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A decentralized strategy for object transportation is presented, assuming that the object is grasped by a team of N cooperative manipulators. The proposed strategy consists of two steps. First, each robot estimates the wrenches applied to the object by all the others robots, even without all-to-all communication. Second, an admittance control scheme is used to limit internal wrenches, preventing e
Human appreciation of nature and natural elements is ubiquitous. The role of emotions in human relationships with nature has received increasing attention within environmental psychology, for example by employing constructs such as affinity with nature. Also, researchers are recognizing the importance of studying emotions for understanding human-wildlife interactions (Jacobs, 2009; Johansson &
In this thesis, we draw inspiration from both classical system identification and modern machine learning in order to solve estimation problems for real-world, physical systems. The main approach to estimation and learning adopted is optimization based. Concepts such as regularization will be utilized for encoding of prior knowledge and basis-function expansions will be used to add nonlinear model
Abstract in Danish Som regel forstår vi demokrati og diktatur som to adskilte regeringsformer. Faktisk er de sammenflettede grundet undtagelsestilstanden og dens uundgåelighed i den politiske forfatning. Denne indrømmelse befrier os fra normativ forudindtagethed om det politiske og leder os til den hypotese at hvis vi studerer det politiske hinsides ideologiske spilfægterier og narrative konstruktNormally, we understand democracy and dictatorship as two separate forms of government. Actually, they are intertwined due to the state of exception and its inevitability for the political constitution. This concession frees of normative pre-conceptions of the political and leads us to the hypothesis that if we study the political beyond ideological skirmishes and narrative constructions we can co
This paper presents the results of an accuracy study of a deterministic channel model for vehicle-to-vehicle (V2V) communications. Channel simulations obtained from the ray-tracing model developed by TU Braunschweig are compared to data gathered during the DRIVEWAY V2V channel measurement campaign at 5.6 GHz in the city of Lund in summer 2009. The analysis focuses on PDP and channel gains in an ur
Changes in evolving software systems are often managed using an issue repository. This repository may contribute to information overload in an organization, but it may also help navigating the software system. Software developers spend much effort on issue triage, a task in which the mere number of issue reports becomes a significant challenge. One specific difficulty is to determine whether a new
In sociology, new institutionalists led the revival in interest in institutions in organizational theory and economic sociology by shifting the focus of causal reasoning from agent-centric studies of economic and organizational actors to the relationship connecting the firm with its institutional environment. We suggest a multilevel causal model incorporating the connection between the subinstitut
As custom architectures become more and more common for DSP applications, instruction selection and scheduling for such applications and architectures become important topics. In this paper, we explore the effects of defining the problem of finding an optimal instruction selection and scheduling as a constraint satisfaction problem (CSP). We incorporate methods based on sub-graph isomorphism and g
This paper examines the potential benefits of applying next best view planning to sequential 3D reconstruction from unordered image sequences. A standard sequential structure-and-motion pipeline is extended with active selection of the order in which cameras are resectioned. To this end, approximate covariance propagation is implemented throughout the system, providing running estimates of the unc
Aim The controls of gross radiation use efficiency (RUE), the ratio between gross primary productivity (GPP) and the radiation intercepted by terrestrial vegetation, and its spatial and temporal variation are not yet fully understood. Our objectives were to analyse and synthesize the spatial variability of GPP and the spatial and temporal variability of RUE and its climatic controls for a wide ran
Models of the engineering design process and of the development process nowadays present similar forms in the engineering design literature and interact in a similar way. These models are often presented as generic, in order to be used in a wide area of applications. This interaction is however not unproblematic, and in this publication we present some important issues and challenge the generic as
Video content constitutes a large share of residential Internet traffic. The major source of video content as of today is YouTube. In this paper, we analyse the user demand patterns for YouTube in two metropolitan access networks with more than 1 million requests over three consecutive weeks in the first network and more than 600,000 requests over four consecutive weeks in the second network. In p
This paper presents an exploration framework which performs data assignment and access scheduling exploration for applications given a multilayer memory architecture. Our framework uses multiobjective criteria during exploration, such as application execution time, energy, bandwidth, and data size. In order to tackle the complexity of the exploration, it is divided into three phases; Pareto diagra
Objectives The study sought to evaluate the relationship between procedural volume and outcomes with radial and femoral approach. Background RIVAL (RadIal Vs. femorAL) was a randomized trial of radial versus femoral access for coronary angiography/intervention (N = 7,021),which overall did not show a difference in primary outcome of death, myocardial infarction, stroke, or non-coronary artery bypa
TV-on-Demand services have become one of the most popular Internet applications that continuously attracts high user interest. With rapidly increasing user demands, the existing network conditions may not be able to ensure a low start-up delay of video playback. Prefetching has been broadly investigated to cope with the start-up latency problem, which is also known as user perceived latency. In th
