This paper deals with the centroid and formation control problem of multi–agent robotic systems. The proposed solution is based on a leader–follower scheme, where only a subset of agents, i.e., the leaders, knows the desired trajectories for the centroid and the formation of the system, while the other agents, i.e., the followers, are required to estimate them through a dynamic consensus scheme. T

Introduction: Dementia remains incurable, and treatment trials are typically conducted after the symptoms manifest, potentially too late in the disease process to alter its course. Early identification and intervention during the pre-diagnosis phase offer the potential to introduce more cost-effective strategies and enhance quality of life. This review aims to scrutinise emerging evidence and pres

Denna rapport är framtagen genom det Vinnova-finansierade projektet ”Naturbaserade skyddsvallar mot översvämning – planering, anläggning och förvaltning”. Projektet har varit ett samarbete mellan Vellinge kommun, Lunds universitet, Ecogain AB och Statens geotekniska institut (SGI). Föreliggande rapport är en sammanställning av de kunskaper och erfarenheter som har erhållits under detta projekt.

Membrane filtration of kraft black liquor (KBL), a side-stream of the pulp and paper industry, is challenged by membrane fouling caused by its multicomponent complexity. The specific contributions of the components found in KBL to the fouling and the characteristics of the fouling layer that they create has not been investigated. Herein, the adsorptive and desorptive behaviours of KBL ultrafiltrat

The mechanisms of glass transitions and the behavior of small solute molecules in a glassy matrix are some of the most important topics of modern thermodynamics. Water plays an important role in the physical and chemical stability of lyophilized biologics formulations, in which glassy carbohydrates act as cryoprotectants and stabilizers. In this study, sorption calorimetry was used for simultaneou

To evaluate an atomic force microscopy (AFM) approach for effective density analysis of single spray dried carbohydrate particles in order to investigate the internal structure of the particles. In addition, the AFM method was compared to an established technique, that is gas pycnometry. Resonant frequency AFM analysis was employed for determination of the mass of individual particles of spray-dri

Powders are essential ingredients of chocolate. In particular for milk chocolate milk and whey powders are important, together with sucrose, lactose and cocoa solids. During processing to maintain a good flow of the molten chocolate mass, particles with hydrophilic surfaces, such as dairy powders and sugars, are coated with a surface-active compound. Only lecithin and polyglycerol polyricinoleate

In this paper, we present a method for in situ coating of individual protein particles in a respirable size. The aim of the coating was to influence the particle/powder properties, and to reduce or prevent surface-induced conformational changes of the protein, during spray-drying, which was the method used for simultaneously preparing and coating particles. The investigated formulations included b

Solid insulin formulations obtained by different methods of preparation were compared with respect to chemical stability and morphology. Spray- and freeze-drying, solution enhanced dispersion by supercritical fluids (SEDS) and precipitation into starch microspheres were the methods used for preparation of solid powders. The excipients applied were melezitose, starch, and sodium taurocholate. The s

The purpose of this study was to examine some fundamental aspects of the particle formation during spray drying, related to particle size and density. Particles were prepared in a laboratory spray dryer from carbohydrates with different solubility and crystallization propensity, such as lactose, mannitol, and sucrose/dextran 4:1. The feed concentrations ranged from 1% w/w to saturated and the size

This paper examines the influence of feminist foreign policy (FFP) on official development assistance (ODA) targeting gender equality and women’s empowerment in Canada, France, Germany, Luxembourg, the Netherlands, Spain, and Sweden. A growing number of governments worldwide have adopted FFP in contextually relevant ways, but previous research treats FFP and ODA as two separate concepts. This pape

As set out in the Treaty of Lisbon from 2009, Member States’ national parliaments are encouraged to contribute actively to the functioning of the European Union. A consequence of an increased parliamentary engagement in EU affairs, is the Europeanisation of national parliaments. While literature on this phenomena is growing, less has been said about how the administration supporting parliamentary

In this thesis, I aim to examine and expand on different IR theories in their attempt to explain and understand the emergence of the modern international order. To do that, I used a Heideggerian ontological analysis as an analytical toolkit, based on hermeneutical phenomenology as a method. To achieve my goal, I examine the Western history of Being from Plato to Kant using a Heideggerian perspecti

Inequality has been rising in most countries, with Sweden being one of the Western countries where this increase has been most pronounced. One contributing factor is the series of reforms in capital taxation, which have positioned Sweden among the countries with the lowest taxes on capital worldwide. This study examines how Swedish media framed the repeal of property, wealth, inheritance, and gift

How can we understand Gällivare municipality as a sacrifice zone through local narratives of green transition? The transition to low-carbon economies in the wake of the European Green Deal drives increased demands for metals and minerals, renewable energy, biomass from forests – intensifying green extractivism. In Gällivare municipality, located in the rural north of Sweden and within the borders

To find means of controlling the size and density of particles intended for inhalation the relationship between droplet and particle size during spray drying was investigated. Lactose solutions were atomized with a two-fluid nozzle and dried in a laboratory spray drier. The effects of nozzle orifice diameter, atomization airflow and feed concentration on droplet and particle size were examined. Ma

Microencapsulation of fish oil was achieved by spray-drying homogenized emulsions of fish oil using 3 different types of casein as emulsifier and lactose as filler. As the degree of aggregation of the casein emulsifier increased, the vacuole volume of the microencapsulated powders decreased. The shelf life of the powders increased as the degree of aggregation of the casein emulsifier increased at

Several important technical properties of spray-dried food powders depend on particle-liquid interactions (e.g. wettability, dispersability) and particle-particle interactions (e.g. flowability). It can be assumed that the chemical composition of the surface layer of the particles to a large extent determine these properties. The present study has been aimed to investigate the relation between the

Spray-drying has been investigated as a method for preparation of dry formulations of live bacteria with high viability and high cell density. The concept used in this study has been to disperse the bacteria in an aqueous polymer containing two-phase system (ATPS), compatible with the micro-organisms. The cells partition to one phase, which is separated from the other phase in a droplet dispersion