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Force sensing provides robots the capability to accomplish tasks where physical interaction with the environment is required, such as assembly. Small position uncertainties can then be corrected for by sensing the contact forces. This thesis considers the problem of force-controlled assembly, including how tasks can be specified in a simple and intuitive way and how robust task execution under unc
This paper presents a new method, based on constraint programming, for modeling and solving scheduling and instruction selection for processors extended with a functionally reconfigurable cell fabric. Our method models parallel reconfigurable architectures, the selection of application specific computational patterns and application scheduling. It takes also into account architectural constraints.
Fourier transform infrared spectroscopy (FTIRS) can provide detailed information on organic and minerogenic constituents of sediment records. Based on a large number of sediment samples of varying age (0-340 000 yrs) and from very diverse lake settings in Antarctica, Argentina, Canada, Macedonia/Albania, Siberia, and Sweden, we have developed universally applicable calibration models for the quant
Background: Overweight is reported as a side effect of SDR. The aims were to study the development of weight, height and body mass index (BMI) during five years after SDR. Methods: This prospective, longitudinal and practice-based study included all 56 children with CP spastic diplegia undergoing SDR from the start in March 1993 to April 2003 in our hospital. The preoperative Gross Motor Function
BACKGROUND:To estimate and compare prevalence of overweight and obesity among adult people across the 22 districts of Tehran in 2011. METHODS:This was a cross-sectional study using data on 47,406 women and 47,525 men aged≥ 15 years from a large population-based survey (Urban HEART-2). Age-standardized prevalence (ASP) of overweight (25≤BMI<30) and obesity (BMI≥30) were estimated for the Tehran's d
As discussed in the previous issues of QMJIP, the Federal Circuit's decisions in Myriad I-2 and II3 appear to provide considerable prospects for patentees, as clever claim drafting may still help to avoid most patent-eligibility traps set by the much debated US Supreme Court decision in Prometheus.(4) Yet, the split opinions also contain elusive reasoning by each of the three judges. The questions
The title compound, {(C14H16P)[Cu5I6]} (n) , prepared from the reaction between copper powder, iodine and dimethyldiphenylphosphonium iodide in hydroxyacetone, features an anion that consists of a continuous two-dimensional Cu-I sheet [Cu-I = 2.5960 (14)-2.6994 (13) A and Cu-I-Cu = 63.28 (5)-114.25 (5)degrees]. The cation, which lies on a mirror plane, is a typical dimethyldiphenylphosphonium ion.
Aim: To show the potential for reversing acute intermediate to advanced phase bilirubin encephalopathy. Methods: Case studies. Results: Six extremely jaundiced infants had symptoms of intermediate to advanced phase acute bilirubin encephalopathy. The infants were treated aggressively. Two patients had brain magnetic resonance imaging showing increased signals in the globus pallidus. On follow-up,
Artikeln undersöker hur berättelser om människor och apor, från scala natuae, via evolutionsberättelsen till moderna romaner förhållit sig till konstruktionen av tid och temporalitet - hur exempelvis bilden av tävling mellan människa och apa - där människan tar sig upp och fram, medan apan hamnar på efterkälken, bidragit till idén om progressiv, kronologisk tid, medan andra mer hybridiska berättel
Varje år genomgår mer än en tredje del av alla 15-åringar konfirmandundervisning. Ungdomarna uppskattar konfirmationen - inte minst att planera och genomföra gudstjänster. Men vanliga gudstjänster har de inte så mycket till övers för.
Background: Most composite indices of disease activity and response criteria in RA have been validated and compared in clinical trials rather than routine care. We therefore wanted to compare the performance of the DAS28, SDAI and CDAI activity indices, their activity states, their response criteria, and also compare with the ACR response criteria in an observational clinical setting. Methods: Agr
DNA methylation is a dynamic epigenetic mark that undergoes extensive changes during differentiation of self-renewing stem cells. However, whether these changes are the cause or consequence of stem cell fate remains unknown. Here, we show that alternative functional programs of hematopoietic stem cells (HSCs) are governed by gradual differences in methylation levels. Constitutive methylation is es
Hematopoietic stem cells (HSCs) are thought to reside in discrete niches through stable adhesion, yet previous studies have suggested that host HSCs can be replaced by transplanted donor HSCs, even in the absence of cytoreductive conditioning. To explain this apparent paradox, we calculated, through cell surface phenotyping and transplantation of unfractionated blood, that similar to 1-5% of the t
Addition of phenyldi(2-thienyl) phosphine (PPhTh2) to [Re-2(CO)(10-n)(NCMe)(n)] (n = 1, 2) affords the substitution products [Re-2(CO)(10-n)(PhPTh2)(n)] (1, 2) together with small amounts of fac-[ClRe(CO)(3)(PPhTh2)(2)] (3) (n = 2). Reaction of [Re-2(CO)(10)] with PPhTh2 in refluxing xylene affords a mixture which includes 2, [Re-2(CO)(7)(PPhTh2)(mu-PPhTh)(mu-H)] (4), [Re-2(CO)(7)(PPhTh2)(mu-PPhTh
The modelling of damage effects in materials constitutes a major challenge in various engineering-related disciplines. However, the assumption of purely local continuum damage formulations may lead to ill-posed boundary value problems and—with regard to numerical methods such as the finite element method—to mesh-dependent solutions, a vanishing localised damage zone upon mesh refinement, and hence
The alkyl cyclic ketone (ACK) fragrance ingredients are a diverse group of structures with Similar metabolic and toxicity profiles. ACK fragrance materials demonstrate low acute toxicity. Upon repeat dose testing, some adverse effects in biochemical and hematological parameters, and slightly increased liver and kidney weights were reported, primarily at high doses, resulting from adaptive effects.
The honeycomb lattice material Li2RuO3 undergoes a dimerization of Ru4+ cations on cooling below 270 degrees C, where the magnetic susceptibility vanishes. We use density functional theory calculations to show that this reflects the formation of a valence bond crystal, with a strong structural bond disproportionation. On warming, x-ray diffraction shows that discrete threefold symmetry is regained
Atomic hydrogen exposures on a monolayer graphene grown on the SiC(0001) surface are shown to result in hydrogen intercalation. The hydrogen intercalation induces a transformation of the monolayer graphene and the carbon buffer layer to bi-layer graphene without a buffer layer. The STM, LEED, and core-level photoelectron spectroscopy measurements reveal that hydrogen atoms can go underneath the gr
