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The problem of planning a trajectory for robots starting in an initial state and reaching a final state in a desired interval of time is tackled. We consider Model Predictive Control as an approach to the problem of point-to-point trajectory generation. We use the developed strategy to generate trajectories for transferring the state of the robot, fulfilling computational real-time requirements. E
Packaging logistics is fundamental to the success of retail supply chains. Implementing systemwide change in this field is however complex. This paper introduces packaging logistics in retail supply chains and compares and contrasts the change processes in the introduction of plastic trays to retail food systems in the UK and Sweden.
Religious argumentation is sometimes supposed to be different from other kinds of argumentation. George Kennedy for example mentions a radical Christian rhetoric in which the message is proclaimed rather than argued, but in my study of Paul’s first letter to the Corinthians I have found deliberate argumentation. This argumentation can be analyzed with Toulmin’s model of argumentation. The warrants
Part of the justification for an integrated view of speech and gestures ( (( is their temporal coordination. Gestures generally coincide with or precede, but rarely follow lexical affiliate (McNeill, 1992). How synchrony impacts listeners remains less explored, despite potential relevance for video communication and virtual conversational agents. ERP studies suggest that temporal alignment affects
Most state-of-the-art natural gas-fired combined cycle (NGCC) plants are triple-pressure reheat cycles with efficiencies close to 60%. However, with carbon capture and storage, the efficiency will be penalized by almost 10% units. To limit the energy consumption for a carbon capture NGCC plant, exhaust gas recirculation (EGR) is necessary. Utilizing EGR increases the CO2 content in the gas turbine
Emissions of greenhouse gases in all sectors of society must reach near zero, in developed countries preferably by 2050, in order to reach climate policy objectives. Alternatives and strategies for the energy and transport sectors are relatively well understood but the basic industries are often overlooked, not least in sustainability transition and innovation system studies. The policy and techn
Introduction: Equity in access to and utilization of health services is a common goal of policy-makers in most countries. The current study aimed to evaluate the distribution of need and access to health care services among Iran's rural population between 2006 and 2009. Methods: Census data on population's characteristics in each province were obtained from the Statistical Centre of Iran and Natio
The proposed algorithm aims at helping diabetic patients which use multi-dose injection (MDI) therapy to determine the dose and time of insulin and glucose intakes to stabilize their blood glucose (BG) concentration. The objective is to spend most of the time in normal BG range (70-180 mg/dl). The control was done by minimizing the risk of hypo- and hyperglycemia over the doses and times of insuli
Delamination plays a pivotal role during normal development and cancer. Previous work has demonstrated that delamination and epithelial cell movement within the plane of an epithelium are associated with a change in cellular phenotype. However, how this positional change is linked to differentiation remains unknown. Using the developing mouse pancreas as a model system, we show that β cell delamin
