Popular Abstract in Swedish En industrirobot är en flexibel programmerbar maskin som bör användas för sådant arbete som inte lämpar sig för människan att utföra. Olika tekniska begränsningar i dagens styrsystem begränsar dock robotars tillämpbarhet. Avhandlingen föreslår ett nytt sätt att bygga upp robotstyrsystem så att roboten på bästa sätt skall kunna tjäna människan.Industrial robots play a key role in manufacturing systems. Robots are distinguished from other types of machinery mainly on the basis of their programmability and ability to be adaptable to different tasks. The use of computer control to achieve desired flexibility implies that software issues for embedded control systems are central for the applicability and utilization of the equipment. The str

Popular Abstract in Swedish I den här avhandlingen utforskas förhållandet mellan position, funktion och betydelse hos den tyska partikeln ?also? (?alltså?). I den tyska grammatiken har ?also? traditionellt sett klassificerats som ett konjunktionellt adverb eftersom det ensamt kan fylla positionen före det finita verbet i en tysk sats, den så kallade ?Vorfeld?-positionen (?fundamentet?). När ?also?This thesis explores the relationship between the position, function and semantics of the German particle "also" (?so?). Traditionally, "also" is classified as a conjunctional adverb because it can fill the position in front of the finite verb in the German clause, the so-called "Vorfeld" (?pre-field?). In this position, it has a meaning similar to that of a conjunction but a distribution similar

We have studied the effects of triiodothyronine administration (20-40 micrograms three times daily over one week) in six healthy young men, on the activities of lipoprotein lipase and hepatic lipase and on plasma lipoprotein concentrations. Hepatic lipase activity in post-heparin plasma rose by 46 +/- 25% (p less than 0.025), whereas the activity of lipoprotein lipase did not change significantly.

Leaching and tracer experiments in batches at L/S 20 were performed with 3-month-old MSWI bottom ash separated into eight different particle sizes. The time-dependent leaching of major elements (Ca2+, K+ Na+, Cl- and SO4-2) was monitored for up to 747 It. Physical properties of the particles, the specific surface (BET), pore volume and pore volume distribution over pore sizes (BJH) were determined

Graft polymerization initiated by diperiodatocuprate(III) complex (Cu(III)) initiator was found to be an effective and convenient method for graft polymerization of vinyl monomers onto macroporous polyacrylamide gels, the so-called cryogels (pAAm-cryogels). The effect of time, temperature, monomer and initiator concentration during the graft polymerization in aqueous and aqueous-organic media was

On the work of Marijke van Warmerdam.

Numerous areas of chemistry can benefit from the ongoing genomic revolution. Here, we discuss and highlight trends in chemistry in the postgenomic era. The areas of interest include combinatorial approaches in organic chemistry; design and analysis of proteins containing unnatural amino acids; trace element-containing proteins; design and characterization of new enzyme types; applications of postg

At the last glacial maximum, vast ice sheets covered many continental areas. The beds of some shallow seas were exposed thereby connecting previously separated landmasses. Although some areas were ice-free and supported a flora and fauna, mean annual temperatures were 10-13degreesC colder than during the Holocene. Within a few millennia of the glacial maximum, deglaciation started, characterized b

The indoor climate system, which serves a building with a proper indoor air quality and thermal comfort, has been predominantly designed based on the initial investment costs. A life cycle approach could improve both the economic and environmental performance since the energy use would decrease. Currently, there is a lack of knowledge, models and tools for determining the life cycle cost (LCC) for

The aim of this study was to examine a possible role for extracellular pyrimidines as inotropic factors for the heart. First, nucleotide plasma levels were measured to evaluate whether UTP is released in patients with coronary heart disease. Then, inotropic effects of pyrimidines were examined in isolated mouse cardiomyocytes. Finally, expression of pyrimidine-selective receptors ( a subgroup of t

PURPOSE: A new type of liposomal liver-specific contrast medium (CM) in CT was studied, and the results were compared with those obtained with Mn-DPDP, a paramagnetic hepatobiliary CM, in MR imaging. The contrasts of normal liver tissue to tumorous tissue and the importance of the CM for tumour detection in the 2 modalities were studied in a rabbit tumour model. CT and T1-weighted pre- and postcon

The purpose of this study was to explore neuroretinal transplantation in a large animal model of severe retinitis pigmentosa and to establish graft development, long-term survival, graft-host integration, and effects on the host retina. Methods Rhodopsin transgenic pigs, aged 6 months, received in one eye a fetal full-thickness neuroretinal sheet in the subretinal space by means of vitrectomy and

Sunni Muslims have immigrated to and lived in Chicago for more than a hundred years. In her book Schmidt seeks, on basis of two periods of extended fieldwork, to provide a description of some activist strata of these religious communities. The description is framed by the portrayal of a number of Muslim institutions existing within the city and the interpretation of Islam that takes place within t

A nonlinear dynamic model for natural circulation drum-boilers is presented. The model describes the complicated dynamics of the drum, downcomer, and riser components. It is derived from first principles, and is characterized by a few physical parameters. A strong effort has been made to strike a balance between fidelity and simplicity. Results from validation of the model against unique plant dat