Automated task planning for robots is usually implemented on a motion primitive domain, where the focus is on constructing meaningful, general motion primitives. In this work we propose planning on the higher abstraction level of robot skills. In this context, skills are general, functional blocks that contain both sensing and action, have a welldefined expected outcome and set of preconditions, a

Candida antarctica lipase B (CalB) was efficiently expressed (6.2 g L-1) in Escherichia coli by utilizing an N-terminal tag cassette and the XylS/Pm expression system in a fed-batch bioreactor; subsequent direct binding to EziG from crude extracts resulted in an immobilized catalyst with superior activity to Novozym 435.

I lite drygt ett århundrade gestaltade den svenska värnplikten värderingar som jämlikhet, solidaritet och idén om att man skulle ”göra sin plikt och kräva sin rätt”. Värnplikten började som en rekryteringsmodell 1901, men förvandlades under 1900-talet till en institution i sin egen rätt: uppskattad av pliktskyldiga, Försvarsmakten, samhället, Högern och Vänstern. När det kalla kriget tog slut påböFor little more than a century military service enacted Swedish values of equality, solidarity and doing one's part for the public good. What started out at as mere military recruitment policy in 1901 developed into an institutional feature of Swedish society: appreciated by society, the conscripts, the Armed Forces and by political parties to the left and the right. In a pursuit to preserve milit

A convenient mapping and an efficient algorithm for solving scheduling problems within the neural network paradigm is presented. It is based on a reduced encoding scheme and a mean field annealing prescription which was recently successfully applied to TSP.Most scheduling problems are characterized by a set of hard and soft constraints. The prime target of this work is the hard constraints. In thi

Bosonic strings can be discretized in terms of dynamically triangulatedrandom surfaces. We investigate the possibility of introducing fermionicdegrees of freedom on the surface in terms of Ising spins, which in twodimensions correspond to Majorana fermions. Critical properties of themodel are estimated using finite-size scaling methods.

Profound changes in both marine and terrestrial biota during the end-Triassic mass extinction event and associated successive carbon cycle perturbations across the Triassic-Jurassic boundary (T-J, 201.3 Ma) have primarily been attributed to volcanic emissions from the Central Atlantic Magmatic Province and/or injection of methane. Here we present a new extended organic carbon isotope record from a

We investigate theoretically a Mach-Zehnder interferometer driven by a time-dependent voltage. Motivated by recent experiments, we focus on a train of Lorentzian voltage pulses which we compare to a sinusoidal and a constant voltage. We discuss the visibilities of Aharonov-Bohm oscillations in the current and in the noise. For the current, we find a strikingly different behavior in the driven as c

At the Large Hadron Collider, we prove the feasibility to detect pair production of the lightest CP-even Higgs boson h of Type II 2-Higgs Doublet Models through qq (′) qq (′)hh (vector-boson fusion). We also show that, through the hh 4b decay channel in presence of heavy-flavour tagging, further exploiting forward/backward jet sampling, one has direct access to the λ Hhh triple Higgs coupling - wh

The color structure needed for resummation of all colored 2 -> 3 processes is calculated using multiplet inspired s-channel bases. In this way the resulting matrices, describing the color structure, are guaranteed to obey simplifying symmetries.