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This paper presents theoretical and experimentalresults on observer-based impedance control for forcecontrol without velocity feedback. As the velocity may notavailable to measurement, which is often the case for industrialrobots, an observer was designed to reconstruct velocityin such a way that it be useful for stabilizing feedbackcontrol and to modification of the damping in the impedancerelati
Organisms present a series of cellular mechanisms to avoid the effects of toxic compounds. Such mechanisms include the increase in activity of detoxification enzymes [e.g., 7-ethoxyresorufin-O-deethylase (EROD) and glutathione S-transferase (GST)I, which could explain the low retention of ingested toxins generally observed in copepods. In addition, decreasing gross growth efficiency (GGE) of copep
Some diseases are more frightening than others to patients and every culture or society has its own most dreaded disease(s). In some previous studies it has been shown that the fears of the patients sometimes have their roots in events in family history. In this qualitative study fourteen men and women aged 66-83 years, all of whom were primary care patients were interviewed with regard to their f
We used the open-channel blocker, penicillin (10 mM), as a tool to investigate if the human α1β1 or α1β1γ2S γ-aminobutyric acid type A (GABAA) receptor channels opened in the absence of GABA. Application of penicillin to cells expressing the receptors resulted in a transient inward whole-cell current, the off-current, upon penicillin removal. The amplitude of the off-current was dependent on the d
We study the structure of nuclei in the energy region between the ground state and the neutron separation energy, here called warm nuclei. The onset of chaos in the nucleus as excitation energy is increased is briefly reviewed. Chaos implies fluctuations of energies and wave functions qualitatively the same for all chaotic nuclei. On the other hand, large structure effects are seen, e.g. in the le
Abstract is not available
In the era of genome-wide association studies, familial risks are used to estimate disease heritability and success in gene identification. We wanted to estimate associations between type 1 diabetes mellitus and 33 autoimmune and related diseases in parents, offspring, singleton siblings and twins. The availability of a Multigeneration Register in Sweden provides reliable access to families throug
Immune system components differ in their functions and costs, and immune defense profiles are likely to vary among species with differing ecologies. We compared adaptive immune defenses in two closely related species that have contrasting inflammatory immune responses, the widespread and abundant house sparrow (Passer domesticus) and the less abundant tree sparrow (Passer montanus). We found that
In order to explain recent photofragmentation experiments of hydrogen peroxide, the vertical excitation energies, potential-energy curves and surfaces, harmonic vibrational frequencies, and transition moments for a number of low lying excited states were calculated. The accessibility of different photodissociation channels for different excitation wavelengths was discussed, on the basis of the cal
We examined the association between self-reported consumption of fruits and vegetables and prostate cancer risk in the European Prospective Investigation into Cancer and Nutrition (EPIC). Data on food consumption and complete follow-up for cancer incidence were available for 130,544 men in 7 countries recruited into EPIC between 1993 and 1999. After an average of 4.8 years of follow-up, there were
Aim: The femoral artery blood flow response to submaximal, one-legged, dynamic, knee-extensor exercise was determined in acute and chronic hypoxia to investigate the hypotheses that with adaptation to chronic hypoxia blood haemoglobin increases, allowing preservation of blood flow as in normoxia. Methods: Sixteen Danish lowlanders participated, in groups of six to eight, in the experiments at sea
SPECT (single photon emission computed tomography) images are distorted by photon attenuation. The effect is complex in the thoracic region due to different tissue densities. This study compares the effect on the image homogeneity of two different methods of attenuation correction in lung SPECT; one pre-processing and one post-processing method. This study also investigates the impact of attenuati
Human papillomavirus (HPV) infection causes cervical cancer and genital warts. Young women (1106) were randomized to receive one of three formulations of a quadrivalent HPV (Types 6/11/16/18) L1 virus-like particle (VLP) vaccine or one of two placebo formulations. The goal was to assess vaccine safety and immunogenicity in baseline HPV 6/11/16 or 18-naive and previously infected subjects. All thre
Socket migration and rotation in the Charnley total hip replacement were evaluated by roentgen stereophotogrammetric analysis in 23 patients with rheumatoid arthritis and 23 patients with osteoarthritis. The two groups were matched with regard to age and sex. The follow-up time was two years. In the rheumatoid patients socket migration was most prominent in the proximal direction and averaged 0.6
An apparent wave is a part of the sea record observed between two successive upcrossings of the still water level integral formulas are given for intensities of encountered waves that overtake a ship sailing in directional sea with constant velocity. The formulas can be evaluated exactly in the case when the directional spectrum is known and the sea is assumed to be Gaussian, i.e. is a sum of noni
