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High motion performance, stiffness, and accuracy are crucial for industrial robot applications, but these requirements are in practice contradictory. Using a novel type of robot, the so called Gantry Tau, new combinations of stiffness and accuracy are in principle possible, except for the backlash in the drive-trains of each joint. Existing techniques for backlash reduction are either mechanicall
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In this thesis I examined a phenotypically plastic defence in a common freshwater snail, Radix balthica. Adaptive prey defences may involve behavioural, life-history or morphological changes. Snails are important species in freshwater systems. Their role as grazers on periphytic algae makes them particularly important as they have a positive impact on macrophyte growth in lakes and ponds. The str
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I centrum för avhandlingen står en staty av Marcellus, enligt legenden staden Paris förste biskop. Den placerades vid slutet av 1100-talet som trumeaupelare i Porte Sainte-Anne, den högra av de tre portalerna på Notre-Dames västfasad. En första del av studien ger skulpturens historia, sådan den framställes i den konsthistoriska forskningen, och dess tolkning genom Marcelluslegenden. Ett grundlägg
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The paper gives an overview of the planned orbit correc- tion system for the 3 GeV storage ring at the MAX IV lab- oratory, a light source facility currently under construction in Lund, Sweden[1, 2]. The ring will have a vertical beam size in the 1-4μm range in the insertion device (ID) straight sections depending on coupling[3], which places high re- quirements on the orbit stability. To meet thi
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The objective of this paper is to review the fundamental macroscopic modeling of linear complex materials in a time domain formulation. Based upon a set of basic assumptions, the general form of the constitutive relations for a linear complex media in the time domain is formulated. Furthermore, constraints on the possible form of the susceptibility kernels for a passive medium are presented. For c