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When a manipulator interacts with objects with poorly damped oscillatory modes, undesired oscillations and bouncing may result. In this paper, we present a method for observer-based control of a rigid manipulator interacting with an environment with linear dynamics.The controller injects a desired damping into the environment dynamics, using both visual-and force sensing for stable control of the
In this paper a new batch laboratory process is described. Theprocess is inexpensive, modular, and portable. Several processes canbe connected together to form a multi-purpose batch pilot plant.The use of the process in process control education is described.
Popular Abstract in Swedish Malmö erbjuder speciellt goda möjligheter till epidemiologiska studier, därför att all sjukhusbunden vård erbjuds av ett enda sjukhus som dessutom i stort sett endast täcker Malmös egna behov. Därtill kommer att nu avlidne professor Folke Linell redan under 1950-talet insåg den stora betydelsen för sjukvårdens kvalitet av en omfattande obduktionsverksamhet. Under periodIn the present thesis incidence, survival, mortality, cure and prognosis in invasive breast cancer in Malmö was studied over a 30 year period. Validated data from the Cancer Registry and the Cause of Death Registry were used. In the process of validation systematical biases were identified in both registers. The incidence increased over time and was strongly related to increases in diagnostic acti
The aims of this study have been focused on the identification of cell surface structures involved in the induction and regulation of apoptosis. Monoclonal antibodies against the major histocompatibility complex class I (MHC-I) were shown to induce apoptosis when cross-linked on the cell surface of different malignant cells having a pre-B or a myeloid precursor phenotype. The apoptotic response wa
Popular Abstract in Swedish För att lungorna ska utvecklas normalt hos ett däggdjursfoster, måste lungorna vara vätskefyllda. Det har länge varit kännt att denna vätska produceras av lungorna själva, genom s k klorid-sekretion. Vid födelsen måste det nyfödda fostret börja andas och därför är det ytterst viktigt att lungorna snabbt töms på vätskan som fanns där under fosterutvecklingen. Detta sker Alveolar fluid clearance is driven by active absorption of Na+ across the alveolar epithelium. Development and hormonal regulation of alveolar fluid clearance over 1 hour was studied by instillation of a protein-containing, isosmolar fluid into lungs of fetal, newborn, and adult guinea pigs. After 1 hour, a sample of remaining alveolar fluid was collected and the change in protein concentration wa
In this paper an approach for improving robot machining accuracy through simulation-assisted path planning within Computer-Aided Manufacturing (CAM) tools is investigated. The method comprises modeling of dynamic robot behaviour under influence of process forces and a subsequent simulation of the robot motion which results in an offline prediction of deflection errors during the machining task. Th
Popular Abstract in Swedish Hem är en liten molekyl som förekommer som aktiv grupp i många viktiga proteiner, t.ex. hemoglobin, katalas och cytokromer. De hem-innehållande proteinerna är livsnödvändiga för alla djur och växter, samt många bakterier. Kemiskt sett, är hem en porfyrin (en annan känd porfyrin är klorofyll) som innehåller en järn-jon. Bakterien Enterococcus faecalis är en vanliThe gram-positive bacterium Enterococcus faecalis is a commensal organism, often found in the gut of humans and other animals. It can cause opportunistic disease and it frequently causes nosocomial infections. Treatment of such infections is often impaired by this organisms broad intrinsic and acquired resistance to antibiotics. E. faecalis uses homo-lactic fermentation for energy pr
An ensemble of LDPC convolutional codes with parity-check matrices composed of permutation matrices is considered. The convergence of the iterative belief propagation based decoder for terminated convolutional codes in the ensemble is analyzed for binary-input output-symmetric memoryless channels using density evolution techniques. We observe that the structured irregularity in the Tanner graph of
