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We consider the problem of trajectory generation for time-optimal path tracking for the class of pseudo-omnidirectional mobile robots. An Euler-Lagrange model of the robot dynamics is derived, and by writing it on special form a convex reformulation of the path-tracking problem can be utilized. This enables the use and regeneration of time-optimal trajectories during runtime. The proposed approach
The reliability of radiation dose estimates in internal radionuclide therapy is directly related to the accuracy of activity estimates obtained at each imaging time point. The recently published MIRD pamphlet no. 23 provided a general overview of quantitative SPECT imaging for dosimetry. The present document is the first in a series of isotope-specific guidelines that will follow MIRD 23 and focus
In this paper the Dirichlet problem for a class of standard weighted Laplace operators in the upper half plane is solved by means of a counterpart of the classical Poisson integral formula. Boundary limits and representations of the associated solutions are studied within a framework of weighted spaces of distributions. Special attention is given to the development of a, suitable uniqueness theory
For optimizing and evaluating image quality in medical imaging, one can use visual grading experiments, where observers rate some aspect of image quality on an ordinal scale. To analyze the grading data, several regression methods are available, and this study aimed at empirically comparing such techniques, in particular when including random effects in the models, which is appropriate for observe
A common approach for the computational modeling of enzyme reactions is to study a rather small model of the active site (20-200 atoms) with quantum mechanical (QM) methods, modeling the rest of the surroundings by a featureless continuum with a dielectric constant of approximately 4. In this paper, we discuss how the residues included in the QM model should be selected and how many residues need
Control allocation problems, in which optimal actuator values are assigned based on desired control actions and actuator constraints, are typically formulated as constrained optimization problems. Initially, only approximate solutions to the problems were deemed tractable for real-time applications. Recently however, active set algorithms have been identified as a means for solving control allocat
This paper presents the development of a character activation time prediction model for tongue-typing. This model is based on a modification of Fitts's law that is more suitable for tip-of-tongue selectivity tasks around the palatal area. The model was trained and evaluated with data from tongue-selectivity experiments using an inductive tongue-computer interface. It takes into account the movemen
We review some recent results on the exact asymptotics of the components in the inhomogeneous random graph models of rank 1. We discuss the relevance of these results to the analysis of random walk on random graphs.
An experimental study of nuclear reactions between Si-28 nuclei at 200 and 300 MeV/nucleon and hydrogen or deuterium target nuclei was performed at the CELSIUS storage ring in Uppsala, Sweden, to collect information about the reactions responsible for single-event effects in microelectronics. Inclusive data on Si-28 fragmentation, as well as data on correlations between recoils and spectator proto
The purpose of this study was to develop multimodality SPECT/MRI contrast agents for sentinel lymph node (SLN) mapping in vivo. METHODS: Nanoparticles with a solid iron oxide core and a polyethylene glycol coating were labeled with (99m)Tc. The labeling efficiency was determined with instant thin-layer chromatography and magnetic separation. The stability of the radiolabeled superparamagnetic iron
The beams extracted from thermal neutron sources such as nuclear reactors are monochromatised by Bragg diffraction using imperfect single crystals with an angular mosaic spread of typically 0.2-0.8 degrees. For neutron wavelengths below 1.5 angstrom, the highest reflectivity of all crystalline materials is expected for diamond. Nowadays diamond single crystals with an appropriate mosaic spread exc
Background: Although widely used, the validity and reliability of the Clavien classification of postoperative complications have not been tested in urologic procedures, such as percutaneous nephrolithotomy (PCNL). Objective: To validate the Clavien score and categorise complications of PCNL. Design, setting, and participants: Data for 528 patients with complications after PCNL were used to create
The objective of this paper is to analyse the Constructive Dialogue, an initiative for collaborative and integrated urban governance for a sustainable built environment. The dialogue processes, implemented in six Swedish cities in 2004-2009, involved various actors and many types of initiative. Designed as a meta-analysis based on existing evaluations and supplementary interviews, this study exami
Landing from a jump is related to predictive sensorimotor control. Frontal, central and parietal brain areas are known to play a role in this process based on online sensory feedback. This can be measured by EEG. However, there is only limited knowledge about brain activity during predictive preparation for drop landings (DL). The purpose is to demonstrate changes in brain activity in preparation
This guideline for the investigation and initial treatment of atypical hemolytic uremic syndrome (HUS) is intended to offer an approach based on opinion, as evidence is lacking. It builds on the current ability to identify the etiology of specific diagnostic sub-groups of HUS. HUS in children is mostly due to infection, enterohemorrhagic Escherichia coli (EHEC), Shigella dysenteriae type 1 in some
The aim was to explore patients' experiences of information and their information needs after discharge for colorectal cancer surgery.
Varumärket är idag att betrakta som en självständig tillgång av stor ekonomisk betydelse för sin innehavare. Dess värde är i stor utsträckning frikopplat från de produkter märket används för, ett faktum som bl. a. yttrar sig i att varumärkeslicensiering blir allt vanligare. Samtidigt är konkurrensen mellan olika budskap på dagens marknad mycket stor. Det ökar frestelsen att i marknadsföring anknyt
The work towards a uniform system within the EU on how to handle international insolvency proceedings has taken more than 37 years. The council regulation on insolvency proceedings, adopted on May the 29th 2000, seeks to create a basis for mutual recognition of insolvency proceedings, to clarify which national rules apply to different issues within these proceedings and to give the liquidator inte
Den 1 januari 2006 infördes nya 3:12-regler. Dessa regler avgör hur mycket en delägare i ett fåmansföretag kan ta ut som kapitalbeskattad utdelning och hur stor tjänstebeskattad lön han är tvungen att ta ut. Eftersom skatten är lägre på kapitalbeskattad inkomst än på tjänstebeskattad lön behövs regler som förhindrar fåmansföretagsägare att ta ut all sin inkomst som kapitalbeskattad utdelning. Risk
