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In this paper, an iterative learning strategy was developed to improve trajectory tracking for an impedance-controlled robot manipulator. In this learning strategy, an update law was proposed to modify the Cartesian reference of an impedance controller. Also, the conditions that ensure its convergence considering the dynamics of the robot were derived. Finally, an experimental evaluation was perfo
The concept of service user and other related concepts such as service user participation, service user influence and service user perspective have in recent decades gained increased importance in discussions about the development of social work practice, research and education. However, when these concepts are used, there is sometimes a lack of a well-thought-trough reflection on what is meant. W
The ability of people to act on their knowledge of their surrounding physical environments before, in response to, and after impactful climate-related hazards is shaped by broader environmental and socio-economic conditions. We present a multiple case study that illustrates how people from both non-Indigenous and Indigenous communities living in remote areas in the Nordic countries maintain and ad
An engineering model for estimating hot gas layer height is presented. The model is based on several sub-models, thus necessitating benchmarking against experimental data. Results from the model are compared to data from three different series of enclosure fire tests. The results indicate a strong correlation between the proposed model and the experimental observations, with an average error of leAn engineering model for estimating hot gas layer height is presented. The model is based on several sub-models, thus necessitating benchmarking against experimental data. Results from the model are compared to data from three different series of enclosure fire tests. The results indicate a strong correlation between the proposed model and the experimental observations, with an average error of le
A medium-scale experimental setup located in Revinge, Sweden, is used to generate new repeated experimental datasets focussed on measuring a set of key variables, including time-temperature curves and temperature profiles. A total of 6 repeated fire tests were conducted and are here used to exemplify typical issues associated with repeatability, uncertainty and variability in tunnel fire experimen
Navigation performance in urban and large-scale built-up spaces (e.g. airports, train-stations, hospitals) depends on gradual environmental perception during locomotion, and spatial knowledge acquisition, update/integration at different times along a path. Rotational locomotion is regularly involved in everyday navigation; this, combined with the fact that people cannot perceive the whole of a lar
Key recommendationsPastureland restoration must be implemented to reduce dependency oncoping mechanisms such as emergency feeding, mechanized transport andintense workloads. These coping mechanisms are increasingly used to dealwith the cumulative effects of encroachments from competing land uses,predator pressure, and the impacts of climate change on snow conditions.Vigorous thinning of dense, man
BACKGROUND: Postural instability is considered a late complication of Parkinson’sdisease (PD). However, growing evidence shows that balance and gait problems mayoccur early in the disease.OBJECTIVE: To describe balance, gait, and falls/near falls in persons with newlydiagnosed, untreated PD (“de novo”), and to compare this with persons with mildmoderatePD (Later PD). In addition, we evaluated diffBackgroundPostural instability is considered a late complication of Parkinson’s disease (PD). However, growing evidence shows that balance and gait problems may occur early in the disease.ObjectiveTo describe balance, gait, and falls/near falls in persons with newly diagnosed, untreated PD (“de novo”), and to compare this with persons with mild-moderate PD (Later PD). In addition, we evaluated dif
Local genetic correlation analysis is an important tool for identifying genetic loci with shared biology across traits. Recently, Border et al. have shown that the results of these analyses are confounded by cross-trait assortative mating (xAM), leading to many false-positive findings. Here, we describe LAVA-Knock, a local genetic correlation method that builds off an existing genetic correlation
This study investigates age-related biases in AI-generated art through a mixed method investigation of images of older and younger individuals. Employing 19 text prompts associated with social exclusion for older adults, we collected 465 images from an AI-art generator, MidJourney, and conducted quantitative and qualitative analyses to understand differences between age group depictions. We used A
En kulturhistorisk perspketivering med plagget Hawaiiskjortan i fokus. Dels beskrivs Hawaiiskjortan som sådan, historisk etablering, i ett internetaionellt såväl som inrikes svenskt läge; dels förs resonemang om Hawaiiskjortans symboliska och betydelseproducerande roll i populärkulturen (TV-serier, filmer, musik av olika slag).
Acute myeloid leukemia (AML) is the most common form of acute leukemia in adults and the second most common among children. AML is characterized by aberrant proliferation of myeloid blasts in the bone marrow and impaired normal hematopoiesis. Despite the introduction of new drugs and allogeneic bone marrow transplantation, patients have poor overall survival rate with relapse as the major challeng
Ecosystem functioning depends on biodiversity at multiple trophic levels, yet relationships between multitrophic diversity and ecosystem multifunctionality have been poorly explored, with studies often focusing on individual trophic levels and functions and on specific ecosystem types. Here, we show that plant diversity can affect ecosystem functioning both directly and by affecting other trophic
This article takes a cognitive approach to natural concepts. The aim is to introduce criteria that are evaluated with respect to how they support the cognitive economy of humans when using concepts in reasoning and communicating with them. I first present the theory of conceptual spaces as a tool for expressing the criteria. Then I introduce the central idea that natural concepts correspond to con
The description of quantum transport in the strong system-reservoir coupling regime poses a significant theoretical and computational challenge that demands specialized tools for accurate analysis. RealTimeTransport is a new open-source C++ library that enables the computation of both stationary and transient transport observables for generic quantum systems connected to metallic reservoirs. It co
Scholarship on the Jovinianist controversy has shown that the idea of baptism as deeply transformative lay at the heart of Jovinian's thinking. Scholars have likewise held that Jerome, who through his Adversus Jovinianum is our main source to the ideas of Jovinian, did not acknowledge the ecclesiological concerns on which his opponent's argument was based. This article argues, to the contrary, tha
