This paper presents a new control strategy for an underactuated two-link robot, called the Pendubot. The goal is to create stable oscillations of the outer link of the pendubot, which is not directly actuated. We exploit a recently proposed feedback control design strategy, based on motion planning via virtual holonomic constraints. This strategy is shown to be useful for design of regulators for

Under hösten 2017 och våren 2018 genomförde innovationsenheten PART – Preventivt arbete tillsammans– och Institutionen för service management och tjänstevetenskap vid Lunds universitet ett utvecklingsarbete,med syftet att ta fram en modell för att öka kunskapen om resursanvändning i barnavårdsutredningar. Måletmed den framtagna modellen är att göra det möjligt att kartlägga arbetsuppgifter och tid

Har den egyptiska revolutionen nått sin slutstation eller kommer de närmaste dagarna att erbjuda överraskande nya vägar framåt?

Potatoes served in large-scale food service systems are often of poor quality. The current recommendation is to cook the potatoes until the core has reached a temperature of 96°C, but this recommendation is questionable. In this study, three potato varieties have been cooked by using conventional boiling (CB) to temperatures of 94°C and 96°C and steam cooking (SC) to temperatures of 92°C, 94°C and

Several of the rice quality parameters are nowadays determined manually or partly manually, which leads to subjective results. In order to analyse the rice quality and avoid most of the manual handling, the PaddyCheck instrument was mainly developed to measure the paddy/rough rice kernels. However, the design and technique of the instrument are also suitable for brown rice kernels. The PaddyCheck

Volume is an important measure of fermented bread quality that has traditionally been determined by seed displacement methods. These methods are cumbersome; poorly suited to compressible, sticky, or creased products; prone to error; and, to date, lack standardization. A collaborative study was conducted by the AACC International (AACCI) Physical Testing Methods Technical Committee in 2005 to asses

A passive approximation problem is formulated where the target function is an arbitrary complex-valued continuous function defined on an approximation domain consisting of a finite union of closed and bounded intervals on the real axis. The norm used is a weighted L p -norm where 1 ≤ p ≤ ∞. The approximating functions are Herglotz functions generated by a measure with Holder continuous density i

Group A Streptococcus (GAS) is a common and versatile human pathogen causing a variety of diseases. One of the many virulence factors of GAS is the secreted pore-forming cytotoxin streptolysin O (SLO), which has been ascribed multiple properties, including inflammasome activation leading to release of the potent inflammatory cytokine IL-1β from infected macrophages. IL-1β is synthesized as an inac

PurposeThe fast advancement of medical technology and processes poses challenges to hospital construction and management. The purpose of this paper is to provide a structured approach to advancing adaptability in hospital retrofits, proposing the preferable timing and scope of different adaptability strategies.Design/methodology/approachA qualitative research approach was chosen, with 28 semi-stru

Internal mixing on the giant branch is an important process which affects the evolution of stars and the chemical evolution of the galaxy. While several mechanisms have been proposed to explain this mixing, better empirical constraints are necessary. Here, we use [C/N] abundances in 26,097 evolved stars from the SDSS-IV/APOGEE-2 Data Release 14 to trace mixing and extra mixing in old field giants

Three small-scale extinctions occurred in the Early Triassic with one of them recognized close to the Smithian-Spathian boundary. In the last two decades, the end-Permian mass extinction as well as the subsequent recovery have been intensively studied throughout the Tethys region, but correlations within the Lower Triassic are difficult due to conodonts endemism. Here we use paleontological and ge

We present the extension of ptychography for three-dimensional object reconstruction in a tomography setting. We describe the alternating direction method of multipliers (ADMM) as a generic reconstruction framework to efficiently solve the nonlinear optimization problem. In this framework, the ADMM breaks the joint reconstruction problem into two well-defined subproblems: ptychographic phase retri

Objective: Modality and frequency of image-based renal cell carcinoma (R.C.C.) follow-up strategies are based on risk of recurrence. Using the R.E.C.U.R.-database, frequency of imaging was studied in regard to prognostic risk groups. Furthermore, it was investigated whether imaging modality utilized in contemporary follow-up were associated with outcome after detection of recurrence. Moreover, out

Crops with improved uptake of fertilizer phosphorus (P) would reduce P losses and confer environmental benefits. We examined how P-sufficient 6-week-old soil-grown Trifolium subterraneum plants, and 2-week-old seedlings in solution culture, accumulated P in roots after inorganic P (Pi) addition. In contrast to our expectation that vacuoles would accumulate excess P, after 7 days, X-ray microanaly