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Safe coexistence of industrial robots and human operators in the same workspace is one of the long standing goals of robotics research. One way to enforce safety is to endow the robotic system with additional sensors that can to some extent monitor the environment surrounding the robot and allow fast reaction to unexpected obstacles. This paper discusses the design of one such anti-collision syste
It has recently been shown that several classical open problems in linear system theory, such as optimization of decentralized output feedback controllers, can be readily solved for positive systems using linear programming. In particular, optimal solutions can be verified for large-scale systems using computations that scale linearly with the number of interconnections. Hence two fundamental adva
Toxin-producing Staphylococcus aureus can be present in raw milk and therefore in cheese made from raw milk. To determine the number and type of toxin producers in raw milk used for raw milk cheese production in Ireland, 117 samples of raw milk and related products from five raw milk suppliers, to four raw milk cheesemakers in the South of Ireland, were analysed for coagulase positive S. aureus. E
A fundamental problem in robotics is generating the motion for a task. How to translate a task to motion or a series of movements is a non-trivial problem. The complexity of the task, the structure of the robot, and the desired performance determine the sequence of movements, the path, and the course of motion as a function of time, namely the trajectory. As we discuss in this thesis, a trajectory
We propose an energy-based framework for approximating surfaces from a cloud of point measurements corrupted by noise and outliers. Our energy assigns a tangent plane to each (noisy) data point by minimizing the squared distances to the points and the irregularity of the surface implicitly defined by the tangent planes. In order to avoid the well-known "shrinking" bias associated with first-order
In this paper we introduce a new algorithm for seismic imaging based on the flow out of Gaussian wave packets. We follow the standard strategy of decomposing data into wave packets and flowing them out along rays to approximate the downward wavefield extrapolation, and finally applying an imaging condition. We revisit each computational step to gain efficiency. Furthermore, we develop procedure fo
In models of anomaly-mediated supersymmetry breaking (AMSB), the lightest chargino is predicted to have a lifetime long enough to be detected in collider experiments. This letter explores AMSB scenarios in pp collisions at root s = 7 TeV by attempting to identify decaying charginos which result in tracks that appear to have few associated hits in the outer region of the tracking system. The search
Short-term very intensive storms in the years 1980-2007 from rain gauges in Malmo have been analysed to find intensities of long return periods and to investigate trends. Observations from different stations have been pooled into series to which probability functions have been adjusted. Quality control of short-term precipitation records is emphasized. In order to investigate whether high rain int
P>The relationships between the Platelet Function Analyzer (PFA)-100 and von Willebrand factor (VWF) levels and bleeding score (BS) were evaluated within a multicentre project on Molecular and Clinical Markers for the Diagnosis and Management of type 1 von Willebrand disease (MCMDM-1VWD). PFA-100 closure time, either with epinephrine (EPI) or adenosine diphosphate (ADP)-cartridges, was measured in
In this study, the potential of a chitosan-agarose-gelatin (CAG) cryogel scaffold for the repair of subchondral cartilage defects was explored in female New Zealand white rabbits. Custom-made CAG cryogel scaffold was implanted in a surgically created subchondral defect (diameter of 4 mm, depth of 4 mm) in knee joint of rabbit. The repair of the subchondral defect was evaluated at regular time inte
Many problems in computer vision can be turned into a large-scale boolean optimization problem, which is in general NP-hard. In this paper, we further develop one of the most successful approaches, namely roof duality, for approximately solving such problems for higher-order models. Two new methods that can be applied independently or in combination are investigated. The first one is based on cons
Abstract in UndeterminedIn this paper theoretical results regarding a generalized minimum rank matrix approximation problem in the spectral norm are presented. An alternative solution expression for the generalized matrix approximation problem is obtained. This alternative expression provides a simple characterization of the achievableminimum rank, which is shown to be the same as the optimal obje
Popular Abstract in Swedish Människans immunförsvar ska hjälpa oss att bekämpa infektioner från bakterier och virus. Immunförsvaret kan delas in i två delar; det adaptiva immunförsvaret, som utvecklas hela tiden under livets gång, samt det medfödda immunförsvaret. De flesta känner kanske till att kroppen kan utveckla antikroppar mot bakterier. Antikroppar känner igen och markerar ut främmande struAbstract: The joint diseases osteoarthritis and rheumatoid arthritis are characterized by destructive inflammatory processes that result in pathological changes of the joint tissues, including proteolytic degradation of cartilage and release of extracellular matrix proteins or fragments to the synovial fluid. The complement system, which is a part of the innate immune system, plays a central role
The performance of fast forward-backward splitting, or equivalently fast proximal gradient methods, depends on the conditioning of the optimization problem data. This conditioning is related to a metric that is defined by the space on which the optimization problem is stated; selecting a space on which the optimization data is better conditioned improves the performance of the algorithm. In this p
The coastline of Hai Hau District, located on the northeast coast of Vietnam with about 30 km of shoreline, is chronically eroding. Previous studies have tried to highlight the main causes of the erosion along this coastline, and several hypotheses exist. To examine the hypothesis that gradients in the longshore sediment transport rate and cross-shore fine sediment lost offshore are the main cause
One of the major research areas in computer vision is scene reconstruction from image streams. The advent of RGB-D cameras, such as the Microsoft Kinect, has lead to new possibilities for performing accurate and dense 3D reconstruction. There are already well-working algorithms to acquire 3D models from depth sensors, both for large and small scale scenes. However, these methods often break down w
New robotic applications often require physical interaction between the robot and its environment. To this purpose, external sensors might be needed, as well as a suitable way to specify the tasks. One complication that might cause problems in the task execution is orientation representation singularities. In this paper quaternions are used as a singularity-free orientation representation within t
We develop a representation of reverse-time migration (RTM) in terms of Fourier integral operators, the canonical relations of which are graphs. Through the dyadic parabolic decomposition of phase space, we obtain the solution of the wave equation with a boundary source and homogeneous initial conditions using wave packets. On this basis, we develop a numerical procedure for the reverse-time conti
