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Robot control through contact is challenging as it requires reasoning over long horizons and discontinuous system dynamics. Highly dynamic tasks such as Air Hockey additionally require agile behavior, making the corresponding optimal control problems intractable for planning in realtime. Learning-based approaches address this issue by shifting computationally expensive reasoning through contacts t
Ensuring functional safety is crucial for the deployment of autonomous systems in real-life dynamic environments, as they must operate reliably and safely among humans. However, existing safety systems are designed with a closed-world assumption and can over-constrain the system by shutting down the robot at every safety violation, limiting the robot’s ability to complete its tasks. To address thi
In this paper we address absolute camera pose estimation. An efficient (and standard) way to solve this problem, is to use sparse keypoint correspondences. In many cases point features are not available, or are unstable over time and viewing conditions. We propose a framework based on silhouettes of quadric surfaces, with special emphasis on cylinders. We provide mathematical analysis of the probl
More reliable and faster prediction methods are needed to interpret enormous amounts of data generated by sequencing and genome projects. We have developed a new computational tool, PON-P2, for classification of amino acid substitutions in human proteins. The method is a machine learning-based classifier and groups the variants into pathogenic, neutral and unknown classes, on the basis of random f
We present an iterative retrieval algorithm based on data constraint for ultrashort pulse characterization using dispersion scan (d-scan). The proposed algorithm is much faster and leads to a drastic reduction of retrieval times, but, compared to the standard algorithm, it performs less robustly in the retrieval of noisy d-scan traces. The algorithm is tested on several simulated cases and in two
A new pharmaceutical product suitable to act as a negative contrast agent for Computerized Scan (CT-scan) of the abdomen is under development. At the moment the product has the form of a powder, which when dispersed in water and whipped, gives a stable foam. The foam is ingested by individuals who are about to undergo a CT-scan, as a prior preparation step. The powder form has disadvantages such a
The current study was made to develop a biosensor based on a single-chamber microbial fuel cell in which anaerobes were retained in the anode compartment separated from the cathode compartment by a proton exchange membrane. In the sensor a replaceable anaerobic consortium was used for analyzing biodegradable organic matter. The anaerobes acted as biocatalysts in oxidizing organic matter and transf
A fast spectral approximation of a narrow-band computer model is proposed for prediction of thermal radiation in a generally nonisothermal and nonhomogeneous combustion environment. The approximation is made by assuming each discretized spatial element along a line of sight to be locally "gray" within each small narrow-band spectrum interval. For each spatial element, the local equivalent spectral
Let C be a simple(1) polygonal chain of n edges in the plane, and let p and q be two arbitrary points on C. The detour of C on (p, q) is defined to be the length of the subchain of C that connects p with q, divided by the Euclidean distance between p and q. Given an epsilon >0, we compute in time O((1)/(epsilon) n log n) a pair of points on which the chain makes a detour at least 1/(1 + epsilon) t
In order to enhance understanding of what factors influence the gender division of housework, this study investigates the association between households’ purchases of domestic services and women's share of unpaid domestic labour in Swedish heterosexual working couples. Findings from logistic regression analyses suggest that purchases of domestic services, in the literature sometimes also refer
In this paper we introduce the Tangent Sampson error, which is a generalization of the classical Sampson error in two-view geometry that allows for arbitrary central camera models. It only requires local gradients of the distortion map at the original correspondences (allowing for pre-computation) resulting in a negligible increase in computational cost when used in RANSAC or local refinement. The
IntroductionSlow sand filtration is an established method for drinking water treatment, however, the knowledge about their microbial ecology remains limited. Maintenance of slow sand filters (SSF) includes washing to remove biofilm growth in the sand and restore flow through the filter. Understanding how this impacts produced water is important as the SSF may influence the bacterial flora in the f
The aim of this investigation is to answer the question of why it is prima facie morally wrong to cause or contribute to the extinction of species. The first potential answer investigated in the book is that other species are instrumentally valuable for human beings. The results of this part of the investigation are that many species are instrumentally valuable for human beings but that not all sp
Objective: We wanted to determine if higher compliance with American College of Sports Medicine (ACSM) exercise prescription guidelines influences exercise outcomes in knee osteoarthritis (OA). Methods: We conducted a systematic review. We searched the Cochrane Central Register of Controlled Trials, MEDLINE, and Embase up to January 4, 2024, for randomized controlled trials evaluating resistance a
Coordination of Official Development Assistance (ODA) has been an important topic in debates focused on improving the outcomes of international development. The subject assumes particular importance with the expected increase of ODA flows to support developing countries addressing climate change-related issues. The case of Mozambique is of special relevance due to the heightened consequences of cl
Neurotrophic factors are candidates for treating epilepsy, but their development has been hampered by difficulties in achieving stable and targeted delivery of efficacious concentrations within the desired brain region. We have developed an encapsulated cell technology that overcomes these obstacles by providing a targeted, continuous, de novo synthesized source of high levels of neurotrophic mole
