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We approach the simultaneous localization and mapping problem by using an ultrasound sensor and wheel encoders on a mobile robot. The measurements are modeled to yield a conditionally linear model for all the map states. Moreover, we implement a Rao-Blackwellized particle smoother (RBPS) for jointly estimating the position of the robot and the map. The method is applied and successfully verified b
This doctoral thesis suggests a framework for how multi-organizational emergency response management can be understood. A method for collecting and analyzing data on individuals and their interactions has been developed and tested. The method is rooted in social network theory and facilitates further exploration of the complexity associated with responses to emergencies in which various resources
In this paper we address link dimensioning and routing problems related to the area of resilient network design. We present two network design problems that assume different flow restoration schemes used to cope with network failures. In both cases we allow bifurcation of traffic flows in the normal (failure-less) network state. In the case of a failure, we assume that affected primary flows (i.e.
A differential geometric approach based on the gap metric is taken to examine the uniqueness of solutions of the equations describing a feedback interconnection. It is shown that under sufficiently small perturbations on the Fréchet derivative of a nonlinear plant as measured by the gap metric, the uniqueness property is preserved if solutions exist given exogenous signals. The results developed r
Education is one of the tools used by the Malaysian policy makers to foster unity and solidarity among people. A well-planned education system can be a useful medium in creating high moral and ethical values, to inculcate spirituality in society as well as to unite racial diversity. Nevertheless, under the complicated multicultural and ethnicity composition of Malaysian society, mother tongue lang
Hälsosant är en rehabilitering av långtidssjukskrivna i grupp som har utarbetats i Värkstaden och testats på sex apoteksanställda personer i Stockholmsregionen som alla varit sjukskrivna under minst 90 dagar. Resultaten som jämförts med s.k. matchade kontroller från Göteborg/Malmö-regionerna är lovande, även när det gäller återgång i arbete. Gruppen är dock för liten för att man ska kunna dra någr
