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Friction Models and Friction Compensation Karl J. Åström Department of Automatic Control Lund University 1. Introduction 2. Friction Models 3. The LuGre Model 4. Effects of Friction on Control Systems 5. Friction Compensation 6. Summary Introduction ◮ Essential in Motion Control ◮ Classics Leonardo da Vinci (1452-1519 Amontons 1699 Coulomb 1785 ◮ Tribology ◮ Control ◮ Physics AFM ◮ Surface force a
Dominant suppression of inflammation by glycan-hydrolyzed IgG [Retracted]
A unique anti-inflammatory property of IgG, independent of antigen specificity, is described. IgG with modification of the heavy-chain glycan on asparagine 297 by the streptococcal enzyme endo-beta-N-acetylglucosaminidase (EndoS) induced a dominant suppression of immune complex (IC)-mediated inflammation, such as arthritis, through destabilization of local ICs by fragment crystallizable-fragment c
Risk of nitrous oxide emissions and potential of bioaugmentation when treating digester supernatant via nitrification-denitrification
This thesis examines two different impacts of sidestream treatment of digester supernatant via nitrification-denitrification in a sequenced batch reactor (SBR). One of the impacts is the detrimental formation of nitrous oxide, and the other is the positive boosting of nitrifiers to the mainstream process through bioaugmentation. The studies have been carried out in a full-scale wastewater treatmen
Sensorless method of detecting plunger position in solenoid actuators
This thesis investigates if it is possible to measure the plunger position in a Ledex 282352-023 solenoid actuator without the use of external sensors. To do this, various different methods, all based on comparing the current response to the applied voltage were evaluated from different categories such as calculation time, reliability and distinct position levels. The method that performed best in
As Long as it Glitters : A Re-evaluation of the Mixed Silver Hoards of Bornholm, Denmark
Yngre svartgods : datering, funktion och produktion : en materialstudie av det yngre svartgodset från kv. Apotekaren 4, Lund
This essay should be regarded as an artifact study and as a foundation for continued research. As very little has been written about younger blackware, the focal point of this study is on key problems such as dating, function and production. The material of the study is from the excavation of Kv. Apotekaren 4, carried out 1979-1980. The stratigraphy of the site was well dated with dendrochronology
Lessons of Feedback in Higher Education in Sweden
Molecular characterization of protein Sir, a streptococcal cell surface protein that binds both immunoglobulin A and immunoglobulin G
Employer branding as a response to talent shortage - The importance of balancing the need of employees with employer offerings
Predicting C aromaticity of biochars based on their elemental composition
Elevated fecal levels of eosinophil granule proteins predict collagenous colitis in patients referred to colonoscopy due to chronic non-bloody diarrhea.
Mainstreaming the Alternative: the Changing Media Practices of Protest Movements
Dynamic Decades: A micro perspective on late nineteenth century Sweden
This dissertation examines various aspects of mobility during the closing decades of the nineteenth century in Sweden. In terms of the pace and magnitude of the changes taking place during this industrial breakthrough, no other period in Swedish history compares. By studying three aspects of mobility: firm entry and exit, migration and social mobility, this dissertation provides new insights on th