Filtyp
This paper presents a decentralized strategy for a team of N robotic manipulators cooperatively grasping and manipulating an object. A two-step strategy has been designed. In the first step, each robot runs N − 1 consensus-based estimators to estimates the wrenches applied to the object by its teammates even when direct all-to-all communication is unavailable. In the second step, each manipulator
This paper addresses the time-optimal path-tracking problem for redundant manipulators. By integrating path-velocity control into existing task-space robot controllers, the task-space motion can be dynamically scaled to satisfy the torque constraint under both kinematic and dynamic uncertainties. Numerical simulations and experiments demonstrate that trajectory feasibility and path-tracking accura
Denna avhandling undersöker oberoende kulturproduktion som idé(al) och fenomen, särskilt den centrala roll som samarbeten och ömsesidiga beroenden har för oberoende kulturaktörer. Samtida oberoende kulturproduktion både tillåter och kräver organisering i ett spänningsfält av olika förväntningar och begränsade rumsliga, finansiella och mänskliga resurser. I en tid av allt starkare politisk motvind,This thesis engages with the phenomenon of independent cultural production, which empirically shows itself as an idea(l) of self-determined cultural production and collaboration made possible through numerous different relationships. Independence, as a relational concept, achieved through in(ter)dependencies is what this thesis sets out to explore. Definitions of independence in cultural productio
Phosphorus deficiency exacerbates the challenges of phytoremediation in mining areas, particularly for herbaceous species. Although Melilotus officinalis L. Pall. (Melilotus) serves as a pioneer species in mine reclamation, its response mechanisms to phosphorus deficiency stress (PDS)—particularly regarding root exudates composition, plant growth, soil properties, and key microbial functional grou
Trimethylolpropane (TMP) is an important industrial chemical used to produce various value-added chemicals and polymers. In this study, both biobased butyraldehyde and formaldehyde were produced by the incomplete oxidation of bio-1-butanol and biomethanol, respectively, and were then used to produce a biobased TMP. High selective incomplete oxidation of primary alcohol to aldehyde is a challenging
This study explores the use of manganese ore, iron-carbon particles (Fe-C), and gravel as anode fillers in electroactive constructed wetlands (ECWs) to treat wastewater containing pharmaceuticals and personal care products (PPCPs) including ciprofloxacin (CIP), ofloxacin (OFL), and naproxen (NPX), while also assessing bioelectricity production. Although the presence of PPCPs reduced pollutant remo
En historia om fyra framstående finsk-amerikanska musiker i början av 1900-talet: Einar Swan, Sylvester Ahola, Wäinö Kauppi och Emil Hurja.A history of four prominent Finnish-American musicians in the early 20th century: Einar Swan, Sylvester Ahola, Wäinö Kauppi and Emil Hurja.
This chapter has its origins in a Swedish version but has been updated through studies conducted as part of a Nordic research project on the 0governance of AI and automated decision-making in the public sector, and within the framework of a research cluster on the AI welfare state. The analysis aims to deepen our understanding of how European AI regulation is grappling with regulating a moving tar
In order to elucidate the multidimensional response mechanism for migration of antibiotics and spread of resistome in riverbed driven by river water level fluctuations, dynamic reactors were set up to simulate the variation of sulfamethazine vertical migration, biotransformation and resistance genes expression according to fluctuation direction and magnitude. The upward fluctuation of water level
Flexural bond strength is a key parameter influencing the structural performance of masonry, yet its accurate prediction remains challenging due to the complex interplay of multiple material and testing variables. This study presents a machine learning (ML) framework for predicting flexural bond strength using a harmonized database comprising 1041 test specimens. Additionally, a review of 67 publi
This study investigates the impact of brick types and workmanship on water penetration in brick masonry veneer walls. Masonry specimens, built by two masons using solid and perforated bricks with two different laying methods, were subjected to an average water spray rate of 28 l/m²·h. Results indicate that, on average, the water penetration rate was approximately twice as high in solid bricks as i
This paper examines prominence from a pragmatic, phonological and acoustic-articulatory perspective. Based on results of a corpus-based analysis of Topic prosodic units in four languages (Italian, Brazilian and European Portuguese, and American English), three types of topic prosodic forms (TPFs) are described. Also are reviewed studies reporting phonological organization of English prominence pat
Our relationships with others structure many aspects of our lives, especially during important moments such as choosing an education, entering the workforce, forming partnerships or starting a family. While the influence of family and parenting has been widely studied, less is known about the role of non-family connections, such as neighbours. One reason is that the data needed to study these rela
HAVING STRONG BRANDS is a key to our success. One of our most important tasks for the future is therefore strengthening the Erisson brand. Our ambition is to further develop Ericsson – a brand that represents and projects reliability. This is a fundamental prerequisite if we are to increase our collective competitiveness, ability to grow, and profitability.1) The Ericsson Trademark Book:2) Tradema
The building sector accounts for a significant portion of global final energy use and greenhouse gas emissions, demonstrating the need to find low-carbon alternatives to new construction. Adaptive reuse offers a sustainable alternative to new construction, yet early-stage assessments of reuse potential often rely on surface-level metrics, failing to consider a building's internal spatial logic. Th
In this paper, we propose a scheme to identify discrete-time, multi-input/multi-output switched-linear systems (MIMO-SLSs) from input-output measurements. The key step is an observer-based transformation to a switched auto-regressive with exogenous input (SARX) model. This transformation converts the state-space (SS) identification problem into a MIMO-SARX identification problem by compressing inf
Historians of knowledge recognize that scientific knowledge is insepa- rable from ideology, which means that the intertwinement of the epistemic and the political constitutes a key topic of study. However, historians of knowledge have thus far not focused sufficiently on intersections with religiosity and spiritu- ality. To address this gap, this article introduces the numinous as a complemen- tar
Background: Calcitonin gene-related peptide (CGRP) release from trigeminal structures is central to migraine pathophysiology. This study employed an ex vivo model preserving anatomical continuity between the trigeminal nucleus caudalis (TNC) and trigeminal ganglion (TG) to investigate (1) whether TNC stimulation induces peripheral CGRP release from the TG and (2) the potential involvement of a dis
Excitation energy transfer between photosynthetic light-harvesting complexes is vital for highly efficient primary photosynthesis. Controlling this process is the key for advancing the emerging artificial photosynthetic systems. Here, we experimentally demonstrate the enhanced excitation energy transfer between photosynthetic light-harvesting 2 complexes (LH2) mediated through the Fabry-Pérot opti
