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Safe motion planning for robotic systems in dynamic environments is nontrivial in the presence of uncertain obstacles, where estimation of obstacle uncertainties is crucial in predicting future motions of dynamic obstacles. The worst case characterization gives a conservative uncertainty prediction and may result in infeasible motion planning for the ego robotic system. In this article, an efficie
Context Developing compilers and static analysis tools (“language tools”) is a difficult and time-consuming task. We have previously presented property probes, a technique to help the language tool developer build understanding of their tool. A probe presents a live view into the internals of the compiler, enabling the developer to see all the intermediate steps of a compilation or analysis rather
This study investigated the birth prevalence of cleft lip and/or palate (CL/P) in Sweden between 2000 and 2020 using data from the Swedish National Medical Birth Register, which includes over 97% of children born in the country, and its subregister the National Register of Congenital Anomalies. The dataset included 2,230,771 anonymized children, with the variables year of birth, sex and diagnoses
We consider the averaging process on an infinite connected graph with bounded degree and independent, identically distributed starting values or initial opinions. Assuming that the law of the initial opinion of a vertex has a finite second moment, we show that the opinions of all vertices converge in L2 to the first moment of the law of the initial opinions. A key tool in the proof is the Sharing
Channel sounding is a vital step in the design and deployment of wireless communication systems. In this article, we present the design and implementation of a coherent distributed massive multiple-input-multiple-output (MIMO) channel sounder operating at 5 and 6GHz with a bandwidth of 400MHz based on the NI USRP X410. Through the integration of multiple transceiver chains and radio frequency (RF)
The availability of high-quality datasets is crucial for developing behavior prediction algorithms in autonomous vehicles. This paper highlights the need to standardize the use of certain datasets for motion forecasting research to simplify comparative analysis and proposes a set of tools and practices to achieve this. Drawing on extensive experience and a comprehensive review of current literatur
Oily wastewater presents a serious environmental challenge, demanding sustainable and regenerative membrane technologies. Here, we report a green and scalable method for fabricating skin-replaceable cellulose membranes (SRC-M) from jute agro-waste, using a NaOH/urea activation route and argon-pressurized deposition onto ceramic supports. The resulting Cellulose II-based asymmetric membranes exhibi
Background: Pancreatic ductal adenocarcinoma (PDAC) is characterized by a prominent desmoplastic stroma, which plays a crucial role in tumor biology and treatment resistance. While the stromal compartment is a defining histopathological feature of PDAC, its prognostic significance remains incompletely understood. This study aimed to quantify the stromal content in PDAC using digital pathology and
Discovering topological quantum materials that combine nontrivial topology with large bandgaps and experimentally accessible signatures remains a central pursuit in condensed matter physics. We demonstrate, through first-principles calculations and tight-binding modeling, that pyrite-type osmium disulfide (OsS2) is a fragile topological insulator (FTI) characterized by an exceptionally large direc
Software analytics (SA) is often proposed as a tool to support software engineering (SE) tasks. Several secondary studies on SA have been published, some published within the same calendar year. This presents an opportunity to take a meta-perspective and examine how the field of SA has been conceptualized and synthesized so far. By analyzing how SA is defined, which topics are emphasized, what sea
The sustainability field includes that systems of incentive structures--including markets, rules, norms, and scientific information--can most effectively improve social capacity to guide interactions between nature and society toward more sustainable tra The road to susta inable housing?! -A study of how to include energy efficiency in the procurement process and building organisation when renovat
https://www.lumes.lu.se/sites/lumes.lu.se/files/nasman_therese.pdf - 2026-05-30
Background: There are currently no methods in clinical use that can detect early systemic dissemination of urothelial tumor cells. Objective: To evaluate measurement of circulating tumor cells (CTCs) as a biomarker for disseminated disease in patients with advanced bladder cancer. Design, setting, and participants: Between March 2013 and October 2015, 88 patients were prospectively included in the
Iron centeredN-heterocyclic carbene (Fe-NHC) complexes have shown long-lived excited states with charge transfer character useful for light harvesting applications. Understanding the nature of the metal-ligand bond is of fundamental importance to rationally tailor the properties of transition metal complexes. The high-energy-resolution fluorescence detected X-ray absorption near edge structure (HE
Magnetic resonance spectroscopy (MRS) is a non-invasive technique that can be used to detect and quantify multiple metabolites. This chapter will review some of the applications of MRS to the study of brain functions. Typically, (1)H-MRS can detect metabolites reflecting neuronal density and integrity, markers of energy metabolism or inflammation, as well as neurotransmitters. The complexity of th
Real-time 3D reconstruction is crucial for immersive AR/VR but is hard to achieve with traditional photogrammetry and mesh-based pipelines due to latency and limited scalability. Neural Radiance Fields (NeRF) enable high-quality novel view synthesis but suffer from long training and slow rendering, while Gaussian Splatting (GS) achieves real-time rendering at the cost of heavy preprocessing and me
This paper addresses the path-tracking problem of time-optimal trajectories under model uncertainties, by proposing a real-time predictive scaling algorithm. The algorithm is formulated as a convex optimization problem, designed to balance the trade-off between improving feasibility and time optimality of a trajectory. The predicted trajectory is scaled based on the presence of path segments that
In this issue, “25 Years Ago” revisits the article “Out of Control Because of Harmonics: An Analysis of the Harmonic Response of an Inverter Locomotive,” by Erik Möllerstedt and Bo Bernhardsson, in IEEE Control Systems Magazine, vol. 20, no. 4, pp. 70–81. Below is an excerpt from the article.
This study investigates how changes in temperature affect the secondary organic aerosol (SOA) phase state. SOA was formed by α-pinene ozonolysis in an atmospheric simulation chamber at temperatures (T0) in the range of 257–283 K at RH0< 20%. After more than 14 h of SOA aging, one or more heating and cooling ramps were performed. Upon heating, we observe that the onset of evaporative SOA shrinkage
Open and shared government data and services offer an instrument for achieving innovation, interoperability, and transparency in public services but require relevant competency, resources, and culture to realise, something that the public sector actors often lack. In this case study, we exemplify how these challenges to data sharing may be tackled through horizontal coordination in the case of Tra
