This report addresses the related problems of trajectory generation and time-optimal path tracking with online obstacle avoidance. We consider the class of four-wheeled vehicles with independent steering and driving on each wheel, also referred to as pseudo-omnidirectional vehicles. Appropriate approximations of the dynamic model enable a convex reformulation of the path-tracking problem. Using th

Urban water scarcity is increasingly seen as a governance issue, not least in cities like Hyderabad, India, where the demand for urban water exceeds the available supply to the extent that some low priority areas in the city receive water for only a few hours on alternate days. Based on a multi-level perspective in transition studies, this study explores the major interplay between actors in the u

A major concern in common disease epigenomics is distinguishing causal from consequential epigenetic variation. One means of addressing this issue is to identify the temporal origins of epigenetic variants via longitudinal analyses. However, prospective birth-cohort studies are expensive and time consuming. Here, we report DNA methylomics of archived Guthrie cards for the retrospective longitudina

Laminar burning velocities, S-L, of methyl formate and air flames were determined at atmospheric pressure and initial gas temperatures, T, of 298, 318, 338 and 348 K. Measurements were performed in non-stretched flames, stabilized on a perforated plate burner at adiabatic conditions, generated using the heat flux method. These new experimental data shed light on discrepancies seen in previously pu

Detta är en pilotstudie som problematiserar vindkraftens regelverk i Sverige utifrån ett rättssociologiskt och planeringsjuridiskt perspektiv. Under hösten 2008 kom ett betänkande från miljöprocessutredningen gällande en effektivisering av prövning av vindkraft (SOU 2008:86). Bakgrunden var att krav på att en snabbare och enklare process från projektering till uppförande av vindkraftverk hade rest

Abstract in UndeterminedWe found that a large Swedish grocery retailer was missing a structured approach for deciding on contract type when procuring trucking services in shipper-forwarder relationships. In this context, we identified four contract types: dedicated services, periodical services, truckload services, and less-than-truckload services. From previous literature, we found that trucking

Context. The Galactic chemical evolution of sulphur is still under debate. At low metallicities some studies find no correlation between [S/Fe] and [Fe/H], which is typical for a-elements, while others find [S/Fe] increasing towards lower metallicities, and still others find a combination of the two. Each scenario has different implications for the Galactic chemical evolution of sulphur. Aims. The

Background: Chlamydia trachomatis is the most common cause of sexually transmitted infections globally and the leading cause of preventable blindness in the developing world. There are two biovariants of C trachomatis: 'trachoma', causing ocular and genital tract infections, and the invasive 'lymphogranuloma venereum' strains. Recently, a new variant of the genital tract C trachomatis emerged in S

The magnetorotational instability (MRI) drives magnetized turbulence in sufficiently ionized regions of protoplanetary disks, leading to mass accretion. The dissipation of the potential energy associated with this accretion determines the thermal structure of accreting regions. Until recently, the heating from the turbulence has only been treated in an azimuthally averaged sense, neglecting local

This paper makes a distinction between three theoretical frameworks that have been highly influential in the discourse on innovation, competitiveness and sustainability: sectoral systems of innovation (SSI), technological innovation systems (TIS) and socio-technical systems (ST-Systems). These frameworks share a common systems approach to innovation but are often positioned as different bodies of

Do individuals with higher levels of task-relevant cognitive resources gain more from training, or do they gain less? For episodic memory, empirical evidence is mixed. Here, we revisit this issue by applying structural equation models for capturing individual differences in change to data from 108 participants aged 9-12, 20-25, and 65-78 years. Participants learned and practiced an imagery-based m

Objective: To identify combinations of food groups that explain as much variation in absolute intakes of 23 key nutrients and food components as possible within the country-specific populations of the European Prospective Investigation into Cancer and Nutrition (EPIC). Subjects/Methods: The analysis covered single 24-h dietary recalls (24-HDR) from 36 034 subjects (13 025 men and 23 009 women), ag

Abstract in Undetermined This study used passive telemetry (passive integrated transponders) to evaluate winter migration in three species of cyprinids (roach (Rutilus rutilus (L.)), white bream (Blicca bjoerkna (L.)) and rudd (Scardinius erythrophthalmus (L.))) and their potential predators (pike (Esox lucius (L.)) and perch (Perca fluviatilis (L.))) between a shallow lake and its streams. Migrat

Background: Fluticasone furoate/vilanterol (FF/VI) is a novel once-daily (OD) inhaled corticosteroid/long-acting beta(2) agonist combination in development for chronic obstructive pulmonary disease (COPD) and asthma. Trial design: A multicentre, randomised, double-blind, parallel-group, placebo-controlled study. Methods: Participants were patients with moderate-to-severe COPD treated with placebo