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A method to decompose a motion-planning problem into several segments is presented. It is based on a modification of the original problem, such that certain variables at the splitting points are considered to be precomputed and thus fixed and the remaining variables are obtained by performing Lagrange relaxation. The resulting dual problem is split into several subproblems, allowing parallel compu
Herein, we describe the synthesis and X-ray structure of a new heteropentanuclear complex (2) containing a [Fe2 IIIZn3 II(μ-OH)3] structural unit and the unsymmetrical ligand H2L2-et. The molecular structure of (2) shows that it is formed by a basic dinuclear [FeIII(μ-OH)ZnII(L2-et)] unit that is connected to a second dinuclear [FeIII(μ-OH)ZnII(L2-et)] unit through a hydroxo bridge while a third Z
A search for long-lived particles decaying into an oppositely charged lepton pair, μμ, ee, or eμ, is presented using 32.8fb−1 of pp collision data collected at s=13 TeV by the ATLAS detector at the LHC. Candidate leptons are required to form a vertex, within the inner tracking volume of ATLAS, displaced from the primary pp interaction region. No lepton pairs with an invariant mass greater than 12
Introduction: The composite nature of bone as a material governs its structure and mechanical behavior. How the collagenous matrix mineralizes, in terms of both mineral deposition and structure of the mineral crystals, is highly interesting when trying to elucidate the complex structural changes that occur during bone growth and maturation. We have previously looked at mineral deposition and struc
Objective: To investigate whether combining two independent tracers increases the SLN-detection rate in cervical cancer. Methods: Consecutive women with early stage cervical cancer planned for a robotic radical hysterectomy or a robotic radical trachelectomy with sentinel lymph node (SLN) detection were included. After cervical injections of Indocyanine green (ICG) and Tc99-nanocolloid (Tc99), nea
Proteomics can be defined as the studies of protein properties on a large scale to obtain a global view of biological processes at the protein level. Essentially, proteomics requires protein separation and identification, and in many cases quantification. The cornerstones in proteomics are protein/peptide separation by gel electrophoresis and/or different chromatographic techniques, and identifica
A simplified combined-slip model that only considers the extreme case at the friction limit is suggested and used in a closed-loop controller for autonomous vehicle handling in at-the-limit maneuvers. In the development of the controller it is assumed that the front wheels are individually steered, but it is demonstrated in a left-hand turn scenario that with a simple adaptation, the method is sti
Purpose: To investigate the change in proportion of high-volume cataract surgeons during the period 2007 to 2016 and determine the impact of operation volume per surgeon and clinical unit on the rate of capsule complications. Design: Retrospective, register-based study. Participants: Patients undergoing and surgeons performing cataract surgery at Swedish ophthalmologic departments 2007–2016. Metho
This paper analyses the effect of family size on children’s educational attainment using a new research design that combines fixed effects and instrumental variable (IV) approaches. We use (a) data on first cousins who belong to the same extended family but to different nuclear families to control for extended family fixed effects and (b) variation in in-married spouses’ number of siblings (a prox
Using a micro-focused high-energy X-ray beam, we have performed in situ time-resolved depth profiling during the electrochemical deposition of Sn into an ordered porous anodic alumina template. Combined with micro-diffraction we are able to follow the variation of the structure at the atomic scale as a function of depth and time. We show that Sn initially deposits at the bottom of the pores, and f
In 2012 Sweden implemented a collaborative governance regime for managing moose (Alces alces). This was guided by the awareness that decentralization and stakeholder participation can help to reduce conflicts, foster systematic learning, and handle complexity. However, previous research has highlighted that there are no blueprint approaches to the governance and management of natural resources. In
The collaborative ecosystem-based management of moose (Alces alces) in Sweden puts a strain on the involved stakeholders. Representatives have to cope with environmental uncertainty and social stress associated with goal conflicts. This article advanced the understanding of representatives’ coping strategies in response to perceived challenges and how these coping strategies are associated with so
Conflicts over wildlife and their potential impacts on human practices and livelihoods are widespread. Large carnivore predation on livestock often becomes a contested topic which has led to global declines in carnivore numbers over centuries. To minimise impacts of carnivores on human livelihoods and allow conservation, various interventions are used to prevent attacks. However, these interventio
There have been reports of allergic contact dermatitis in response to the plastic part of eyewear. Different substances have been identified as the causative allergens: Solvent Orange 60,1 methylisothiazolinone,2 and triethylene glycol bis(−2ethylhexanoate).3 Here we present the first known case of allergic contact dermatitis caused by CI Solvent Yellow 14 (CAS no. 842–07‐9) used in the plastic pa
Communication interventions are commonly proposed as a way to address people’sfear and negative attitudes to build tolerance in shared landscapes between humansand large carnivores. Therefore, managing authorities sometimes respond to people’sfear of brown bears (Ursus arctos) by organizing an information meeting. This studyincreases the understanding of the information meeting to address fear of Communication interventions are commonly proposed as a way to address people's fear and negative attitudes to build tolerance in shared landscapes between humans and large carnivores. Therefore, managing authorities sometimes respond to people's fear of brown bears (Ursus arctos) by organizing an information meeting. This study increases the understanding of the information meeting to address fear
Addressing the biodiversity crisis requires renewed collaborative approaches. Large carnivores are ambassadorspecies, and as such they can aid the protection of a wide range of species, including evolutionarilydistinct and threatened ones, while being popular for conservation marketing. However, conflicts betweencarnivores and people present a considerable challenge to biodiversity conservation. OAddressing the biodiversity crisis requires renewed collaborative approaches. Large carnivores are ambassador species, and as such they can aid the protection of a wide range of species, including evolutionarily distinct and threatened ones, while being popular for conservation marketing. However, conflicts between carnivores and people present a considerable challenge to biodiversity conservation
