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This paper presents algorithms for continuous-time quadratic optimization of impedance control. Explicit solutions to the Hamilton-Jacobi equation for optimal control of rigid-body motion are found by solving an algebraic matrix equation. System stability is investigated according to Lyapunov function theory, and it is shown that global asymptotic stability holds. The solution results in design pa
A detailed experimental and theoretical investigation has been made on the use of Laser-Induced Incandescence (LII) in two configurations; right-angle LII and backward LII. Both right-angle and backward LII imaging measurements were conducted in simultaneous experiments at various pulse energies. The theoretically calculated LII signals were based on a heat transfer model for soot particles expose
This article applies the history of emotions lens to study the emotions experienced by the ‘comfort women’ in the Japanese Empire. Emotions have been a long-neglected aspect in the study of military sexual violence. The article examines how a mélange of positive and negative emotions enabled those women to exercise some limited agency in a confined and tightly regulated space and, in some rare cas
In this article, I explore interpretations and depictions of the Hebrew Bible in Swedish daily press between 1987 and 2017. As a point of departure, I examine three debates concerning three different aspects of the Hebrew Bible (in the debates understood as the “Old Testament”): its depictions of women, God, and homosexuality. The analysis shows that the Hebrew Bible tends to be portrayed as a pro
The Wide Field Camera 3 (WFC3) instrument on the Hubble Space Telescope has provided an abundance of exoplanet spectra over the years. These spectra have enabled analysis studies using atmospheric retrievals to constrain the properties of these objects. However, follow-up observations from the JWST have called into question some of the results from these older datasets, and highlighted the need to
For over 5,000 y, chanting has been practiced across many Western and Eastern traditions. However, there is hardly any empirical research on 1) whether chants from across the globe share common acoustic properties, 2) whether these acoustic features make them distinct from other human vocalizations, and 3) the extent to which they may positively impact listeners’ well-being. Here, we collected 242
