| 1. |
- Özkahraman, Özer, 1992-, et al.
(författare)
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Efficient Navigation Aware Seabed Coverage using AUVs
- 2021
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Ingår i: Proceedings of 2021 IEEE International Conference on Safety, Security, and Rescue Robotics (SSRR), October 25-27 2021, New York, USA..
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Konferensbidrag (refereegranskat)abstract
- Area coverage and robot navigation are two important research fields within robotics. However, their intersection has received limited attention. In coverage problems, perfect navigation is often assumed, and in robot navigation, the focus is often to minimize the localization error while traveling a given trajectory.The need for integration of the two becomes clear in environments with very sparse features or landmarks, for example when an Autonomous Underwater Vehicle (AUV) is to search the seafloor for dangerous objects, such as mines.The potential consequences of missing a mine due to navigation errors can be catastrophic.If the localization error is large, a trajectory that was designed to guarantee complete coverage might have missed significant parts of the area. Thus, the coverage trajectory must be planned with the navigation performance in mind, applying a combination of using large enough planned overlaps of sensor footprints to account for the position uncertainty, and reducing this uncertainty by re-visiting the known sparse landmarks.In this paper we compute trajectories that guarantee coverage for a given area under assumptions on worst case localization error growth.We further more compute upper bounds for how large areas can be covered using common coverage patterns and a single landmark, which leads to bounds on how sparse the landmarks can be in the regions to be covered.
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| 2. |
- Aad, G., et al.
(författare)
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- 2011
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Tidskriftsartikel (refereegranskat)
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| 3. |
- Aad, G., et al.
(författare)
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- 2015
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Ingår i: Physical Review D (Particles, Fields, Gravitation and Cosmology). - 1550-2368 .- 1550-7998. ; 92:9
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Tidskriftsartikel (refereegranskat)
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| 4. |
- Aad, G., et al.
(författare)
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- 2011
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swepub:Mat__t (refereegranskat)
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| 5. |
- Aad, G., et al.
(författare)
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- 2015
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Ingår i: Journal of High Energy Physics. - : Springer. - 1029-8479 .- 1126-6708. ; :11
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Tidskriftsartikel (refereegranskat)
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| 6. |
- Aad, G., et al.
(författare)
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- 2013
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Ingår i: Journal of High Energy Physics. - 1029-8479 .- 1126-6708. ; :6
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Tidskriftsartikel (refereegranskat)
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| 7. |
- Lind, Lars, et al.
(författare)
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Changes in leisure-time physical activity during the adult life span and relations to cardiovascular risk factors-Results from multiple Swedish studies
- 2021
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Ingår i: PLOS ONE. - : Public Library of Science (PLoS). - 1932-6203. ; 16:8
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Tidskriftsartikel (refereegranskat)abstract
- Objective To evaluate how self-reported leisure-time physical activity (PA) changes during the adult life span, and to study how PA is related to cardiovascular risk factors using longitudinal studies. Methods Several Swedish population-based longitudinal studies were used in the present study (PIVUS, ULSAM, SHE, and SHM, ranging from hundreds to 30,000 participants) to represent information across the adult life span in both sexes. Also, two cross-sectional studies were used as comparison (EpiHealth, LifeGene). PA was assessed by questionnaires on a four or five-level scale. Results Taking results from several samples into account, an increase in PA from middle-age up to 70 years was found in males, but not in females. Following age 70, a decline in PA was seen. Young adults reported both a higher proportion of sedentary behavior and a higher proportion high PA than the elderly. Females generally reported a lower PA at all ages. PA was mainly associated with serum triglycerides and HDL-cholesterol, but also weaker relationships with fasting glucose, blood pressure and BMI were found. These relationships were generally less strong in elderly subjects. Conclusion Using data from multiple longitudinal samples the development of PA over the adult life span could be described in detail and the relationships between PA and cardiovascular risk factors were portrayed. In general, a higher or increased physical activity over time was associated with a more beneficial cardiovascular risk factor profile, especially lipid levels.
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| 8. |
- Aad, G., et al.
(författare)
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- 2013
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Ingår i: Journal of High Energy Physics. - 1029-8479 .- 1126-6708. ; :10
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Tidskriftsartikel (refereegranskat)
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| 9. |
- Schaefer, A., et al.
