The paper presents a new family of controllers for swinging up a pendulum. The swinging up of the pendulum is derived from physical arguments based on two ideas: shaping the Hamiltonian for a system without damping; and providing damping or energy pumping in relevant regions of the state space. A family of simple smooth controllers without switches with nice properties is obtained. The main result

We studied the incidence and characteristics of surgically treated sternocutaneous fistulas in a nationwide cohort of patients undergoing open heart surgery in Iceland. Between 2000 and 2010, sternocutaneous fistulas were treated surgically in 6 out of 2446 patients undergoing open heart surgery (incidence 0.25%, 95% confidence interval 0.11-0.53%). All patients were male, with a mean age of 71 +/

OBJECTIVE-Previous studies have suggested that preterm birth is associated with diabetes later in life. These studies have shown inconsistent results for late preterm births and have had various limitations, including the inability to evaluate diabetic outpatients or to estimate risk across the full range of gestational ages. Our objective was to determine whether preterm birth is associated with

Despite increasing knowledge of attention deficit hyperactivity disorder (ADHD) across the life span, there is still little research on adults' own experiences of being diagnosed with ADHD. The aim of the present study was to explore and describe patients' experiences and perceptions of being diagnosed with ADHD in adulthood. The study can be seen as an attempt to validate the diagnosis from a pat

Background Protein 4.1R is an important component of die red cell membrane skeleton. It imparts structural integrity and has transmembrane signaling roles by direct interactions with transmembrane proteins and other membrane skeletal components, notably p55 and calmodulin. Design and Methods Spontaneous and ligation-induced phosphatidylserine exposure on erythrocytes from two patients with 4.1R de

Popular Abstract in Swedish Denna avhandling har fokus på arbetsrehabilitering för personer som är sjukskrivna eller riskerar att bli det. För dem som blir sjukskrivna kan det bli aktuellt med arbetsrehabilitering. Första steget i en sådan är att utreda individens arbetsförmåga. Utredningen ligger sedan till grund för val av fortsatta åtgärder, för utvärdering av rehabiliteringen samt i vissa falThe overall aim of this thesis was to contribute to the development of new instruments for use in work rehabilitation contexts and to investigate whether clients’ perceptions of their work environment changed while participating in a work rehabilitation programme, as well as how they perceived the programme. The work rehabilitation in focus was the Redesigning Daily Occupations (ReDO) programme. T

Background and Aims Organisms may be polymorphic within natural populations, but often the significance and genetic background to such polymorphism is not known. To understand the colour polymorphism expressed in the diploid marsh-orchids Dactylorhiza incarnata, morphological, habitat and genetic differentiation was studied in mixed populations on the island of Gotland, supplemented with genetic m

Two patients in the final stage of dementia of Alzheimer type were stimulated with music, touch and object presentation during 12 consecutive days (16 trials per patient). Evaluations were made by direct observations, analysis of video-taped recordings and registrations of pulse and rate of respiration. Both patients reacted differently to music than to touch and object presentation. (C) 2003 Publ

For a number of applications, gluten protein polymer structures are of the highest importance in determining end-use properties. The present article focuses on gluten protein structures in the wheat grain, genotype- and environment-related changes, protein structures in various applications, and their impact on quality. Protein structures in mature wheat grain or flour are strongly related to end-

Esters of phosphoric acid constitute a sizable fraction of the total phosphorus supply in the environment and thus play an important role in the global phosphorus cycle. Enzymatic hydrolysis of these esters to produce orthophosphate is often a required reaction preceding phosphorus uptake by plants and microorganisms. Generally, adsorption to environmental particles is assumed to limit this proces

The two-body photodisintegration of He-3 has been investigated using tagged photons with energies from 14-31 MeV at MAX-lab in Lund, Sweden. The two-body breakup channel was unambiguously identified by the (nonsimultaneous) detection of both protons and deuterons. This approach was made feasible by the overdetermined kinematic situation afforded by the tagged-photon technique. Proton-and deuteron-

In this paper we investigate the problem of embedding a number of points given certain (but typically not all) inter-pair distance measurements. This problem is relevant for multi-dimensional scaling problems with missing data, and is applicable within anchor-free sensor network node calibration and anchor-free node localization using radio or sound TOA measurements. There are also applications wi

The pseudorapidity density and multiplicity distribution of charged particles produced in proton-proton collisions at the LHC, at a centre-of-mass energy root s = 7 TeV, were measured in the central pseudorapidity region vertical bar eta vertical bar < 1. Comparisons are made with previous measurements at root s = 0.9 TeV and 2.36 TeV. At root s = 7 TeV, for events with at least one charged partic

The aim of this study was to evaluate the consequences on the physical workload of new solutions in the forklift cab environment for the driver by quantifying the physical workload on the neck, shoulders, arms and wrists as an effect of steering systems. Twelve male subjects conducted identical test cycles with three types of steering: normal, tilted and miniature. The physical load on the drivers

Triplefin fishes reach their greatest diversity in New Zealand with 26 endemic species, and habitat diversification has been implicated as a key factor in the divergence of this group. Despite this, it is unknown whether species-specific habitat patterns in these sympatric fishes are established by passive processes (e.g. differential mortality) or by habitat selection during settlement. We invest

This paper outlines some recent advances in the full-field experimental characterisation of the mechanics of granular geomaterials (in particular, sands) using a range of methods that provide characterisation at different scales, from the sample-scale down to the inter- and intra-grain scale. The techniques used are “full-field” approaches involving in-situ x-ray micro-tomography, 3D-volumetric di

We show an O^*(2^k)-time polynomial space algorithm for the k-sized Graph Motif problem. We also introduce a new optimization variant of the problem, called Closest Graph Motif and solve it within the same time bound. The Closest Graph Motif problem encompasses several previously studied optimization variants, like Maximum Graph Motif, Min-Substitute, and Min-Add. Moreover, we provide a piece of e

It is well established that female choice may lead to sexual selection on quality-revealing ornaments in males. However, in many species, both sexes display conspicuous characters, which may reflect individual quality and condition. We examined the correlations between measures of individual condition, reproductive performance and variation in size and whiteness of white wing patches in both sexes