We consider the problem of tool position and orientation state estimation for robot manipulators in workspace by sensor fusion of the internal robot joint measurements with inertial measurement unit data. A prerequisite for this to be successful is accurate calibration of the sensors used. Therefore, we discuss a method for calibration of the sensor with respect to the robot end-effector, which is

To many Swedish citizens, their everyday contacts with the Church of Sweden in matters of civil registration and impediments of marriage created their strongest im pressions of the Church. Thus, as an example of ecclesiastical history of everyday life (Alltagsgeschichte), my study is of great interest from the point of view of Church history. It illustrates how the performance of the civil duties

This chapter introduces an ancient perspective on literary style and applies it to parts of the Fourth Gospel. Rather than using stylistic features to indicate authorship, sources, or redaction, this chapter focuses upon how style affects how the content (and story) of the Fourth Gospel is understood. In antiquity, stylistic features conveyed information about the mood, focus, and interpretation o

Honeybees have world-wide importance as crop pollinators. To ensure their persistence in agricultural systems, statistically robust field trials of plant protection products are vital. We consider the implications of regulations from the European Food Safety Authority that require the detection of a 7% effect size change in bee colony sizes under field conditions. Based on a power analysis, we arg

Natural populations are becoming increasingly fragmented which is expected to affect their viability due to inbreeding depression, reduced genetic diversity and increased sensitivity to demographic and environmental stochasticity. In small and highly inbred populations, the introduction of only a few immigrants may increase vital rates significantly. However, very few studies have quantified the l

Factors influencing teachers' selection of content in geography teaching is a fundamental didactic matter.1 The purpose of the present study was to investigate whether Swedish geography teachers' informal and formal experiences have influenced their interest in geography and if so, in what way. The results disclosed that informal experiences like outings, holidays, and childhood memories have a si

This paper describes a numerical technique to solve non-linear stochastic differential equations of Ito and Stratonovich type. We consider Euler, fourth-order Runge-Kutta (R-K) Schemes,and other schemes with intermediate accuracy. For the purpose of investigating the Convergence of numerical solutions and to apply variable integration step length techniques the special Wiener process generator was

Although relatively rare, Huntington’s disease (HD) has fatal consequences. There is no cure for the disease, which leads to an early death. Worldwide, scientists are trying to develop therapeutic methods that could cure the disease, including new molecular gene therapeutic methods. At Lund University, research on HD is now about to step from animal models to trials with humans. The project is spe

Subsurface transport of orthophosphate (Pi) from fertilized agricultural fields to freshwaters may lead to eutrophication, reduced biodiversity and fish kills in inland waters. Reduction of Pi transport by means of filters in drains with Pi sorbing materials (PSMs) may be one way to improve water quality. The aims of this study were to investigate and model the effect of retention time (RT) and in

In order to measure dust's nutrient input on farmland in different agro-ecological zones, Harmattan dust was sampled by mats with plastic straw in Ghana between 2002-2006. The inputs of total nutrients by Harmattan dust in Ghana per Harmattan period were about 1-2 kg Ca ha-1, 0.5-2 kg K ha-1, 0.5-1.5 kg Mg ha-1 and less than 0.5 kg P ha-1. Compared with the annual input of nutrients by precipitati

Phosphorus eutrophication of lakes and streams, coming from drained farmlands, is a serious problem in areas with intensive agriculture. Installation of phosphate (P) sorbing filters at drain outlets may be a solution. The aim of this study was to improve the understanding of reactions involved in P sorption by three commercial P sorbing materials, i.e. Ca/Mg oxide-based Filtralite-P, Fe oxide-bas

Phosphorus (P) eutrophication of lakes and streams, coming from drained farmlands, is a serious problem in areas with intensive agriculture. Installation of P sorbing filters at drain outlets may be a solution. Efficient sorbents to be used for such filters must possess high P bonding affinity to retain ortho-phosphate (Pi) at low concentrations. In addition high P sorption capacity, fast bonding

The Harmattan is a dry dust-laden continental wind, and in the boreal winter Harmattan dust plumes affects many West African countries, including Ghana. When the Harmattan is strongest the southern part of Ghana is affected by the Inter Tropical Discontinuity (ITD). In this study, we investigate if the ITD functions as a barrier, preventing long transported Harmattan dust to settle south of, and b

Harmattan is a dust-laden north-easterly wind that blows from the Sahara towards the Gulf of Guinea in the period November to March. It is the dominant wind in the north of Ghana while at the coast in the south it only occurs sporadically and here westerly or south-westerly winds dominate. Some of the dust is trapped in the vegetation, in lakes and other inland waters, and a little on the bare lan

The Harmattan is a dry, dust-laden continental wind which has its origin in the Bodélé Depression in the Chad basin. In Ghana the Harmattan can be experienced from November to March, when the Harmattan replaces the dominant south westerly maritime Monsoon wind. The hypothesis of this study is that the majority of dust deposited in northern Ghana may not be from the original Harmattan source in the