In this paper we present an observer-based adaptive control scheme for robot manipulators, for which we have both unmeasured velocity and uncertain parameters. Using the observer back-stepping method, a reduced-order adaptive velocity observer can be designed independently from the state-feedback controller, which uses damping terms to compensate the presence of the estimation error in the trackin

All available literature, dealing with optical model calculations, has been reviewed to aid in assessing suitable well parameters and to indicate when the model has been successful in predicting various nuclear data. The material investigated has been indexed according to nuclide, and short abstracts have been prepared to provide a concise summary of the contents and main results. 342 references w

My paper is the introduction to my next book in the series 'The humanist as Engineer'. In my work, I have been deeply influenced by Don Ihde and his postphenomenological approach to the philosophy of technology. As Ihde’s postphenomenology, my approach is historical and differs strongly from the 'pure' phenomenological approach in spite of being connected with it through many common references. In

This book demonstrates the importance of ontology for a central debate in philosophy of mind. Mental causation seems an obvious aspect of the world. But it is hard to understand how it can happen unless we get clear about what the entities involved in the process are. An international team of contributors presents new work on this problem. In particular, they examine the nature of causes and effec

Popular Abstract in Swedish Hur är det möjligt att planera om en kommun från arbetarstad till kunskapsstad? Idag har en rad svenska och europeiska kommunledningar ambitionen att återuppfinna städer genom att tvätta bort industristaden och ersätta den med en kunskaps-, informations-, kultur-, och/eller evenemangstad. Den här formen av kommunal utvecklingsplanering har genererat en rad olika frågor What are the discursive pre-conditions for planning? In this dissertation the author analyzes and critically assesses the assumptions which underlie our thinking about planning. This is done in an analysis of firstly, how planning is legitimized, and secondly, what consequences these forms of legitimation have for planning theory as well as for planning as a political practice. The author describ

With the assumed digitalisation happening on the end-user side, progressive systems integrators stress the importance of changing the business concept from being installers to being service and solution providers. However, less is known about the details of this process on the end-user side. Based on an online survey of loss prevention managers it can be stated that security digitalisation and fur

Det är ett självklart mål att myndighetsbeslut och domstolsavgöranden i skattefrågor ska vara objektiva. Det är inte möjligt att mäta graden av faktisk objektivitet. Istället hävdas i artikeln att myndigheters och domstolars organisation kan bidra till stärkande av rättssäkerhet när det gäller skattebeslut och skatteprocesser. Skatteområdet har särskilda utmaningar. Det är viktigt ur samhällssynpu

We consider envy-free and budget-balanced rules that are least manipulable with respect to agents counting or with respect to utility gains, and observe that for any profile of quasi-linear preferences, the outcome of any such least manipulable envy-free rule can be obtained via agent-k-linked allocations. Given this observation, we provide an algorithm for identifying agent-k-linked allocations.

Popular Abstract in Swedish Inom moralpsykologisk forskning har man framförallt studerat hur människors förmåga att resonera om rättvisa utvecklas i olika åldrar. För de allra flesta av oss är dock moral någonting mer än bara rättvisa. Varje tillfälle då vi bestämmer oss för vad vi tycker är rätt eller fel kan ses som ett moraliskt ställningstagande, från så enkla saker som att man tvekar att gå mPsychological processes involved in moral cognition were examined in three studies, taking as their starting point the assumption that the cognitive-developmental perspective commonly taken is too narrow and that individual differences and implicit processes need to be taken into consideration. Study I focused on the role of defense mechanisms in moral thinking. A self-report questionnaire was co

Architectural improvements for a multicarrier faster-than-Nyquist (FTN) decoder are presented in this work. A previously designed FTN decoder has been optimized during implementation, especially with respect to memory considerations to reduce area and power. The memory optimized architecture achieves 28.7% savings in overall chip area and provides 43.8% savings in the estimated power compared to t

Popular Abstract in Swedish Fantasygenrens många främmande och fantastiska platser ger inte bara handlingen en exotisk kuliss utan är tätt knutna till hur berättelserna är uppbyggda. I Stefan Ekmans doktorsavhandling Writing Worlds, Reading Landscapes: An Exploration of Settings in Fantasy visas hur miljön i fantasy är lika viktig som persongalleriet och intrigen. Fantasy är en genre som sätter väIn fantasy literature, the setting is as important to the story as are characters and plot; but although many fantasy scholars have pointed this out, there is very little criticism that explores the role of the setting in fantasy. The aim of this study is to use a topofocal (place-focused) perspective to examine four aspects of the fantasy setting, including the way in which settings function in t