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Contact-rich manipulation tasks remain a hard problem in robotics that requires interaction with unstructured environments. Reinforcement Learning (RL) is one potential solution to such problems, as it has been successfully demonstrated on complex continuous control tasks. Nevertheless, current state-of-the-art methods require policy training in simulation to prevent undesired behavior and later d
This study is part of a larger study of mathematics in physics teaching at upper secondary school. In this paper we focus on the use of mathematics in relation to the teaching of specific heat capacity of water. We report from two physics lessons with first-year students (lecture, problem solving, and labwork). One observation is the frequent technical use of mathematics during the lessons, which
In 2005 the Swedish Association of the Pharmaceutical Industry (LIF) initiated a national environmental classification and information system for pharmaceuticals. This investigation reports the results from a survey, conducted among the persons involved in the start-up process. The aim of this study is to generate knowledge contributing to the clarification of the motivations, expectations, and in
Podcast "Öppet fall" från Lunds universitet, Juridiska fakulteten: I november 2020 slår en ovanligt stor meteorit ner i skogarna norr om Enköping. Under de följande veckorna söker två geologer systematiskt igenom området tills de hittar meteoriten. När markägaren får höra om fyndet uppkommer en tvist som går till domstol. Markägaren hävdar att meteoriten tillhör honom, medan geologerna hävdar att
AimsWe aimed to investigate the association between the exercise systolic blood pressure (SBP) response and future hypertension (HTN) in normotensive individuals referred for cycle ergometry, with special regard to reference exercise SBP values and exercise capacity.Methods and resultsIn this longitudinal cohort study, data from 14 428 exercise tests were cross-linked with Swedish national registr
Background: Swedish healthcare is in a period of transition with an expanding private sector. This study compares quality of outcome after groin hernia repair performed in a public or private healthcare setting. Methods: A cohort study based on data from the Swedish National Hernia Register combined with Patient-Reported Outcome Measures (PROMs) 1 year after groin hernia repair. Between September
Flowing water impacts bridges over rivers primarily in two ways: (1) hydrodynamic forces that directly impact the structure and (2) scouring at piers and abutments, including contraction scour. The design prin-ciples for bridges in Sweden, including both impacting forces and local scour, are relatively simplistic. The purpose of this paper is to examine the impact of extreme river flows on bridges
A stochastic hierarchical model for the evolution of low grade gliomas is proposed. Starting with the description of cell motion using a piecewise diffusion Markov process (PDifMP) at the cellular level, we derive an equation for the density of the transition probability of this Markov process based on the generalised Fokker–Planck equation. Then, a macroscopic model is derived via parabolic limit
Quinoa (Chenopodium quinoa Willd.) has gained recent popularity mainly due to its attractive nutritional profile and its ability to grow under extreme conditions such as salinity, acidity, drought, flooding, and frost as well as the functionality of its component. Starch is the main component of quinoa grain which constitutes up to 60% of the dry grain and plays a crucial role in the functional pr
Numerous risks threaten modern society. Some are new, while others have existed since the beginning of time, but none have been governed on a societal level since their inception. Despite the abundance of literature addressing the governance of various risks, the processes by which they become governable in the first place have gotten little attention. As a result, this paper aims to improve our k
How can cities and communities around the world become more sustainable? What can we do as researchers to help them? As we move through the twenty-first century, these questions assume ever-greater importance. Many of the quickest wins for human and planetary health involve reimagining and reconfiguring cities. Activities that generate negative impacts like air pollution and poor health are concen
Många arbetsgivare känner inte till att de redan idag använder sig av artificiell intelligens, AI, eller annat automatiserat beslutsfattande. Det visar den rapport om AI och risker för diskriminering i arbetslivet som Diskrimineringsombudsmannen, DO, publicerar idag. Att arbetsgivare har denna kunskap är avgörande för att arbeta förebyggande för att motverka diskriminering vid tillämpning av tekni
Over the last thirty years, suggestions for how to develop defence capability have developed rapidly. However, supporting theory and structured concept development lag behind. Despite this imbalance, countries need to continuously spend resources on defence development. This study identifies central challenges in relation to the scientific perspectives and approaches needed to support the developm
Feathers comprise a series of evolutionary innovations but also harbour colour, a key biological trait known to co-vary with life history or complex traits. Those relationships are particularly true in melanin-based pigmentation species due to known pleiotropic effects of the melanocortin pathway – originating from melanin-associated phenotypes. Here, we explore the molecular basis of melanin colo
