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This thesis presents methods for improving the accuracy and efficiency of tasks performed using different kinds of industrial manipulators, with a focus on the application of machining. Industrial robots offer a flexible and cost-efficient alternative to machine tools for machining, but cannot achieve as high accuracy out of the box. This is mainly caused by non-ideal properties in the robot joint

The MYCN proto-oncogene is frequently amplified in a subgroup of highly aggressive neuroblastomas. The molecular mechanism(s) by which the overexpressed MYCN contributes to an aggressive tumor cell behavior is not well understood. Recently, it was reported that the ID2 gene is a direct target for the MYCN and MYC transcription factors, and that ID2 expression and MYCN amplification correlate posit

Clavulanic acid is a beta-lactamase inhibitor used in therapeutic combinations with the penicillin-type antibiotics. During the fermentation leading to clavulanic acid, a succinyl L-tyrosine by-product is unavoidably formed. Occasionally, the amount of this by-product is found to be as high as 2% of the product even after standard purification operations. To further remove this impurity, we prepar

The release of two compositionally different solutes from a composite gel composed of two different populations of microgel particles embedded in a single bulk gel matrix is described, showing the potential of the "plum-pudding gel" as a multifunctional platform for controlled surface release. One hydrophobic solute (pyrene) and one hydrophobic and charged solute (rhodamine 123) were chosen as the

The aim of this paper to draw attention to several aspects of the algebraic dependence in algebras. The article starts with discussions of the algebraic dependence problem in commutative algebras. Then the Burchnall-Chaundy construction for proving algebraic dependence and obtaining the corresponding algebraic curves for commuting differential operators in the Heisenberg algebra is reviewed. Next

Advanced driving assistance systems that offer support by operating for example longitudinal control will have an effect on the transport system. Previous studies have also shown that drivers may be slower to respond in hazardous situations with systems like adaptive cruise control (ACC) engaged, if the system suddenly fails. Little understanding has, so far, emerged to explain why. In this thesis

Crosslinking of small heat-shock proteins (sHsps) by tissue transglutaminase (tTG) is enhanced by stress and under pathological conditions. We here used hexapeptide probes to determine the amine donor (K) and acceptor (Q) sites for tTG in Hsp20. Mass spectrometric peptide mass fingerprinting and peptide fragmentation established that Q(31) and the C-terminal K-162 are involved in inter- and intram

Om hur illustratörer framställt den litterära gestalten "Falstaff, fakir". Utgör förkortad bearbetning av artikeln med samma titel i Fakirenstudier XIV (1999).

In this paper we extend the eliminant construction of Burchnall and Chaundy for commuting differential operators in the Heisenberg algebra to the q-deformed Heisenberg algebra and show that it again provides annihilating curves for commuting elements, provided q satisfies a natural condition. As a side result we obtain estimates on the dimensions of the eigenspaces of elements of this algebra in i

Sympathetic neuronal differentiation is associated with favorable prognosis of neuroblastoma (NB), the most common extra-cranial solid tumor of early childhood. Differentiation agents have proved useful in clinical protocols of NB treatment, but using them as a sole treatment is not sufficient to induce tumor elimination in patients. Therefore, complementary approaches, such as immunotherapy, are

BACKGROUND: Hereditary non-polyposis colorectal cancer (HNPCC) (Lynch cancer family syndrome I (LCFS1) and II (LCFS2)) is one of the most common hereditary cancer disorders. HNPCC results from dominantly inherited germline mutations in mismatch repair (MMR) genes, leading to genomic instability and cancer. No predictive physical signs of HNPCC are available to date. AIMS: Increased complexity in t

The water exchange between the sea and a lagoon or bay through an inlet due to tides is a classical topic that has been investigated in a large number of studies (Keulegan, 1967; O’Brien and Dean, 1972; O’Brien and Clark, 1974; Escoffier, 1977). In this paper, a simple semi-analytic model of the flow induced by tides through an inlet connecting the sea to a lagoon or bay is developed. The model is

The idea of Chile as a “miracle” of neoliberal reform has been extensively confronted since October of 2019 in a large wave of protests throughout the country, by a vast majority feeling excluded from its benefits. Despite this conflict (known as the “Estallido Social”, or “Social Outbreak”) occurring exclusively in cities, previous analyses do not explicitly address the role of urban space in thi

Icke-erkända stater utgör ett främmande element i det internationella systemet. Tidigare forskning har dock visat att icke-erkända stater ofta har en beskyddarstat (​patron state​), som stödjer staten militärt såväl som finansiellt. Denna uppsats undersöker varför beskyddarstaten Turkiet erkänt Nordcypern, medan beskyddarstaten Armenien inte erkänt Nagorno Karabach. Fallen påminner bortsett från d