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Observer-Based ILC Applied to the Gantry-Tau Parallel Kinematic Robot

Three approaches of iterative learning control (ILC) applied to a Gantry-Tau parallel kinematic robot aC algorithms using 1) measured motor angles, 2) tool-position estimates, and for evaluation purposes, 3l position. The approaches are compared experimentally, with the tool performance evaluated using extert is concluded that the tool performance can be improved using tool-position estimates in t

Energitjänster på en avreglerad marknad. För en effektivare energianvändning?

This thesis studies the efforts made by society to achieve more efficient energy use in order to better utilise resources and lessen the stress on the environment. Despite the value to society promised by more efficient energy use, too few attempts are made at realising this value. One instrument available to governments in their efforts to stimulate efficiency schemes, is to encourage energy comp

Asynchronous Zipper [subscriber line duplex method]

Previously the authors presented a novel duplex method for very high bit-rate digital subscriber lines (VDSL) called Zipper. With this method all VDSL-modems on different wires in the same bindergroup have to be time-synchronized to avoid near-end cross-talk (NEXT). We describe a method which enables Zipper to run in a time-asynchronous mode. By introducing pulse-shaping in the transmitter and win

Expanding Bioenergy in Europe

Despite apparently favourable conditions for investment in the bioenergy sector provided by sustained high oil prices and a multitude of policy support measures throughout the EU that are ostensibly intended to create improved economic conditions, many industrialists and investors are still apparently wary of engagement. National policy interventions intended to support and to expand the bioenergy

Pay-What-You-Want Pricing Schemes: A Self-Image Perspective

Pay-What-You-Want (PWYW) pricing schemes are becoming increasingly popular in a wide range of industries. We develop a model incorporating self-image into the buyer's utility function and introduce heterogeneity in consumption utility and image-sensitivity, which generates different purchase decisions and optimal prices across individuals. When a good is sold at a fixed price higher than a thresho