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Abstract in Spanish Este trabajo presenta un desarrollo de control de fuerza con robots industriales, utilizando para ello el robot IRB140 de ABB y un sensor de fuerza industrial JR3 de 6 grados de libertad. Como arquitectura de control se presentan dos alternativas distintas. La primera utiliza la aplicación software WebWare SDK, de ABB. En la segunda solución se ha modificado el controlador orig
Popular Abstract in Swedish I denna studie har de grundläggande aspekterna på mass- och värmetransport i membrantekniken pervaporation studerats. Speciell tonvikt har lagts vid pervaporations användbarhet i samband med aromämnesåtervinning. Masstransporten i pervaporation påverkas av ett yttre masstransport- motstånd kallat koncentrationpolarisation. Detta fenomen kan orsaka att fluxen av de seleIn this study, the fundamental mass and heat transfer properties of the membrane separation process called pervaporation were investigated. The suitability of pervaporation for aroma compound recovery was especially evaluated. The mass transfer in pervaporation is affected by an external mass transfer resistance in the liquid feed boundary layer, i.e. the concentration polarization phenomenon. Th
We present time-resolved cross-correlation measurements of extreme ultraviolet (xuv) pulses generated as high-order harmonics of intense 35 fs pulses, using a short (12 fs) probe pulse. We modulate the ellipticity of the laser driving the generation process such that the polarization is linear for short times around the temporal peak of the pulse. Since harmonic generation is strongly suppressed f
The mechanisms of protein folding and aggregation are investigated by computer simulations of all-atom and reduced models with sequence-based potentials. A quasi local Monte Carlo update is developed in order to efficiently sample proteins in the folded phase. A small helical protein, the B-domain of staphylococcal protein A, is studied using a reduced model. In the thermodynamically favoured topo
Popular Abstract in Swedish Inom analytisk kemi är selektivitet en viktig fråga. Att kunna urskilja ett specifikt ämne av låg koncentration i ett komplicerat prov är viktigt inom t.ex. medicin, miljöanalys och livsmedelsindustri. Naturen har under miljontals år utvecklat selektiva system. Ett exempel på ett sådant system är antikropparna i människans immunförsvar; om ett främmande ämne kommer in iThe thesis is a bioelectrochemical study of heme enzymes, mainly peroxidases and cellobiose dehydrogenases (CDH). It covers both fundamental and applied aspects, viz. studies of the direct electron transfer and kinetics of enzymes on electrodes, and the development of amperometric enzyme-based biosensors. The kinetics of the direct and mediated electron transfer of a wide range of peroxidases (bo
Popular Abstract in Swedish Essentiella oljor från eukalyptusblad, Eucalyptus camaldulensis Dehn., utvunna genom destillation (HD) och superkritisk koldioxid (SC-CO2) -extraktion har jämförts. Utvalda huvudkomponenter från oljorna visar att komponenter i extrakt från SC-CO2 har övervägande högre molekylvikt än i dem från HD. Fysikalisk-kemiska egenskaper som molekylvikt, ångtryck och steriska faktA comparison of essential oils from leaves of Eucalyptus camaldulensis Dehn. obtained by hydrodistillation (HD) and supercritical carbon dioxide (SC-CO2) extraction is presented. Selected major components of the oils showed a predominance of higher molecular weight components in the SC-CO2 extracts than in those obtained by HD. Physico chemical properties such as molecular weight, vapour pressure
Popular Abstract in English Heme is a small red-colored molecule consisting of an iron atom bound to a chemical structure called porphyrin. Heme is essential for many organisms, including humans, because it is a cofactor in a variety of proteins that are needed to sustain metabolism. The probably most famous heme protein is hemoglobin which gives blood its red color. The heme cofactor in hemoglobiHeme proteins form a large and diverse group of proteins which are involved in a variety of biological functions. The heme prosthetic group enables them to carry out redox reactions, transport electrons, bind gaseous molecules, and function as sensors. Despite their importance only little is generally known about heme protein biogenesis. The Gram-positive bacterium Enterococcus faecalis is found i
Plant communities of set-aside agricultural land in a European project were managed in order to enhance plant succession towards weed-resistant, mid-successional grassland. Here, we ask if the management of a plant community affects the earthworm community. Field experiments were established in four countries, the Netherlands, Sweden, the UK, and the Czech Republic. High (15 plant species) and low
