This paper presents a new real-time architecture for motion control of industrial robots. The new control system obtained has two main advantages: first it provides a total open control architecture and the second advantage is the simplicity and the interactivity of the platform developed. Experimental evaluation of a passivity-based control scheme shows the benefits of the architecture which is u

Consumers are increasingly taking an interest in how their food is produced. Concerns are being voiced that practices that are environmentally harmful, involve maltreatment of animals or exploit poor and vulnerable farmers, should be avoided. The term societal concern has been coined for concerns that are derived from broadly shared values within a society, often entailing an ethical dimension. Th

Hur påverkar BRYT-projekt deltagarnas syn på utbildning och arbetsliv? Förbättras möjligheterna på arbetsmarknaden för dem som väljer könsöverskridande? Frågorna behandlas i uppföljningen av 21 kvinnor som deltog i en teknikkurs riktad till långtidsarbetslösa kvinnor med arbetshandikapp. Resultaten visar att nästan hälften av deltagarna valde att utbilda sig till yrken inom mansdominerade bransche

The EU governance of food safety and GM food and feed has gone through significant changes since the BSE crisis and food scares during the 1990s. This work focuses on one particular new feature; the role of stakeholders representing the food chain: biotech associations, farmer organizations, food and feed processors, consumer organizations and environmental NGOs. These stakeholders are not merely

In this paper we evaluate the use of parallel interleavers for user separation in coded IDMA systems. The parallel interleavers have previously been evaluated for uncoded systems, and we here present extended results for the coded case. The new results are important for real systems, as they will most likely use performance enhancing channel coding. The parallel interleavers are designed to remove

The aims of the studies in the thesis were; 1.to investigate incidence, risk factors in comparison to non lacunar stroke patients, initial course and long term prognosis in pure motor stroke (PMS) 2.to determine topography and most probable pathogenetic mechanism of lesions in sensorimotor stroke (SMS). 3.to study if diffusion weighted magnetic resonance tomography(DWI) contribute to a more precis

Politics are not only about interests and institutions but discourses as well. Discourses are (dominant) ideas, concepts and categorisations in a society that give meaning to reality and that shape the identities, interests and preferences of individuals and groups. The assumption of this chapter is that forest discourses are constitutive to global forest politics. Three forest-related types of di

In trying to understand any aspect of success and failure in information systems practice, concepts of organisational analysis become increasingly important. Many issues arise and must be dealt with when an information system is to be developed and implemented. In order to avoid information system failures information system analysts should adopt an approach, which exploits the intrinsic and conte

Popular Abstract in Swedish I avhandlingen redovisas undersökningar av näringsdynamiken hos fem olika lövträdsarter (ask, björk, bok, ek och lind) vilka jämförs med gran, som är ett mycket undersökt trädslag ur närings-synvinkel. Målsättningen med studierna var att klargöra de olika trädslagens näringstillstånd under likartade förhållanden, deras inverkan på och samspel med marken, samt deras näriThis thesis considers several important aspects of nutrient dynamics and allocation in adult stands of Swedish forest tree species (Quercus robur L., Tilia cordata Mill., Fraxinus excelsior L., Betula pendula Roth., Fagus sylvatica L. and Picea abies (L.) Karst) planted on the same soils. Differences between species in macro- (N, P, K, Ca, Mg, S), and micro- (B, Cu, Fe, Mn, Zn) nutrient levels in

This paper presents an energy relaxation-based approach for the modeling of single crystalline magnetic shape memor)) alloy response under general two-dimensional magnetomechanical loading. It relies on concepts of energy relaxation in the context of non-convex free energy landscapes whose wells define preferred states of straining and magnetization. The constrained theory of magnetoelasticity dev