(författare)
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Chemistry of thin film formation and stability during praseodymium oxide deposition on Si(111) under oxygen-deficient conditions
- 2010
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Ingår i: Surface Science. - : Elsevier BV. - 0039-6028 .- 1879-2758. ; 604:15-16, s. 1287-1293
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Tidskriftsartikel (refereegranskat)abstract
- The growth of thin praseodymium oxide films on silicon (111) using small deposition rates under oxygen-deficient conditions was investigated in the range from submonolayer up to six monolayers coverage by transmission electron microscopy (TEM) and photoemission spectroscopy (PES). A detailed analysis of the silicon 2p and oxygen 1 s core level and valence band spectra reveals chemical reactions between deposited species, substrate, and the growing film. Silicate, silicide and oxide species are coexisting over the entire range of coverages investigated. Cross sectional TEM shows silicide inclusions extending from the surface several nanometers into the substrate and affecting the substrate band bending at the interface. The reactivity of the praseodymia overlayer leads to reactions in the as-deposited film even at room temperature and render it unstable. The article aims at providing a coherent picture of the chemistry proceeding during interface formation and film growth at low rates of deposition (0.06 nm/min). The results will be discussed in comparison to studies using higher rates, emphasizing the possibility of growth rate dependent reactions between substrate and deposited material and, consequently, distinctly different film compositions and structures for different rates of deposition. (C) 2010 Elsevier B.V. All rights reserved.
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| 10. |
- Ahmad, Tashfeen
(författare)
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Diabetic osteopathy : a study in the rat
- 2003
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Doktorsavhandling (övrigt vetenskapligt/konstnärligt)abstract
- The present study on non-obese Goto-Kakizaki (GK) rats with type-2 diabetes and neuropathy was an attempt to describe and define pertinent features of diabetic osteopathy. Altogether, the study included 33 GK rats aged 12 and 20 months, and 36 age-matched Wistar rats as controls. All underwent test of glucose tolerance and nerve (sciatic) conduction velocity (NCV) showing that the diabetic rats had significantly higher blood glucose levels and lower NCV confirming the presence of diabetes and neuropathy. Skeletal features: Radiologic analysis of bone entailed X-ray, Dual Energy X-ray Absorptiometry (DEXA) and peripheral Quantitative Computed Tomography (pQCT). In diabetic rats, the length of humerus and height of vertebrae was reduced by 8%. The long bones exhibited endosteal erosion of the diaphyses up to 18% and periosteal expansion up to 8%. The vertebrae and metaphyses of long bones showed a decrease up to 24% in areal bone mineral density (BMD), whereas no decrease was seen in the diaphyses. Cross-sectional measurements by pQCT showed a decrease in volumetric BMD ranging from 33 to 62%, which exclusively pertained to trabecular bone (vertebrae, metaphyses), whereas volumetric BMD of the cortical bone of diaphyses was only marginally affected. The results indicate that juxta-articular bone in diabetes is substantially weaker, whereas diaphyseal cortical bone may be even stronger. Over all, the observations suggest that the diabetic skeleton is characterized by regional changes, which cannot be explained by systemic factors like calcium regulating hormones. Local bone turn-over is regulated by complex mechanisms involving cytokines, prostaglandins, growth factors and, also neuropeptides. Further analysis focused on the insulin-like growth factor (IGF) system and neuronal mediators in bone. IGF system: Immunoassays of IGF-I were done on serum, ankle samples and cortical preparations. In addition, the inhibitory IGF-I binding proteins, IGFBP-1 and -4 were analysed in serum. In diabetic rats, serum IGF-I was reduced by 18%, while IGFBP-1 and IGFBP-4 were increased by 89 and 20%, respectively. This complies with the lower BMD in the diabetic rats. In cortical bone, IGF-I was reduced by 38%, whereas no change was seen in ankles. The loss of IGF-I in cortical bone represents a novel finding. Given the cortical expansion observed in diabetic rats, the opposite was expected. Conceivably, loss of IGF-I results in endosteal erosion, which is compensated by periosteal expansion. Neuropeptides: The analyses focused on two sensory mediators, i.e. substance P (SP) and calcitonin gene- related peptide (CGRP), and one autonomic, i.e. neuropeptide Y (NPY). Immunohistochemistry was applied to ankles and tibial diaphyses, whereas radioimmunoassay (RIA) was used for separate preparations of periosteum, cortex and bone marrow from femur and tibia, whole ankles, dorsal root ganglia (DRG) and lumbar spinal cord. The morphological analysis showed SP, CGRP and NPY positive nerve fibers in bone and joints, which mostly were blood vessel related, although free terminals were also seen. In addition, NPY-positive hematopoietic cells were observed in the bone marrow. RIA revealed a significant decrease of CGRP, albeit not of SP, in DRG (-26%) and spinal cord (-29%) in the diabetic rats. As for bone, only NPY was significantly reduced, most evidently in bone marrow (-66%), but also in cortical bone (-36%) and ankles (-29%). Given the bone anabolic effects of CGRP and NPY, loss of these neuropeptides may prove, at least partly, to underlie the trabecular osteopenia and endocortical erosion observed in diabetic rats. Conclusion: The skeleton of diabetic rats with type-2 diabetes and neuropathy is characterized by regional changes of size, form, mineral content and density and concomitantly with regional abnormalities of the IGF- system and neuropeptides suggesting that also local factors beyond systemic play an important role in the development of diabetic osteopathy.
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