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In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian reference of an impedance controller. Also, the conditions that ensure its convergence considering the dynamics of the robot were derived. Finally, an experimental evaluation was perfo
The built environment is still, to a large extent, not accessible and usable for all. The awareness of people's different conditions and abilities sometimes seems to be far from the agenda for planning and architecture. Universal Desing (UD) is pointed out as a strategy to achieve a built environment for all people regardless of age and abilities. UD has a radical potential to bring about change a
We prove linear convergence for a new family of modified Dirichlet–Neumann methods applied to quasilinear parabolic equations, as well as the convergence of the Robin–Robin method. Such nonoverlapping domain decomposition methods are commonly employed for the parallelization of partial differential equation solvers. Convergence has been extensively studied for elliptic equations, but in the case o
We consider the Boussinesq equation on the line for a broad class of Schwartz initial data for which (i) no solitons are present, (ii) the spectral functions have generic behavior near \pm1, and (iii) the solution exists globally. In a recent work, we identified 10 main sectors describing the asymptotic behavior of the solution, and for each of these sectors we gave an exact expression for the lea
Constructed with used plastic bottles, the eco-cooler has been widely adopted in resource-poor communities in Bangladesh and other countries. We tested the eco-cooler under controlled conditions using a scientific wind tunnel in a climatic chamber. In our tests, we used seven eco-cooler designs in 27 climate conditions typical of Bangladesh (temperatures of 40 °C, 35 °C, and 30 °C; humidity levels
Demand responsive transport (DRT) is an intermediate form of public transport which is provided based on users’ demand. The study explores the potential of DRT for meeting young people’s travel needs, focusing on school and leisure journeys. Our results, building on a survey study in Sweden, suggest that DRT services offering a door-to-door journey and the flexibility of pick-up times could be com
Buildings of all types are increasingly becoming complex ‘systems of systems.’ They are subject to evolving societal objectives, new and innovative materials, and in many countries, regulatory ecosystems are having difficulty keeping pace with rapidly changing societal, environmental and technological changes. Two evolving objectives that are stimulating changes to buildings and communities are th
Joint diagonalization of collections of matrices, i.e. the problem of finding a joint set of approximate eigenvectors, is an important problem that appears in many applicative contexts. It is commonly formulated as finding the minimizer, over the set of all possible bases, for a certain non-convex functional that measures the size of off-diagonal elements. Many approaches have been studied in the
We study the problem of obtaining lower bounds for polynomial calculus (PC) and polynomial calculus resolution (PCR) on proof degree, and hence by [Impagliazzo et al.'99] also on proof size. [Alekhnovich and Razborov'03] established that if the clause-variable incidence graph of a conjunctive normal form (CNF) formula F is a good enough expander, then proving that F is unsatisfiable requires high
BACKGROUND: School principals face a demanding work situation that puts them at risk for stress-related poor mental health. Ideally, preventive actions should be based on knowledge about the underlying notions that motivate action. However, knowledge about prevention areas and suitable initiatives for school principals is scarce or lacking, leaving key stakeholders without the overview necessary f
Aim: To audit adherence to the Swedish paediatric guidelines for urinary tract infections (UTIs) in infants. Secondary objectives were to compare findings on imaging performed according to the guidelines with imaging without guideline support and to identify predictors of non-adherence. Methods: A prospective multicentre study of infants <1 year treated at paediatric hospitals for their first UTI.
Det uppdaterade Öresundsavtalet mellan Sverige och Danmark markerar en modernisering av det tidigare avtalets regler i en tid präglad av förändrade arbetsmönster. Avtalet, som inkluderar både privat- och offentliganställda, syftar till att förenkla beskattning för gränspendlare och arbetsgivare. Tillsammans med Öresundsöverenskommelsen som reglerar socialförsäkringstillhörighet förläggs beskattnin
Despite the overall rapid economical development during the last decade in China, a number of regions in remote areas are still striving to alleviate poverty. These regions are commonly characterized by low level of industrialization, poorly developed agriculture, which almost entirely relies on climate situations. Water has often been a bottle-neck in the development of the agricultural, industri
In this work, we consider the problem of localizing multiple signal sources based on time-difference of arrival (TDOA) measurements. In the blind setting, in which the source signals are not known, the localization task is challenging due to the data association problem. That is, it is not known which of the TDOA measurements correspond to the same source. Herein, we propose to perform joint local
A new approach for one‐stage facile membrane modification during non‐solvent induced phase separation (NIPS)‐process is proposed. The novelty of this study is that cheap and commercially available anionic high molecular polyacrylamide‐based flocculant (AHMPF) is applied for the first time as an additive to coagulation bath (CB). The series of polyethersulfone membranes were prepared using 0.05–0.3
The existing models for the conversion and design of polymer gears are only valid for involute gears. This research was focused on S-gears, a specific type of gear profile which has more favorable contact conditions and greater root thickness when compared to involute gears. S-gears design is currently based on tests, experience, and the use of numerical simulations. Due to the lack of a simple ca
We study the problem of obtaining lower bounds for polynomial calculus (PC) and polynomial calculus resolution (PCR) on proof degree, and hence by [Impagliazzo et al. '99] also on proof size. [Alekhnovich and Razborov'03] established that if the clause-variable incidence graph of a CNF formula F is a good enough expander, then proving that F is unsatisfiable requires high PC/PCR degree. We further
