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This thesis investigates the implementation and experimental evaluation of velocity controllers for force and motion control. It also explores how adaptive estimators and velocity control can be integrated cooperatively to improve the accuracy and efficiency of such control systems. Additionally, the thesis addresses how uncertainties affect position tracking performance, offering insights and sol
The electrical energy landscape is changing rapidly with increasing electrification and renewable energy expansion. Smart meters deployed in households create opportunities for understanding energy consumption patterns through load disaggregation, the task of identifying individual appliances directly from aggregate electrical power data. Load disaggregation could be used for better understanding
This thesis investigates the performance of two model predictive control (MPC) variants for autonomous racing, using a 1:10-scale vehicle as a testbed for reference path-tracking experiments. The platform is equipped with a single inertial navigation system (INS) sensor, providing highly accurate odometry measurements. The controllers under study are the standard gradient-based MPC and a sampling-
This thesis investigates sensorless methods for detecting collisions and added weight in dual motor-driven industrial doors, to enhance safety without additional hardware. The study is grounded in the safety requirements outlined in EN 12453:2017 and conducted in collaboration with ASSA ABLOY. By monitoring deviations in the torque-producing current (IQ) from the motors, the developed methods iden
This master thesis presents the development of a vision-based feedback control system for automating sample placement in a virtual neutron beam emulated using a laser. The thesis was carried out on behalf of the European Spallation Source (ESS) to investigate the feasibility, possibilities and limitations of using a robotic automation system for sample alignment. Due to the radioactive research en
Infective endocarditis (IE) is a severe disease affecting the inner lining of the heart. Its diverse symptoms complicate diagnosis and the current main diagnostic tool is the Duke criteria which classifies suspected cases as definite, possible or rejected IE. A substantial portion of cases falls into the ambiguous “possible” category and there is a need for a more precise diagnostic system. This t
This thesis investigates how high-level planning principles can be deterministically and algorithmically incorporated into a sampling-based motion planner by modifying the structure of the RRT* algorithm. In particular, the requirement to always end a planned route by a reversing maneuver can be directly imposed through the expansion and connection logic of bidirectional search-trees, rather than
Small populations are prone to inbreeding depression due to the increased likelihood of mating between close relatives, resulting in the expression of deleterious recessive mutations. While this increases the risk of population extinction, high levels of inbreeding can initiate a purging process, where natural selection gradually eliminates strongly deleterious mutations. This purging effect has b
Understanding how human activities influence wildlife behavior and habitat use is crucial for the conservation of large carnivores, such as the brown bear (Ursus arctos), in human-dominated landscapes. This thesis investigates the effects of dog-assisted wild boar hunts on the strictly protected Pyrenean brown bear population in Catalonia (hereafter named as “non-targeted hunting”). I examined the
The Department of Automatic Control at Lund University bi-annually gives a project course in Systems, Control and Learning (FRTN70). The course is given at the advanced level (7.5 ECTS credits), and the studentswork in small teams to achieve a common goal. The projects typically involve a real-world estimation or control problem with relevance to industrial or other applications. In this course, t
The Department of Automatic Control at Lund University gives a project course in Systems, Control and Learning (FRTN70) twice per year. The course is given at the advanced level (7.5 ECTS credits), and the students work in small teams to achieve a common goal. The projects typically involve a real-world estimation or control problem with relevance to industrial or other applications. In this cours
The Department of Automatic Control at Lund University gives a project course in Systems, Control and Learning (FRTN70) twice per year. The course is given at the advanced level (7.5 ECTS credits), and the students work in small teams to achieve a common goal. The projects typically involve a real-world estimation or control problem with relevance to industrial or other applications. In this cours
INTRODUCTION: This study examined trends in socioeconomic inequalities in obesity among Portuguese women and men using data from National Health Surveys (NHSs).METHODS: We analysed weighted data from adults aged 20-64 years from the 1998/1999 (n = 20,581), 2005/2006 (n = 13,088), 2014 (n = 7284), and 2019 (n = 5959) NHSs. Obesity was defined as body mass index (BMI) ≥30 kg/m 2, based on self-repor
Critical scholarship has increasingly questioned the effectiveness of external menstrual health interventions in the Global South, often highlighting their lack of cultural sensitivity and potential to reinforce menstrual stigma. These critiques raise concerns not only about individual well-being, but also about broader questions of gendered inequality. Although such initiatives frequently center
Mindfulness har under de senaste åren blivit allt mer populärt i Sverige. Från att främst ha använts inom psykologin för att hantera stress och ohälsa, har det idag spridit sig till arbetsplatser och blivit en del av olika institutioner. I den här uppsatsen undersöks mindfulness ur ett sociologiskt perspektiv: hur praktiken påverkar människors värderingar, identiteter och föreställningar om sig sjMindfulness has increasingly become a popularized phenomenon in Sweden. From being integrated at workplaces and used for therapeutic purposes in psychology, the phenomenon has been institutionalized. This study is a sociological inquiry on mindfulness-related practices and how it shapes values, identities, and beliefs. Using the lens of Pierre Bourdieu’s relational sociology and the methodology of
Denna kandidatuppsats undersöker ”avförtrollning som upplysningens program” utifrån Max Horkheimer och Theodor W. Adornos tes (1944), med fokus på hur detta kommer till uttryck i den ångermanländske prästen Jöns Hornæus Sannfärdig berättelse (1740/1771). Genom en kvalitativ diskursanalys, kompletterad med en enklare kvantitativ kartläggning, analyseras Hornæus framställningar av övernaturliga väseThis bachelor’s thesis examines “disenchantment as the program of Enlightenment” through Max Horkheimer and Theodor W. Adorno’s thesis (1944), focusing on how it appears in the Swedish (Ångermanland) priest Jöns Hornæus’ Sannfärdig berättelse (1740/1771). Using qualitative discourse analysis, supported by a simple quantitative survey, the study analyzes Hornæus’ depictions of supernatural beings a
Reconstruction of indoor surfaces with limited texture information or with repeated textures, a situation common in walls and ceilings, may be difficult with a monocular Structure from Motion system. We propose a Semantic Room Wireframe Detection task to predict a Semantic Wireframe from a single perspective image. Such predictions may be used with shape priors to estimate the Room Layout and aid
The link between the structural organization of the fibrillar components of lung extracellular matrix (ECM), local tissue stiffness and global viscoelastic behaviour is not known. Here we investigated the effect of injurious mechanical ventilation on the local lung tissue stiffness using 4D synchrotron phase-contrast micro-CT, in normal lung and 7 days after intratracheal bleomycin induced lung in
Kan proteiner visa vägen till bättre plaståtervinning och en renare värld? Vissa typer av proteiner(enzymer) har under de senaste åren visat prov på nedbrytning av plast och kan därför bli en ny och hållbar metod för plaståtervinning. Mest framgångsrikt är en typ av enzymer som kallas cutinas som kan effektivt bryta ner PET, som bland annat finns i PET-flaskor. Nu visar forskning på att användninPolyolefins make up the majority of all plastics produced and can be found in a range of applications. Simultaneously, 60% of all plastics are not being recycled, and consequently are accumulating in the environment where it poses serious threats to both the environment, human health, and economies. Current attempts to address the problem have had limited success. An emerging solution is biodegrad
