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Planar motion is an important and frequently occurring situation in mobile robotics applications. This thesis concerns estimation of ego-motion and pose of a single downwards oriented camera under the assumptions of planar motion and known internal camera parameters. The so called essential matrix (or its uncalibrated counterpart, the fundamental matrix) is frequently used in computer vision appli
Aims and objectives: To explore experiences of negative pressure wound therapy at home, in patients with deep perivascular groin infection after vascular surgery and management in daily life. Background: Deep surgical site infection after vascular surgery with exposed vessels often requires long-term treatment with negative pressure wound therapy, and continued therapy at home has become routine.
The importance of adequate levels of muscle size and function and physical activity is widely recognized. Myostatin/activin blocking increases skeletal muscle mass but may decrease muscle oxidative capacity and can thus be hypothesized to affect voluntary physical activity. Soluble activin receptor IIB (sActRIIB-Fc) was produced to block myostatin/activins. Modestly dystrophic mdx mice were inject
To test if the use of a peaked cap protects children against sun radiation, allowing increased exercise performance, nineteen healthy children (10.3 ± 0.8 years old, 146.2 ± 6.9 cm, 36.8 ± 5.5 kg, 1.2 ± 0.1 m2 and 44.1 ± 2.8 mL.kg-1.min-1) took part in 4 experimental situations: 2 initial familiarization runs and 2 self-paced 6km runs (4 × 1.5 km exercise bouts with 3min rest intervals) one of the
The present study investigated whether the effects of central cholinergic stimulation on thermoregulation during exercise are modulated by arterial baroreceptors. Wistar rats were submitted to sinoaortic denervation (SAD) or sham denervation (SHAM) and then fitted with a chronic guide cannula into the lateral cerebral ventricle. After 2 weeks, a catheter was implanted into the ascending aorta, and
In Nampula province, Mozambique, there is a high number of water wells considered as having failed for having too low a pumping yield. Two Electrical Resistivity Tomography (ERT) measurement campaigns were conducted in the area for evaluating the reasons of failures. However, in some cases it was difficult to verify and interpret the ERT results by only using the inadequate lithological descriptio
A kHz optical remote sensing system is implemented to determine insect melanization features. This is done by measuring the backscatter signal in the visible and near-infrared (VISNIR) and short-wave infrared (SWIR) in situ. It is shown that backscatter cross section in the SWIR is insensitive to melanization and absolute melanization can be derived from the ratio of backscatter cross section of d
Due to the large amount of water resources stored in glaciers, permafrost, and lakes, the source region of the Yangtze River (SRYR) is of great importance for the overall basin water flow. For this purpose, a state of art review and calculations were made for the period 1957-2013 using observed hydrological and meteorological data with a water balance approach. Actual evapotranspiration was calcul
Aims and objectives: To assess the effect of early mobilisation of patients after dysvascular lower limb amputation and to compare the effectiveness of different mobilisation regimens. Background: Patients who have undergone dysvascular major lower limb amputations are at high risk of postoperative complications, which include loss of basic functions, and early mobilisation interventions might pre
Modeling pollination ecosystem services requires a spatially explicit, process-based approach because they depend on both the behavioral responses of pollinators to the amount and spatial arrangement of habitat and on the within- and between-season dynamics of pollinator populations in response to land use. We describe a novel pollinator model predicting flower visitation rates by wild central-pla
Obligate insectivorous birds breeding in high latitudes travel thousands of kilometres during annual movements to track the local seasonal peaks of food abundance in a continuously fluctuating resource landscape. Avian migrants use an array of strategies when conducting these movements depending on e.g. morphology, life history traits and environmental factors encountered en route. Here we used ge
Dispersal is a process that increases genetic diversity and genetic connectivity of populations. We studied the turnover rate of breeding adults and genetic population structure to estimate dispersal in Peregrine Falcons in Finland. We used relatedness estimates among Finnish Peregrine Falcons over a 5-year period, genotyping over 500 nestlings with 10 microsatellite loci to reveal the rate of tur
Even though Central Asia is water rich, water disputes have characterized the region after crumbling of the Soviet Union in 1991. The uneven spatial distribution and complex pattern of transboundary water sources with contrasting national water needs have created an intricate water dilemma. Increasing national water needs, water claims by surrounding countries, uncertainties in renewable water vol
Existing econometric approaches for studying price discovery presume that the number of markets are small, and their properties become suspect when this restriction is not met. They also require making identifying restrictions and are in many cases not suitable for statistical inference. The current paper takes these shortcomings as a starting point to develop a factor analytical approach that mak
