Filtyp
This thesis investigates human–robot co-manipulation in which a mobile manipulator assists a person in handling and maneuvering a jointly held object. A cooperative control strategy is developed that enables the robot to guide its motion by the human forces transmitted through a jointly held object. In this framework, the mobile base provides the primary movement while the manipulator maintains ob
The objective of this article is to review guidelines that address counselling in the context of genetic testing in order to summarise what aspects of counselling they consider most important, and to examine how they construct the ideal of genetic counselling. Guidelines were collected by examining the websites of different international professional, political, ethical and patient organisations,
This thesis seeks to introduce the reader to the idea of Cosmic War giving background on the formation of the concept, how it is currently perceived, and the difference from other seemingly similar ideas such as terrorism and holy war. Following this the most influential factors in the modern appearance of Cosmic War such as the rise of religion in the face of modernity and secularism are explored
This study explores the concept of Food Sovereignty on a local level among Mayan peasant groups from three communities situated in the southern coast of Guatemala. Drawing on the analytical concepts of Social Exclusion and Unfavourable or Forced Inclusion, it inquires into how food sovereignty can help overcome challenges experienced by the peasants. In addition, it inquires into how the challenge
Background: The development of factor (F) VIII neutralizing alloantibodies (inhibitors) is a major complication of treatment with FVIII concentrates in hemophilia A and the etiology is still poorly understood. The low-affinity Fc gamma receptors (Fc gamma R), which are expressed on immune cells, provide an important link between cellular and humoral immunity by interacting with IgG subtypes. Genet
Objective: The aim of this study is to define and assess Ideal Outcome in the national or multicenter registries of North America, Germany, the Netherlands, and Sweden. Background: Assessing outcomes after pancreatoduodenectomy among centers and countries requires a broad evaluation that cannot be captured by a single parameter. Previously, 2 composite outcome measures (textbook outcome and optima
In the present paper we report on the design decisions and the field test results of an inclusive mobile tourist guide app, the Time Machine. The historical information is conveyed by sound and the navigation information by haptics, while the app can be controlled eyes-free by a combination of on-screen and free-form gestures. To emphasize the eyes-free use, 9 of 11 test users recruited had severe
Oxalate (C(2)O(4)(2-)) acts synergistically on the dissolution of goethite (alpha-FeOOH) in the presence of siderophores that are secreted by plants and microorganisms to sequester iron. We report here the first in situ molecular-scale observations of synergistic ligand-promoted dissolution processes. We show that there are conditions under which oxalate promotes goethite dissolution, but dissolve
Syftet med examensarbetet var att undersöka möjligheterna att utveckla en applikation som en alternativ lösning till de befintliga mobila applikationerna som används för kollektivtrafik i region Skåne. Den nya applikationen grundade sig i och utformades utifrån perspektiv inom interaktionsdesign och användbarhet. Examensarbetet hade två huvuddelar, studie- och analysdel gällande användbarhet och dThe purpose of this master thesis was to examine the possibility to develop an overall alternative solution, to the current mobile applications used for public transport in the region of Skåne, Sweden. The aspect and development of the new application was based on interaction design and usability. The thesis has two main parts; a study and analysis of usability and design in the present applicatio
As cameras become cheaper and better, using them as sensors have become increasingly more common. This is especially true in robotics and for autonomous robot navigation. This thesis suggests a method where inputs from a single camera are used for making a robot self driving. The robot is assumed to move along planar surfaces, common in indoor environments. The method is based on matching image f
The dynamics of planetesimals and planetary cores may be strongly influenced by density perturbations driven by magneto-rotational turbulence in their natal protoplanetary gas disks. Using the local shearing box approximation, we perform numerical simulations of planetesimals moving as massless particles in a turbulent, magnetized, unstratified gas disk. Our fiducial disk model shows turbulent acc
Due to the gravitational influence of density fluctuations driven by magneto-rotational instability in the gas disk, planetesimals and protoplanets undergo diffusive radial migration as well as changes in other orbital properties. The magnitude of the effect on particle orbits can have important consequences for planet formation scenarios. We use the local-shearing-box approximation to simulate an
A new mean-field theory is developed to treat a binary mixture of nanoparticles imbedded in a polydisperse polymer solution. The theory is based on a many-body polymer-mediated potential of mean force (PMF) between the particles and remains accurate even in the protein regime, where the particles' diameters cannot necessarily be considered large compared to the polymer radius of gyration. As imple
Since mid-2000s, a great emphasis of the global development agenda is directed toward women and their participation in society, especially as wageworkers and political actors. Hand-in-hand with this emphasis on women’s empowerment and gender equality as the ‘solution’ for development, the involvements of private actors in the development arena have increased as well. The notion of private corporat
This review has examined research in mobile computing from a developer's perspective. The review was underpinned by the assumption that mobile computing has accentuated factors compared to stationary computing that ought to be managed to harness the possibilities of mobile computing. Applying a developer's perspective rendered a certain interest in design-oriented research, i.e. prescriptive resea
