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

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

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

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

Use of a highly sensitive, selective capacitive biosensor is reported for label-free, real-time, easy and rapid detection of trypsin by using the microcontact imprinting method. Real-time trypsin detection was performed with trypsin-imprinted (trypsin-MIP) capacitive electrodes using standard trypsin solutions in the concentration range of 1.0×10−13–1.0×10−7 M with a detection limit of 3.0×10−13 M

Provupparbetning är ett viktigt steg i många metoder för kemisk analys.Detta gäller framförallt fasta prover då de kemiska ämnena som avses för analys, även kallade analyter, måste extraheras ut. Det vill säga att genomföra en överföring av analyter från provet till ett lösningsmedel. Därefter kan halten bestämmas med de metoder som ofta finns till hands i ett analyslaboratorium. I de fall då fettSupercritical fluid extraction is an extraction technique suitable for lipophilic compounds from solid samples. Most commonly supercritical carbon dioxide is the main component in the extraction phase, rendering the technique relatively environmentally benign. The extraction technique is rapid due to the low viscosity and the high diffusivity of analytes in the supercritical extraction phase.The s

The τ-phase MnAl alloys are promising candidate for rare earth free permanent magnets. In this study, In order to better understand the MnAl ε→τ phase transition mechanism in a continuous cooling process and metastable MnAl τ-phase high temperature stability, Mn0.54Al0.46, Mn0.55Al0.45C0.02 and Mn0.55Al0.45B0.02 alloys were systematically studied by in situ synchrotron X-ray powder diffraction (SR

This work treats the estimation of chroma features for harmonic audio signals using a sparse reconstruction framework. Chroma has been used for decades as a key tool in audio analysis, and is typically formed using a periodogram-based approach that maps the fundamental frequency of a musical tone to its corresponding chroma. Such an approach often leads to problems with tone ambiguity. We address

Laminar burning velocities of n-decane and binary kerosene surrogate mixture consisting of n-decane (80%) and benzene (20%) by liquid volume were determined at atmospheric pressure and initial gas temperatures of 338 and 358 K. The heat flux method was employed to measure the burning velocity in non-stretched flames and three kinetic mechanisms were used to simulate the results: JetSurF 2.0, and t

BackgroundPretreatment is an important step in the production of ethanol from lignocellulosic material. Using acetic acid together with steam pretreatment allows the positive effects of an acid catalyst to be retained, while avoiding the negative environmental effects associated with sulphuric acid. Acetic acid is also formed during the pretreatment and hydrolysis of hemicellulose, and is a known

Reducing costs and improvement of product quality are considered important to ensure productivity within a company. Quality deviations during production processes and ergonomics have previously shown to be associated. This study explored the relationship between physical workload and real (found during production processes) and potential (need of extra time and assistance to complete tasks) qualit

The thermal stability and the structural evolution of graphene grown on Fe(110) has been studied upon annealing in ultra-high vacuum conditions (UHV, P ≤ 10−9 mbar) and in the presence of gaseous ethylene at a pressure of ∼10−6 mbar by grazing incidence X-ray diffraction. It was observed that upon annealing at temperatures below 630 °C, graphene on Fe is thermally stable. Exposure to ethylene at t

Background: Lesions in the meniscus are risk factors for developing knee osteoarthritis (OA), not least because of the role of the meniscus in the pathological progression of OA. Delayed gadolinium enhanced MRI of cartilage (dGEMRIC) has extensively been used to identify pre-radiographic cartilage changes in OA. In contrast, its counterpart with regard to examination of the meniscus, gadolinium en

The kinetics for manganese-catalyzed autoxidation of sulfur(IV) (SO2.nH2O, HSO3-, SO32-) in aqueous solution has been studied spectrophotometrically at 25-degrees-C, 1 < pH < 4, [S(IV)] almost-equal-to 2.3 X 10(-5) M, 1 X 10(-6) M less-than-or-equal-to [Mn(II)] less-than-or-equal-to 1.5 X 10(-3) M, [Mn(III)] less-than-or-equal-to 4 X 10(-8) M, [O2] almost 2.5 X 10(-4) M, and low ionic strength. In

The overall kinetics for manganese(II/III) catalyzed autoxidation of dissolved sulfur dioxide has been studied by UV-vis spectrophotometry. A free-radical mechanism has been proposed, and the rate constant for one of the key reactions between manganese(II) and peroxomonosulfate has been determined by pulse radiolysis. Previous literature on manganese catalyzed autoxidation of SO2(aq) has been thor