This paper proposes a motion control scheme for robots operating in a dynamic environment with concave obstacles. A Model Predictive Controller (MPC) is constructed to drive the robot towards a goal position while ensuring collision avoidance without direct use of obstacle information in the optimization problem. This is achieved by guaranteeing tracking performance of an appropriately designed re

Cross-sections for the production of a Z boson in association with two photons are measured in proton–proton collisions at a centre-of-mass energy of 13 TeV. The data used correspond to an integrated luminosity of 139 fb - 1 recorded by the ATLAS experiment during Run 2 of the LHC. The measurements use the electron and muon decay channels of the Z boson, and a fiducial phase-space region where the

Results of a measurement of dimuon photoproduction in nonultraperipheral Pb + Pb collisions at √sNN = 5.02 TeV are presented. Themeasurement uses ATLAS data from the 2015 and 2018 Pb + Pb data-taking periods at the LHC with an integrated luminosity of 1.94 nb.1. The γγ → μ+ μ- pairs are identified via selections on pair momentum asymmetry and acoplanarity. Differential cross sections for dimuon pr

This paper presents direct searches for lepton flavour violation in Higgs boson decays, H → eτ and H → μτ, performed using data collected with the ATLAS detector at the LHC. The searches are based on a data sample of proton-proton collisions at a centre-of-mass energy s = 13 TeV, corresponding to an integrated luminosity of 138 fb −1. Leptonic (τ → ℓνℓ ντ) and hadronic (τ → hadrons ντ) decays of t

Background: Proton radiotherapy (RT) is an attractive tool to deliver local therapy with minimal dose to uninvolved tissue, however, not suitable for all patients. The aim was to explore complications, especially severe late complications (grades 3–4), following proton RT delivered to a complete Swedish cohort of paediatric patients aged

A search for a WZ resonance, in the fully leptonic final state (electrons or muons), is performed using 139 fb - 1 of data collected at a centre-of-mass energy of 13 TeV by the ATLAS detector at the Large Hadron Collider. The results are interpreted in terms of a singly charged Higgs boson of the Georgi–Machacek model, produced by WZ fusion, and of a Heavy Vector Triplet, with the resonance produc

The transverse-momentum (pT) spectra of K ∗(892)0 and ϕ(1020) measured with the ALICE detector up to pT = 16 GeV/c in the rapidity range - 1.2 < y< 0.3 , in p–Pb collisions at the center-of-mass energy per nucleon–nucleon collision sNN=5.02 TeV are presented as a function of charged particle multiplicity and rapidity. The measured pT distributions show a dependence on both multiplicity and rapidit

We study the polarization of inclusive J/ψ produced in Pb-Pb collisions at sNN=5.02 TeV at the LHC in the dimuon channel, via the measurement of the angular distribution of its decay products. We perform the study in the rapidity region 2.5

A study of multiplicity and pseudorapidity distributions of inclusive photons measured in pp and p–Pb collisions at a center-of-mass energy per nucleon–nucleon collision of sNN=5.02 TeV using the ALICE detector in the forward pseudorapidity region 2.3

Biomolecular radiation damage is largely mediated by radicals and low-energy electrons formed by water ionization rather than by direct ionization of biomolecules. It was speculated that such an extensive, localized water ionization can be caused by ultrafast processes following excitation by core-level ionization of hydrated metal ions. In this model, ions relax via a cascade of local Auger–Meitn

This article reports measurements of the angle between differently defined jet axes in pp collisions at s = 5.02 TeV carried out by the ALICE Collaboration. Charged particles at midrapidity are clustered into jets with resolution parameters R = 0.2 and 0.4. The jet axis, before and after Soft Drop grooming, is compared to the jet axis from the Winner-Takes-All (WTA) recombination scheme. The angle

Background: Successful radioiodine treatment of differentiated thyroid cancer requires iodine avidity: that is, the concentration and retention of iodine in cancer tissue. Several parameters have previously been linked with lower iodine avidity. However, a comprehensive analysis of which factors best predict iodine avidity status, and the magnitude of their impact, is lacking. Methods: Quantitativ

Defects in metal halide perovskites (MHP) are photosensitive, making the observer effect unavoidable when laser spectroscopy methods are applied. Photoluminescence (PL) bleaching and enhancement under light soaking and recovery in dark are examples of the transient phenomena that are consequent to the creation and healing of defects. Depending on the initial sample composition, environment, and ot

Purpose: This study aimed to assess the feasibility and short-term outcomes of different manufactured proximal and distal stent graft components during fenestrated endovascular aortic repair (FEVAR). Materials and methods: A multicenter retrospective review was conducted at 3 aortic centers, involving all consecutive patients who underwent FEVAR utilizing a customized Dacron-based tubular proximal

Scholars and practitioners are urgently highlighting the need to apply a relational approach to effectively address societal crises. At the same time, little is known about the associated challenges, and there is little advice regarding how to operationalize this approach in sustainability science. Against this background, this article explores how we can break out of our current paradigms and app

The short-time iterative adaptive approach is a spectral estimation alternative to the short-time Fourier transform for non-stationary vibration analysis. This technique offers a reduction in leakage effects and a higher resolution in exchange for a higher computational complexity. The short-time iterative adaptive approach can be summarized as a high-resolution data-dependent approach which has b

The initial Swedish discourse of transnational adoption as a win-win situation has changed over its more than 60-year-long history. This article aims to trace and present some themes in this history, with a particular focus on the public debate and the different narratives that representatives of the adoption triangle—the adoptees, the adoptive parents, and the biological parents—tell when dealing

Chemotherapy persists as the primary intervention for breast cancer, with chemoresistance posing the principal obstacle to successful treatment. Herein, we show that cartilage oligomeric matrix protein (COMP) expression leads to increased cancer cell survival and attenuated apoptosis under treatment with several chemotherapeutic drugs, anti-HER2 targeted treatment, and endocrine therapy in several

Complement activation protects against infection but also contributes to pathological mechanisms in a range of clinical conditions such as autoimmune diseases and transplant rejection. Complement-inhibitory drugs, either approved or in development, usually act systemically, thereby increasing the risk for infections. We therefore envisioned a novel class of bispecific antibodies (bsAbs) which are

Aqueous liquid suspensions of high aspect ratio 2D clay nanosheets were investigated using small angle X-ray scattering (SAXS). The high aspect ratio of synthetic fluorohectorite clays allows for investigation of liquid crystalline orientational order for relatively large nanosheet spacings, in the range which can produce structural coloration, thus providing two handles for determining the nanosh