We present a trajectory tracking controller for a quadrotor unmanned aerial vehicle (UAV) configured on SU(2) × R3, and relate this result to a family of geometric tracking controllers on SO(3) × R3. The theoretical results are verified in several simulation examples, and the controller is subsequently implemented in practice and integrated with a simultaneous localization and mapping (SLAM) syste

Background: Several biochemical markers in blood correlate with the magnitude of brain injury and may be used to predict neurological outcome after cardiac arrest. We present a protocol for the evaluation of prognostic accuracy of brain injury markers after cardiac arrest. The aim is to define the best predictive marker and to establish clinically useful cut-off levels for routine implementation.

Background: In Alzheimer’s disease (AD), younger symptom onset is associated accelerated cognitive decline and tau spreading, yet the drivers of faster disease manifestation in patients with earlier symptom onset are unknown. Earlier symptom onset is associated with stronger tau pathology in fronto-parietal regions which typically harbor globally connected hubs that are central for cognition. Sinc

Framgången och kostnaderna för infrastrukturprojekt beror till stor del på tillförlitlig karakterisering av undermarken. Speciellt är information om grundvattnet avgörande för att skydda grundvattenresurserna och för att undvika stabilitetsproblem. För att fastställa de hydrogeologiska egenskaperna genomförs borrningar följt av hydrauliska tester som är tillförlitliga men dyra, och det ger endast The success and costs of infrastructure projects largely depend on reliable characterization of the subsoil, where information on groundwater is essential to protect groundwater resources and to avoid stability problems. To determine the hydrogeological characteristics, drilling is carried out followed by hydraulic tests which are reliable but expensive and provide limited information which, in so

Background: Pathological aggregation of tar DNA-binding protein 43 (TDP-43) in the brain is the primary cause of many cases of frontotemporal lobar degeneration (FTLD), amyotrophic lateral sclerosis (ALS) and limbic-predominant age-related TDP-43 encephalopathy (LATE). It is therefore imperative to establish empirical staging systems to characterize and distinguish stereotypical patterns and commo

People with kidney disease are disproportionately affected by atherosclerosis for unclear reasons. Soluble urokinase plasminogen activator receptor (suPAR) is an immune-derived mediator of kidney disease, levels of which are strongly associated with cardiovascular outcomes. We assessed suPAR’s pathogenic involvement in atherosclerosis using epidemiologic, genetic, and experimental approaches. We f

Background: Over the past decade, several PET tracers were developed to visualise and quantify tau pathology in vivo. However, all these tracers have distinct off-target binding, different dynamic ranges and likely different levels of non-specific binding resulting in large variability in semiquantification. We propose to standardise the sampling and the quantification across all available tau tra

Background: For optimal design of anti-amyloid-β (Aβ) and anti-tau clinical trials, it is important to understand how Aβ and soluble phosphorylated tau (p-tau) relate to the accumulation of tau aggregates assessed with positron emission tomography (PET) and subsequent cognitive decline across the Alzheimer's disease (AD) continuum. Method: We included 327 participants from the Swedish BioFINDER-2

This book casts new light on the application of the principle of proportionality in international law. Proportionality is claimed to play a central role in governing the exercise of public power in international law and has been presented as the ‘ultimate rule of law’. It has also been the subject of fierce criticism: it is argued that it leads to unreflexive and arbitrary application of the law a