Biopsy of the contralateral testis to detect ITGCNU is controversial. If adjuvant chemotherapy (ACT) protects against bilateral cancer is debated. Material and methods. A total of 100