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Solves the same problem as iLQG, with an added constraint on the KL-divergence between the new trajectory distribution and the distribution induced by a previous controller. This feature can be used in an outer loop with repeated experiments between the iterations if the model used for optimization is uncertain.
This article claims that Svetlana Aleksievich’s Voices from Utopia should be read as testimony. Although based on eyewitnesses interviewed by Aleksievich, the voices represented in the five books are interpreted as the creation of an implied author. In contrast to a theoretical standpoint defining fact in a dichotomous relation to fiction, this study identifies the historical value of Aleksievich’This article claims that Svetlana Aleksievich’s Voices from Utopia should be read as testimony. Although based on eyewitnesses interviewed by Aleksievich, the voices represented in the five books are interpreted as the creation of an implied author. In contrast to a theoretical standpoint defining fact in a dichotomous relation to fiction, this study identifies the historical value of Aleksievich’
A cell-based biosensor system was designed for monitoring an anaerobic process for treatment of high biochemical oxygen demand (BOD) levels in wastewater samples from a factory processing concentrated rubber latex. The BOD biosensor used immobilized mixed culture of microorganisms as the biological sensing element and an oxygen electrode as the transducer. The assay principle is based on the deter
In order to produce CO2 for stable isotope analyses (delta(18)O and delta(13)C), carbonate samples are commonly digested in phosphoric acid. The acid recipe here presented is based on phase shifting crystalline orthophosphoric acid of pro-analysis quality to a liquid state through heating, followed by pre-vacuum treatment during a start-up procedure before mass analyses for common acid bath prepar
Nuclear microscopy is a technique based on a focused beam of accelerated particles that has the ability of imaging the morphology of the tissue in vivo and of producing the correspondent elemental maps, whether in major, minor, or trace concentrations. These characteristics constitute a strong advantage in studying the morphology of human skin, its elemental distributions and the permeation mechan
The evolution of cooperation requires benefits of group living to exceed costs. Hence, some components of fitness are expected to increase with increasing group size, whereas others may decrease because of competition among group members. The social spiders provide an excellent system to investigate the costs and benefits of group living: they occur in groups of various sizes and individuals are r
To improve image quality in the upper thoracic spine, an anatomically shaped copper wire loop coil, made to fit over the patient's shoulders, was constructed. The coil was permanently mounted on a foam-rubber vest to facilitate attachment to the patient. Phantom and in vivo studies of the performance of the coil in healthy volunteers showed as much as a two times greater signal-to-noise ratio rela
Reduction of bicyclo[2.2.2]octane-2,6-dione to (1R, 4S, 6S)-6-hydroxy-bicyclo[2.2.2]octane-2-one by whole cells of Saccharomyces cerevisiae was improved using an engineered recombinant strain and process design. The substrate inhibition followed a Han-Levenspiel model showing an effective concentration window between 12 and 22 g/l, in which the activity was kept above 95%. Yeast growth stage, subs
Motivation: The most common approach to estimate microbial diversity is based on the analysis of DNA sequences of specific target genes including ribosomal genes. Commonly, the sequences are grouped into operational taxonomic units based on genetic distance (sequence similarity) instead of genetic change (patristic distance). This method may fail to adequately identify clusters of evolutionary rel
In the present study a HPAEC-PAD method is described that was developed for monitoring the consistency of N-glycosylation during the production and purification of recombinant proteins and monoclonal antibodies. The method successfully separated 18 neutral and sialylated oligosaccharides. Results obtained were compared with MALDI-TOF MS and it was shown that both methods gave similar results. in a
This study is a long-term follow-up of a previously published study that used the internet in the rehabilitation of people on long-term sick leave owing to chronic pain and/or burnout. The follow-up was to assess the effects over time of this kind of rehabilitation. The goals of the first study were to improve the participants' health and work capacity. Sixty people were randomly assigned to eithe
The influence on the crack growth rate for a short edge crack under fatigue loading due to changes in crack length, grain size, load range and grain boundary configuration, is investigated under quasi-static and plane strain conditions. The geometry is modelled by distributed dislocation dipole elements in a boundary element method approach and the plasticity is described by discrete dislocations.
BACKGROUND: Asthma guidelines recommend that long-acting inhaled beta-agonists should be used as maintenance therapy for patients with asthma inadequately controlled on an inhaled corticosteroid. We studied the safety and efficacy of the long-acting beta-agonist formoterol compared with terbutaline, each taken as needed, in patients with moderate to severe asthma. METHODS: Patients were taking an
A new amperometric biosensor for ethanol, based on carbon paste electrode modified with alcohol dehydrogenase (ADH), polyethylenimine (PEI) and using a phenothiazine derivative (DDDP; 16H,18H-dibenzo[c,1]7,9-dithia-16,18-diazapentacene) as redox mediator for NADH recycling, was developed. The biosensor response is the result of mediated oxidation of NADH, generated in the enzymatic reaction betwee
Abstract in UndeterminedOn millennial or even centennial time scales, the activity of rapid flowing ice can affect climate variability and global sea level through release of meltwater into the ocean and positive feedback loops to the climate system. At the surge-type glacier Bruarjokull, an outlet of the Vatnajokull ice cap, eastern Iceland, extremely rapid ice flow was sustained by overpressuriz
We find effective, or homogenized, material parameters for Maxwell's equations when the microscopic scale becomes small compared to the scale induced by the frequencies of the imposed currents. After defining a singular value decomposition of the non-self-adjoint partial differential operator, we expand the electromagnetic field in the modes corresponding to the singular values and show that only
Aim: The aim of this study was to evaluate the patterns of compliance and the frequency of adenomas and neoplasms in a Swedish population. Methods: In 1996, 2000 men and women born in 1935 or 1936 were selected at random from the population registers of Uppsala and Malmo/Lund. All subjects were invited by mail to participate. In a randomised study design, subjects were either called up by a nurse
