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Students working in groups is a commonly used method of instruction in higher education, popularized by the introduction of problem based learning. As a result, management of small groups of people has become an important skill for teachers. The objective of our study is to investigate why conflicts arise in student groups at the Faculty of Engineering at Lund University and how teachers manage th
Pollinatörer är en fråga i tiden. I slutet av 1990-talet introducerade Gretchen Daily och Robert Costanza begreppet ekosystemtjänster för att beskriva människans beroende av naturliga processer och produkter som skapas av våra ekosystem. Begreppet har sedan dess fått ett enormt genomslag inom vetenskap och policy och var centralt för IPBES globala utvärdering av biologisk mångfald och ekosystemtjä
We report on charge transport across self-assembled monolayers (SAMs) of short tau peptides by probing the electron tunneling rates and quantum mechanical simulation. We measured the electron tunneling rates across SAMs of carboxyl-terminated linker molecules (C6H12O2S) and short cis-tau (CT) and trans-tau (TT) peptides, supported on template-stripped gold (AuTS) bottom electrode, with Eutectic Ga
Objective: To investigate the risk of stillbirth or neonatal death before 45 post-menstrual weeks in relation to gestational duration, stratified by body mass index (BMI) and parity. Design: Retrospective study. Setting: Data from the Swedish Medical Birth Register. Population: Singleton, cephalic births at between 39+0 and 42+2 weeks of gestation, 2005–2016 (n = 892 339). Methods: Relative risk r
Parkinson’s disease (PD) can produce postural abnormalities of the standing body position such as kyphosis. We investigated the effects of PD, deep brain stimulation (DBS) in the subthalamic nucleus (STN), vision and adaptation on body position in a well-defined group of patients with PD in quiet standing and during balance perturbations. Ten patients with PD and 25 young and 17 old control partic
Optimization of vehicle maneuvers using dynamic models in constrained spaces is challenging. Homotopic optimization, which has shown success for vehicle maneuvers with kinematic models, is studied in the case where the vehicle model is governed by dynamic equations considering road-tire interactions. This method involves a sequence of optimization problems that start with a large free space. By it
Human–robot collaboration (HRC) in manufacturing environments requires that physical safety can be guaranteed. Control methods that implicitly regulate the interaction forces between a controlled robot and its environment, such as impedance control, are often used for safety in HRC. However, these methods could be complemented by restricting the robot operational space for additional safety guaran
In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian reference of an impedance controller. Also, the conditions that ensure its convergence considering the dynamics of the robot were derived. Finally, an experimental evaluation was perfo
Background: Home mechanical ventilation (HMV), noninvasive ventilation and invasive ventilation outside a hospital setting, is a key treatment to improve outcomes in chronic hypoventilation. Research Question: What are the temporal trends observed over 27 years in Sweden regarding the incidence, prevalence, diagnostic spectrum, and patient characteristics associated with HMV? Study Design and Meth
The PID controller is the by far most frequently employed type of controller. As you read, billions of digitally implemented PID controllers are running, shaping the dynamic behavior of anything from the fan speed in your laptop to safety-critical components in nuclear power plants. Given the abundance of commissioned PID controllers, it is surprisingly hard to find a single source that provides a
With increased autonomy in marine vessels, autonomous surface vessels (ASVs) and conventionally manned vessels need to coexist at sea. Any relocation needs to include collision avoidance according to the traffic rules at sea, COLREGs. Here, a local collision-avoidance planner for an archipelago environment is presented. The optimization-based local planner presented considers a predefined nominal
Homogeneous Charge Compression Ignition (HCCI) is a promising but challenging combustion engine concept. The potential for good fuel economy and low emissions is high but the transient performance required for automotive applications presents a few problems still to be solved. The focus of this work is identification of the process dynamics. An ARX type model is fitted to input-output data. A meth
Homogeneous Charge Compression Ignition (HCCI) combustion lacks direct ignition timing control, instead the auto ignition depends on the operating condition. Since auto ignition of a homogeneous mixture is very sensitive to operating condition a fast combustion timing control is necessary for reliable operation, the ignition timing control design requiring appropriate models and system output vari
This paper offers a two-zone, physical, NOx model with low computational cost, implemented in C on an embedded system. The model is able to compute NOx-emission formation with high time resolution during an engine cycle. To do this the model takes cylinder pressure and injected fuel amount as inputs and produces NO concentration as output. The model as such is not new, nevertheless the physical ba
Huntington disease (HD) is a fatal neurodegenerative disorder caused by an expanded CAG repeat. Its length can be used to estimate the time of clinical diagnosis, which is defined by overt motor symptoms. Non-motor symptoms begin before motor onset, and involve changes in hypothalamus-regulated functions such as sleep, emotion and metabolism. Therefore we hypothesized that hypothalamic changes occ
Enabling resilient autonomous motion planning requires robust predictions of surrounding road users' future behavior. In response to this need and the associated challenges, we introduce our model titled MTP-GO. The model encodes the scene using temporal graph neural networks to produce the inputs to an underlying motion model. The motion model is implemented using neural ordinary differential equ
Given their flexibility and encouraging performance, deep-learning models are becoming standard for motion prediction in autonomous driving. However, with great flexibility comes a lack of interpretability and possible violations of physical constraints. Accompanying these data-driven methods with differentially-constrained motion models to provide physically feasible trajectories is a promising f
This paper proposes an interaction and safety-aware motion-planning method for an autonomous vehicle in uncertain multi-vehicle traffic environments. The method integrates the ability of the interaction-aware interacting multiple model Kalman filter (IAIMM-KF) to predict interactive multi-modal maneuvers of surrounding vehicles, and the advantage of model predictive control (MPC) in planning an op
