This paper deals with the construction and orbital stabilization of periodic solutions for a particular underactuated mechanical system with 2 degrees of freedom, the Furuta pendulum. It is shown that if a desired periodic motion is described by constraints imposed on the total energy of the system and on the value of the directly actuated variable, then this periodic motion can be constructed and

Popular Abstract in Swedish Gamla människor har ökad känslighet för vätske- och blodförlust vilket indikerar ett generellt försämrat försvar vid tillstånd med nedsatt blodvolym i kärlsystemet (hypovolemi). Det medverkar sannolikt till en ökad kardiovaskulär morbiditet och mortalitet. De första tre artiklarna i föreliggande avhandling studerar de bakomliggande orsakerna, i förhoppning att en ökad fAged subjects have a decreased tolerance to hypovolemia, which could contribute to their increased cardiovascular morbidity. One possible etiological factor might be an age-related reduction in the efficiency of the baroreceptor reflex axis. In this study lower body negative pressure (LBNP) was used as a model for hypovolemic circulatory stress, and volumetric techniques applied for the study of p

Denna bok handlar om den aktuella genren kriminallitteratur. Den inleds med en litteraturhistorisk del, där den internationella respektive den svenska deckarhistorien och detektivgestaltens utveckling presenteras. En andra behandlar dels vad som brukar betraktas som de viktigaste eller mest särpräglade subgenrerna inom kriminallitteraturen; nämligen pusseldeckaren, den hårdkokta deckaren, polisrom

Halldenius argues that we should regard Mary Wollstonecraft as a feminist republican, drawing out the implications of reading her in that way for the meaning and role of freedom in Wollstonecraft’s philosophy. Her republicanism directs our attention to the fact that freedom for Wollstonecraft is conceptualized in terms of independence, importantly in two analytically distinct yet heavily interdepe

The major input signals entering the PID controller are; the setpoint, the process output, and measurable load disturbances. By feeding these signals through suitable filters, the properties of the feedback loop can be improved significantly. This presentation will treat setpoint handling, feedforward from load disturbances, TITO (two input two output) control, noise filtering, and process dynamic

Popular Abstract in Swedish MHC upptäcktes för 60 år sedan då George Snell konstaterade att möss som var genetiskt lika inte stötte bort transplanterad hud medan genetiskt olika möss gjorde det. Men det var inte förrän långt senare som man insåg vilken roll som MHC spelar i immunförsvaret hos alla vertebrater. Sedan ett par decennier tillbaka är detta ett välstuderat område speciellt hos människanIn birds the major histocompatibility complex (MHC) organization differs both among and within orders. Galliformes often have simple arrangements with few transcribed MHC genes whilst many songbirds (Passeriformes) have a complex arrangement with many MHC genes and also presence of pseudo-genes. In this thesis I have partly characterized MHC class I in house sparrows (Passer domesticus), sequencin

A cell is constantly subjected to cues from its surroundings in the form of signalling molecules e.g. Wingless (Wg), Insulin-like growth factor (IGF). As a result, important decisions regarding processes like growth, division, differentiation or migration are made. The work presented here attempts to characterise a cell-surface molecule in Drosophila that helps in the reception of some of these si

Popular Abstract in Swedish Artrit karakteriseras av svullnad och värk i leder, ledförstöring och bindvävsförstoring. Denna binvävsförstoring kallas för Pannus och är en förtjockning av det normalt förekommande synovial membranet i en led. Normalt är synovial membranets uppgift att ge näring åt det intilliggande brosket som inte självt har någon blodförsörjning. Synovial membranet innehåller ocksåRheumatoid arthritis is a chronic, inflammatory and systemic disease characterised by joint destruction and pannus formation. To enlarge the understanding how pannus and granulation tissue are formed two animal models were used; one using cartilage wrapped in cotton and implanted into a rat air pouch (AP) and one where mBSA induced arthritis (AIA) was performed. Cell cultures from synovial specime

A new construction combining low-density parity-check (LDPC) convolutional codes with multilevel coding/modulation is suggested and analyzed. For the case of QPSK and transmission over the additive white Gaussian noise (AWGN) channel, it is demonstrated that it performs better than an LDPC convolutional code with conventional Gray mapping.