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In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian reference of an impedance controller. Also, the conditions that ensure its convergence considering the dynamics of the robot were derived. Finally, an experimental evaluation was perfo
The concept of service user and other related concepts such as service user participation, service user influence and service user perspective have in recent decades gained increased importance in discussions about the development of social work practice, research and education. However, when these concepts are used, there is sometimes a lack of a well-thought-trough reflection on what is meant. W
The ability of people to act on their knowledge of their surrounding physical environments before, in response to, and after impactful climate-related hazards is shaped by broader environmental and socio-economic conditions. We present a multiple case study that illustrates how people from both non-Indigenous and Indigenous communities living in remote areas in the Nordic countries maintain and ad
An engineering model for estimating hot gas layer height is presented. The model is based on several sub-models, thus necessitating benchmarking against experimental data. Results from the model are compared to data from three different series of enclosure fire tests. The results indicate a strong correlation between the proposed model and the experimental observations, with an average error of leAn engineering model for estimating hot gas layer height is presented. The model is based on several sub-models, thus necessitating benchmarking against experimental data. Results from the model are compared to data from three different series of enclosure fire tests. The results indicate a strong correlation between the proposed model and the experimental observations, with an average error of le
Navigation performance in urban and large-scale built-up spaces (e.g. airports, train-stations, hospitals) depends on gradual environmental perception during locomotion, and spatial knowledge acquisition, update/integration at different times along a path. Rotational locomotion is regularly involved in everyday navigation; this, combined with the fact that people cannot perceive the whole of a lar
Key recommendationsPastureland restoration must be implemented to reduce dependency oncoping mechanisms such as emergency feeding, mechanized transport andintense workloads. These coping mechanisms are increasingly used to dealwith the cumulative effects of encroachments from competing land uses,predator pressure, and the impacts of climate change on snow conditions.Vigorous thinning of dense, man
BACKGROUND: Postural instability is considered a late complication of Parkinson’sdisease (PD). However, growing evidence shows that balance and gait problems mayoccur early in the disease.OBJECTIVE: To describe balance, gait, and falls/near falls in persons with newlydiagnosed, untreated PD (“de novo”), and to compare this with persons with mildmoderatePD (Later PD). In addition, we evaluated diffBackgroundPostural instability is considered a late complication of Parkinson’s disease (PD). However, growing evidence shows that balance and gait problems may occur early in the disease.ObjectiveTo describe balance, gait, and falls/near falls in persons with newly diagnosed, untreated PD (“de novo”), and to compare this with persons with mild-moderate PD (Later PD). In addition, we evaluated dif
This study investigates age-related biases in AI-generated art through a mixed method investigation of images of older and younger individuals. Employing 19 text prompts associated with social exclusion for older adults, we collected 465 images from an AI-art generator, MidJourney, and conducted quantitative and qualitative analyses to understand differences between age group depictions. We used A
En kulturhistorisk perspketivering med plagget Hawaiiskjortan i fokus. Dels beskrivs Hawaiiskjortan som sådan, historisk etablering, i ett internetaionellt såväl som inrikes svenskt läge; dels förs resonemang om Hawaiiskjortans symboliska och betydelseproducerande roll i populärkulturen (TV-serier, filmer, musik av olika slag).
The description of quantum transport in the strong system-reservoir coupling regime poses a significant theoretical and computational challenge that demands specialized tools for accurate analysis. RealTimeTransport is a new open-source C++ library that enables the computation of both stationary and transient transport observables for generic quantum systems connected to metallic reservoirs. It co
Scholarship on the Jovinianist controversy has shown that the idea of baptism as deeply transformative lay at the heart of Jovinian's thinking. Scholars have likewise held that Jerome, who through his Adversus Jovinianum is our main source to the ideas of Jovinian, did not acknowledge the ecclesiological concerns on which his opponent's argument was based. This article argues, to the contrary, tha
The European standard EN 17037 was first introduced in 2018 with the aim of encouraging building designers to ensure adequate daylight in buildings. Experience has shown that the standard’s criteria for daylight provision are generally perceived to be too challenging, and this in turn has hindered its implementation in national legislations. This article proposes a revised illuminance-based criter
Apicomplexan parasites move and actively enter host cells by substrate-dependent gliding motility, an unusual form of eukaryotic locomotion that differs fundamentally from the motility of prokaryotic and viral pathogens. Recent research has uncovered some of the cellular and molecular mechanisms underlying parasite motility, transmigration, and cell invasion during life cycle progression. The glid
This essay uses a microhistory of Chinese comfort women during the Asia-Pacific War to illuminate the gendered dynamics of violence and the contrasting emotions experienced by both sexually abused women and their Japanese perpetrators, forming a perpetrator-victim dyad. The essay employs the concept of intersectional emotions within a micro-historical framework to demonstrate that this violence ag
This article applies the history of emotions lens to study the emotions experienced by the ‘comfort women’ in the Japanese Empire. Emotions have been a long-neglected aspect in the study of military sexual violence. The article examines how a mélange of positive and negative emotions enabled those women to exercise some limited agency in a confined and tightly regulated space and, in some rare cas
This article explores the sociocultural history of opium consumption and its popularisation through the beauty of female attendants in Manchukuo, which was a crucial part of the Japanese Empire and an important ‘contact zone’ of diverse cultures. It offers a glimpse into the opium–prostitution nexus by exploring the legal, commercial, social, and cultural dimensions of the gendered and sexualised
