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We consider an iterative learning control (ILC) approach to machining with industrial robots. The robot and the milling process are modeled using system identification methods with a data-driven approach. Two different model-based ILC algorithms are proposed and subsequently experimentally verified in a milling scenario. The difference between the two approaches is the required sensors for acquiri

Objective: The aim of this study was to compare the outcome of immediate versus delayed radical prostatectomy (RP) in men with low-grade prostate cancer. Materials and methods: The study included a nationwide population-based cohort in the National Prostate Cancer Register of Sweden, of 7608 men with clinically localized, biopsy Gleason score 6 prostate cancer who underwent immediate or delayed RP

The emerging new idea of lane-keeping electronic stability control is investigated. In a critical situation, such as entering a road curve at excessive speed, the optimal behavior may differ from the behavior of traditional ESC, for example, by prioritizing braking over steering response. The important question that naturally arises is if this has a significant effect on safety. The main contribut

A comparative analysis shows how vehicle motion models of different complexity, capturing various characteristics, influence the solution when used in time-critical optimal maneuvering problems. Vehicle models with combinations of roll and pitch dynamics as well as load transfer are considered, ranging from a single-track model to a double-track model with roll and pitch dynamics combined with loa

This paper presents a method for modeling and control of a piezo-actuated high-dynamic compensation mechanism (HDCM) for usage together with an industrial robot during a machining operation, such as milling in aluminum. The spindle is attached to the compensation mechanism and the robot holds the workpiece. Due to the inherent resonant character of mechanical constructions of this type, and the no

Over the last decades methods of vestibular rehabilitation to enhance adaptation to vestibular loss, habituation to changing sensory conditions, and sensory reweighting in the compensation process have been developed. However, the use of these techniques still depends to a large part on the educational background of the therapist. Individualized assessment of deficits and specific therapeutic prog

This paper presents results from time-optimal path tracking for industrial robots. More specifically, three subproblems are studied and experimentally evaluated. The first is a contact-force control approach for determining the geometric robot motion, such that the tool centre point of the robot is moved according to the specification. The second problem is off-line solution of the optimisation pr

The polyether ionophore salinomycin has recently gained attention due to its exceptional ability to selectively reduce the proportion of cancer stem cells within a number of cancer cell lines. Efficient single step strategies for the preparation of hydroxamic acid hybrids of this compound varying in N- and O-alkylation are presented. The parent hydroxamic acid, salinomycin-NHOH, forms both inclusi

Swedish native speakers (NSs) unconsciously use tones realized on word stems to predict upcoming suffixes during speech comprehension. The present response time study investigated whether relatively proficient second language (L2) learners of Swedish have acquired the underlying association between tones and suffixes without explicit instruction, internalizing a feature that is specific to their L

Purpose: To describe congenital stationary night blindness (CSNB) with negative electroretinogram, hypoplastic discs, nystagmus and thinning of the inner nuclear layer (INL). Methods: Retinal structure was analyzed qualitatively with spectral domain optical coherence tomography and wide field imaging. Retinal function was evaluated with full-field electroretinography (ffERG). Molecular genetic tes

Att färdas i mörker: insekters lösningar, vinster och kostnaderIn sin ständiga jakt på mat måste många insekter undvika att krocka med grenar, stenar och blad, samt färdas i en lämplig kompassriktning. Åtskilliga insekter använder sin syn för att kontrollera detta. En nektarsökande humla, till exempel, reglerar sin flyghastighet efter hur snabbt föremål i omgivningen rör sig över dess ögon. Denna Flying, as well as walking insects rely on vision to regulate locomotion, even in the dark when the visual system is much less reliable. To manage visual control of these behaviours at low light intensities, many insects have evolved optical adaptations, such as larger facet lenses and wider rhabdoms, and neural adaptations, such as spatial and temporal summation, to increase their visual sensitiv

The mRNA of human platelets has been extensively studied and it is generally appreciated that platelets contain mRNA transcripts derived from the megakaryocytes, and they have the ability to translate it into proteins. Additionally, platelets contain microRNA (miRNA) that has been shown to potentially regulate the translation of certain proteins. When quantifying gene expression by quantitative re

Background: As survival of children with CHD needing surgery has improved significantly, the need for follow-up in terms of health-related quality of life has become increasingly important. In this study, we sought to describe health-related quality of life in children with CHD in relation to cardiac surgery. Methods: A retrospective Swedish National Registry for Congenital Heart Disease survey me

Background: Placental malaria occurs when Plasmodium falciparum infected erythrocytes sequester in the placenta. Placental parasite isolates bind to chondroitin sulphate A (CSA) by expression of VAR2CSA on the surface of infected erythrocytes, but may sequester by other VAR2CSA mediated mechanisms, such as binding to immunoglobulins. Furthermore, other parasite antigens have been associated with p

Galactoglucomannan is the major hemicellulose in process water from thermomechanical pulping of spruce. The recovery of hemicelluloses from this process water would both reduce the load on pulp mill water treatment plants and yield a biopolymer suitable as a raw material for renewable products. One method of recovering these hemicelluloses is two-stage filtration employing microfiltration to remov

Objectives: Study formal and informal care of community-living older people in the Swedish National study of Aging and Care (SNAC). Design: Cross-sectional, population based cohort. Setting: Three areas in Sweden: Municipality of Nordanstig, Stockholm and Skåne County. Participants: 3,338 persons ≥72 years. Measurements: Patterns and amounts of informal and formal care by cognition and area of res

Objective: To investigate changes in maternal ECG ST index, blood pressure (BP), cardiac left ventricular (LV) ejection function and vascular tone/stiffness in large and small arteries occurring during elective cesarean section (CS) in spinal anesthesia. Material and methods: Twenty-six women were monitored with photoplethysmographic digital pulse wave (PW) analysis (DPA) before and after spinal a