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Cartesian impedance control is a type of motion control strategy for robots that improves safety in partially unknown environments by achieving a compliant behavior of the robot with respect to its external forces. This compliant robot behavior has the added benefit of allowing physical human guidance of the robot. In this paper, we propose a C++ implementation of compliance control valid for any
Graphical poster summary of conference paper.
Mixed-effects models are used to describe the inter-patient variability in drugs. Modeling of these variabilities include both fixed and random effects. Fixed effects relate covariates such as age and weight to compartment volumes and clearances, whereas random effects account for unexplained variability. Traditionally, the development of fixed effects models is an inefficient process where covari
In the mining industry, flotation is a commonly used process to separate valuable minerals from waste rock in a concentrator. The rougher flotation is the first stage of the process and in Boliden AB’s concentrator at Aitik, it consists of two lines of four flotation cells each. In this paper we consider one line and the buffer tank upstream of it. Modeling this process step, and maintaining an up
In this paper, we investigate the problem of decoder error propagation for spatially coupled low-density parity-check (SC-LDPC) codes with sliding window decoding (SWD). This problem typically manifests itself at signal-to-noise ratios (SNRs) close to capacity under low-latency operating conditions. In this case, infrequent but severe decoder error propagation can sometimes occur. To help understa
Clustering multiple motions from observed point trajectories is a fundamental task in understanding dynamic scenes. Most motion models require multiple tracks to estimate their parameters, hence identifying clusters when multiple motions are observed is a very challenging task. This is even aggravated for high-dimensional motion models. The starting point of our work is that this high-dimensionali
Manual gestures and speech form a single integrated system during nativelanguage comprehension. However, it remains unclear whether this hold forsecond language (L2) comprehension, more specifically for simultaneousinterpreting (SI), which involves comprehension in one language and simultaneousproduction in another. In a combined mismatch and priming paradigm,we presented Swedish speakers fluent i
Efficiently finding covariate model structures that minimize the need for random effects to describe pharmacological data is challenging. The standard approach focuses on identification of relevant covariates, and present methodology lacks tools for automatic identification of covariate model structures. Although neural networks could potentially be used to approximate covariate-parameter relation
We consider distributed consensus in networks where the agents have integrator dynamics of order two or higher (n≥2). We assume all feedback to be localized in the sense that each agent has a bounded number of neighbors and consider a scaling of the network through the addition of agents in a modular manner, i.e., without re-tuning controller gains upon addition. We show that standard consensus al
The efficiency with which flying animals convert metabolic power to mechanical power dictates an individual's flight behaviour and energy requirements. Despite the significance of this parameter, we lack empirical data on conversion efficiency for most species as in vivo measurements are notoriously difficult to obtain. Furthermore, conversion efficiency is often assumed to be constant across flig
Shape control strategies seek to bring deformable objects towards a desired target shape. However, conventional methods focus on reaching the target shape without considering the extent to which the object is deformed during the control process. Control actions may generate unnecessary deformations and thus, increase the possibility of object over-stressing and failure. In this letter, we tackle t
Closed-loop motion planning is suitable for obstacle avoidance in dynamically changing environments due to its reactive nature, and various methods have been presented to provide (almost) global convergence. A common assumption in the control design is that the robot operates in a disjoint star world, i.e., all obstacles are strictly starshaped and mutually disjoint. However, in real-life scenario
Background: Estimating excess mortality and years of life lost (YLL) attributed to coronavirus disease 19 (COVID-19) infection provides a comprehensive picture of the mortality burden on society. We aimed to estimate the impact of the COVID-19 pandemic on age- and sex-specific excess mortality and YLL in Sweden during the first 17 months of the pandemic. Methods: In this population-based observati
Control systems are ubiquitous and often at the core of Cyber-Physical Systems, like cars and aeroplanes. They are implemented as embedded software, that interacts in closed loop with the physical world through sensors and actuators. As a consequence, the software cannot just be tested in isolation. To close the loop in a testing environment and root causing failure generated by different parts of
Background Additional to a child's genetic inheritance, environmental exposures are associated with schizophrenia. Many are broadly described as childhood adversity; modelling the combined impact of these is complex. We aimed to develop and validate a scale on childhood adversity, independent of genetic and other environmental liabilities, for use in schizophrenia risk analysis models, using data
In this chapter, we explore mathematical tools for assessing the stability, convergence, and boundedness of trajectories in generally nonlinear dynamical systems. We delve into the seminal theorems introduced by A. Lyapunov which are primarily concerned with the stability of equilibrium points. The chapter progresses to discuss the extension of Lyapunov's Theory, due to LaSalle, aimed at assessing
