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The accuracy and portability of depth cameras have increased by a lot in recent years, which allows for advanced 3D scanning of the environment for robotic applications. In this thesis we have developed a system that uses a depth camera mounted on a robot arm to identify and localize arbitrary objects, and give hints on how to move the camera to get better localization results. The system works by
This Master thesis work was performed in Ericsson AB, Lund. It studies and validates two classes of algorithms to be used in mm-wave massive MIMO antenna arrays, for their use in the future 5G mobile communication systems. The first class of algorithms relates to the calibration of the transceiver (TRX) chains responses of the antenna array and makes use of the antenna array mutual coupling, which
Neurodegenerative disease or injury often result in devastating consequences for affected individuals. Treatment options available remain inefficient, and the hunt for new innovative approaches to halt and reverse the effects of neural cell loss continues. Regenerative medicine focuses on a combination of cell transplantation coupled with tissue engineering approaches (3D scaffolds and biomaterial
Denna uppsats handlar om att undersöka och analysera om Sverige skulle kunna stärka skyddet för arbetstagare när det kommer till frågor som rör lön, genom att införa allmängiltigförklarat kollektivavtal. Undersökningen kommer att göras genom att jämföra Sverige och Finlands kollektivavtalssystem, hur de är uppbyggda och vad som är specifikt för respektive land. Länderna i fråga är till synes väldiThis essay is about investigating and analyzing if Sweden could strengthen the protection for workers when it comes to questions relating to employment wages, by introducing extended collective agreements. This will be done by comparing Sweden's and Finland's systems of collective agreements, how they are constructed and what's specific for each country. The countries in question are v
Skatterätten är ett stort rättsområde, sett inte bara till dess rättsliga reglering, utan även till antalet rättshandlingar som har skatterättsliga konsekvenser. En av dessa bedömningar gäller vilket skattesubjekt, d.v.s. vilken fysiska eller juridiska person, som ska ta upp en viss intäkt till beskattning. En annan är till vilket inkomstslag en intäkt ska bestämmas. Huvudsyftet i uppsatsen är atThe field of taxation is a wide field within Swedish law, not only due to the big amount of legal regulations, but also to the number of legal transactions carrying taxation consequences. One specific topic that is under constant judgment is to which person, i.e. which physical or legal person, a specific income should be allocated. Another one is in which income class a specific income should be
Den här uppsatsen berör ett på senare tid väldigt omtalat ämne, nämligen preskriptionstiden för sexualbrott mot barn. Syftet med uppsatsen är att ta reda på om det ur ett rättssäkerhetsperspektiv är lämpligt att helt ta bort preskriptionstiden för sexualbrotten mot barn istället för att endast ha den specialreglering som idag finns i Brottsbalkens 35 kap 4§. Utredningen är rättsdogmatisk och ser t
It is often suggested that the emittance coupling of a storage ring should be adjusted to the so-called diffraction limit corresponding to the shortest wavelength of interest. For 1 Å radiation this leads to a typical requirement of 8 pm rad vertical emittance. In ultralow-emittance storage rings like the MAX IV 3 GeV storage ring this corresponds to a comparably large setting of the emittance cou
The choice of a polymeric support is a key factor for the success of solid-phase methods for syntheses of organic compounds and biomolecules such as peptides and oligonucleotides. Classical Merrifield solid-phase peptide synthesis, performed on low cross-linked hydrophobic polystyrene (PS) beads, sometimes suffers from sequence-dependent coupling difficulties. The concept of incorporating PEG into
The two most common strategies for verification and validation, inspection and testing, are in a controlled experiment evaluated in terms of their fault detection capabilities. These two techniques are in the previous work compared applied to code. In order to compare the efficiency and effectiveness of these techniques on a higher abstraction level than code, this experiment investigates inspecti
In the water sector, there have been numerous failures in projects aiming at sustainable development and there have been some, but less numerous, examples of successes. However, the most striking observation is the near universal failure to learn from these examples. Somehow, scientists and decision makers have allowed the indications of new approaches and opportunities go undetected because they
In market-driven development of product software, a crucial decision for each candidate requirement is whether or not to select it for implementation in the next release. We present an analytical model of the requirements selection process, which is used for reasoning about decision quality. A network of queues, with two classes of jobs, models the selection of requirements of different quality. T
A compact dual-element antenna suitable for ultrawideband (UWB) MIMO operation is proposed in this work. The size of the antenna is 25 mm by 40 mm and it covers the lower UWB band of 3.15-5.15 GHz. Apart from the inherent wideband isolation obtained through the different angle and polarization characteristics in the radiation patterns of the individual elements, the gap between the two antenna ele
Abstract in UndeterminedVery large MIMO is a technique that potentially can offer large network capacities in multi-user scenarios where the users are equipped only with single antennas. In this paper we are investigating channel properties for a realistic, though somewhat extreme, outdoor base station scenario using a large array. We present measurement results using a 128 element linear array ba
Abstract not available
Sensing and quantification of biomolecules are becoming increasingly important in medical diagnostics, bioprocess technology and recently in homeland security. The majority of techniques currently employed to interrogate biomolecules require some type of radio-, enzymatic- or fluorescent-labeling. However, there is an increasing awareness of novel techniques in which biomolecules are detected in t