We measure the capacity of multiple-input multiple- output radio systems in microcellular environments.We use a new data evaluation method that allows to evaluate the cumulative distribution function of the capacity from a single measurement. This method is based on an extraction of the parameters of the multipath components and, thereafter, a synthetic variation of their phases. In the analyzed e
Popular Abstract in Swedish Fotosyntesen kan delas in i ljusreaktioner och mörkerreaktioner. I mörkerreaktionerna fixeras luftens koldioxid till kolhydrater med hjälp av den kemiska energin, ATP och NADPH, som bildas i ljusreaktionerna. I ljusreaktionerna används ljus som energikälla. Ljus skickas iväg ifrån solen som en blandning av ljus med olika våglängder. Synligt ljus har våglängder mellan unJust as all other organisms, plants adapt to various environmental conditions. This work focuses on the role of chloroplast light harvesting complex II, LHCII, in adaptation of photosynthesis to changed light conditions. The two photosystems of oxygenic photosynthesis, photosystem I and II, use light of slightly different wavelengths for photochemistry. Since the photosystems are coupled in serie
Transmembrane (TM) alpha-helical peptides with neutral flanking residues such as tryptophan form highly ordered striated domains when incorporated in gel-state 1,2-dipalmitoyl-sn-glycero-3-phosphocholine (DPPC) bilayers and inspected by atomic force microscopy (AFM) (1). In this study, we analyze the molecular organization of these striated domains using AFM, photo-cross-linking, fluorescence spec
The ubiquitous arbuscular mycorrhizal fungi consume significant amounts of plant assimilated C, but this C flow has been difficult to quantify. The neutral lipid fatty acid 16:1ω 5 is a quantitative signature for most arbuscular mycorrhizal fungi in roots and soil. We measured carbon transfer from four plant species to the arbuscular mycorrhizal fungus Glomus intraradices by estimating C-13 enrich
This study examines the effects of heparin and a low molecular weight heparin (LMWH) fragment on plasma lipolytic activity and substrate oxidation. Indirect calorimetry was performed continuously in healthy male subjects receiving a constant infusion of fat emulsion (0.2 g min-1) and glucose (0.8 g min-1) during a period of 4 h. After 2 h an infusion of heparin (n = 6) or LMWH (n = 6) (100 antifac
Clinical functional magnetic resonance imaging (MRI) occasionally fails to detect significant activation, often due to variability in task performance. The present study seeks to test whether a more flexible statistical analysis can better detect activation, by accounting for variance associated with variable compliance to the task over time. Experimental results and simulated data both confirm th
Epithelial cells of many mucosal organs have adapted to coexist with microbes and microbial products. In general, most studies suggest that epithelial cells benefit from interactions with commensal microorganisms present at the lumenal surface. However, potentially injurious molecules found in this microenvironment also have the capacity to elicit local inflammatory responses and even systemic dis
RhoH is a small GTPase expressed only in the hematopoietic system. With the use of mice with targeted disruption of the RhoH gene, we demonstrated that RhoH is crucial for thymocyte maturation during DN3 to DN4 transition and during positive selection. Furthermore, the differentiation and expansion of DN3 and DN4 thymocytes in vitro were severely impaired. These defects corresponded to defective T
A series of CCK2 receptor ligands were analysed with respect to their interaction with binding sites in the membranes of COS-7 cells and SK-N-MC cells transiently expressing the human CCK2 receptor (short isoform). The ligands were YF476, YM022, AG041R, L-740,093, JB93182, PD134308, and PD136450. Their binding was analysed by radioligand competition using [H-3]L-365,260 as the labelled ligand. Sat
The influence of the solvent on the morphology and performance of polymer solar cells is investigated ill devices based on blends of the polyfluorene copolymer, poly(2,7-(9,9-dioctyl-fluorene)-alt-5,5-(4',7'-di-2-thienyl-2',1',3'-ben zothiadiazole)), and [6,6]-phenyl-C-61-butyric acid methyl ester. The blends are spin-coated from chloroform or from chloroform mixed with small amounts of xylene, to
A short wavelength approximation of a boundary integral operator for two-dimensional isotropic and homogeneous elastic bodies is derived from first principles starting from the Navier-Cauchy equation. Trace formulas for elastodynamics are deduced connecting the eigenfrequency spectrum of an elastic body to the set of periodic rays where mode conversion enters as a dynamical feature.
