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The position and orientation estimation problem for mobile robots is approached by fusing measurements from inertial sensors, wheel encoders, and a camera. The sensor fusion approach is based on the standard extended Kalman filter, which is modified to handle measurements from the camera with unknown prior delay. A real-time implementation is done on a four-wheeled omni-directional mobile robot, u

In this paper a novel method to make reconstruction from any number of uncalibrated cameras is presented. The novelty lies in the fact that the algorithm relies only on subspace methods, which implies that it is independent of the chosen coordinate system in the images. Furthermore, it does not distinguish between the dioeerent points in each image and can deal with any number of images and points

An intuitive and appealing way to characterize problem solving is as the application of constraints which reduce the problem-solution space. Any advantage offered by interdisciplinary problem solving would then plausi- bly derive from the integration of constraints from the fields involved. We propose an account of interdisciplinary problem solving which treats the integration of constraints as an

Respiration in animals, plants and many bacteria is dependent on heme A, which functions as a prosthetic group in a-type cytochromes (terminal energy-transducing oxidases in the electron transport chain that reduce molecular oxygen to water). Heme A synthase catalyses a chemically very demanding reaction, the conversion of one specific methyl side-group of heme O to a formyl group of heme A. This

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Kartellbekämpningsutredningen lämnar i delbetänkandet förslag beträffande villkor och former för nersättning av konkurrensskadeavgift, ökat sekretesskydd, kriminalisering och rättegångskostnader i konkurrensärenden. Utredningens förslag om villkor för nersättning av konkurrensskadeavgift är väl avvägda, överensstämmer med internationell praxis på ett till svenska förhållande anpassat sätt. Fakulte

Context: The Gaia project will determine positions, proper motions, and parallaxes for more than one billion stars in our Galaxy. It is known that Gaia's two telescopes are affected by a small but significant variation of the basic angle between them. Unless this variation is taken into account during data processing, e.g. using on-board metrology, it causes systematic errors in the astrometric pa

Varying degrees of collaboration and consultation in the area of child and family welfare in the public sector has grown rapidly since the 1980s, especially concerning children at risk. Collaboration is understood to provide a more holistic view of the individual's needs, lead to better care and treatment as well as increase knowledge in general. Collaboration in that sense constitute a flexible a