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In this paper we present some results on model based force estimationand how these estimates can be integrated in a common robot force controlscheme. A generalization of the force estimation method proposed inHacksel and Salcudean (1994) is done and a force observerable to follow ramp environmental forces is introduced. Anextension of this method for robotic manipulators is also experimentallyveri
The increasingly apparent environmental problems in our surroundings necessitate a quest for sustainable development in all areas of human endeavour. Within the field of chemistry and the production of chemicals, the focus is increasingly on the development of green chemistry. This discipline aims to reduce environmental impact by replacing petrochemical raw materials with renewable feedstock and
Metal sheet forming processes like deep drawing are applied in order to produce carriage parts in mass production. Therefore, forming tools are required that are well protected against wear. For such forming tools, wear resistant surfaces are, e.g., produced by thermal spraying of hard material coatings. The thermal spraying process itself is a highly transient thermo-mechanical process. In order
Antibody-based microarrays are among the new, rapidly emerging technologies within the field of proteomics that has the potential to evolve into a key proteomic research tool, providing novel means to perform early diagnostics, identify biomarkers and gain insights into disease biology. The aim of this thesis, based on five original papers, was to develop antibody microarrays based on human recom
Restrained shrinkage of massive, one-storey, non-load bearing masonry walls with one-sided restraint has been simulated. A discontinuum model, including tensile and shear failure of mortar joints is employed to reproduce masonry behaviour in crack zones. Where cracking is not expected, masonry is modelled as an elastic continuum. The model is implemented in the commercial finite element programme
Popular Abstract in English Knowledge can be many things; it can be metaphysical, enhancing the understanding of human beings and social relations. It can be hard facts, information, structure and ordering of nature. Knowledge can be inherent in the knowing subject – the emancipated subject, or it can exist as an entity independent of its founder. An apposite metaphor is knowledge as an end in itsThis thesis deals with the colonisation of the university by market forces. The object of inquiry is coproduction of academic knowledge between academic and non-academic actors in newly established universities and university colleges in Sweden. The development of knowledge as a main competitive advantage for commercial companies, and the shift in policies accompanying this development, provides a
Galectins, a lectin family, have shown binding affinities towards b-galactosides. Galectins have been proposed to be involved in a wide range of functions like for example, cell growth, adhesion, migration, chemo taxis and apoptosis. They have also been associated with various cancer types. However, the detailed functions of galectins are still very much unknown. High affinity inhibitors towards t
Three theoretical atomic structure projects of interest for the astrophysical community and the lightning industry which are partially finished will be presented. Extensive ab initio calculations of properties of astrophysical interest has been done or are under its way for Ga I, Ga II, Ga III, In II and In III. The aim of the project is to also make calculations for In I, Tl I, Tl II and Tl III.
In the present paper we discuss simulation with a wavelet element method. The model problem is a simplified 2D-roller bearing model consisting of an elastic outer and inner ring and a roller. This model reflects typical properties of elastic multibody systems, eg. combination of gross motion with elastic deformation and contact problems. The wavelet element method is implemented in a similar way a
