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We propose a generalisation of a behaviour tree and motiongenerator based robot arm policy representation for learning and solving tasks such as contact-rich tasks like peg insertion or pushing an object. We use planning to generate skill sequences needed to execute these tasks and rely on reinforcement learning to obtain parameters of the policy. We assume gaussian processes as a suitable method
Background: Robot-assisted nephroureterectomy (RANU) is the primary treatment for upper tract urothelial carcinoma (UTUC) at our hospital for patients with clinical stage less than T2, and for patients with invasive tumours, but unfit for major surgery. Objective: To assess peri-operative conditions and outcomes of RANU at our unit, and to evaluate the safety of the procedure. Methods: The medical
In this thesis, we focus on the problem of estimating receiver and sender node positions given some form of distance measurements between them. This kind of localization problem has several applications, e.g., global and indoor positioning, sensor network calibration, molecular conformations, data visualization, graph embedding, and robot kinematics. More concretely, this thesis makes contribution
Aims/hypothesis: Diabetes is associated with an increased risk of cancer. Prostasin is an epithelial sodium channel stimulator that has been associated with suppression of tumours, glucose metabolism and hyperglycaemia-associated tumour pathology. However, the association between prostasin, diabetes and cancer mortality has not been well investigated in humans. We aim to investigate the associatio
Lactose plays a significant role in daily lives as a constituent of various food and pharmaceutical products. Yet, lactose intolerance conditions demand low-lactose and lactose-free products in the market. These increasing nutritional claims and labels on food products entail simple and reliable methods of analysis that can be used for meeting quality standards, nutritional claims and legal requir
Functional size, or function points, is a language-independent measure of software size. It is used as an estimator of development effort and software code size, in particular in the domain of information systems, while in real-time systems it is not so widely spread. In this paper, functional size measurements are empirically evaluated by applying them to a recently completed project. Two establi
AIMS: Reduced lung function and adverse health outcomes are often observed. This study characterizes genetic susceptibility for reduced lung function and risk of developing a range of adverse health outcomes.METHODS: We studied 27,438 middle-aged adults from the Malmö Diet and Cancer study (MDCS), followed up to 28.8 years. Trait-specific Polygenic scores (PGS) for forced expiratory volume in 1 s
The Summary for Urban Policymakers (SUP) initiative provides a distillation of the IPCC reports into accessible and targeted summaries that can help inform action at city and regional scales. Volume I in the series, What the Latest Physical Science of Climate Change Means for Cities, identified the ways in which human-induced climate change is affecting every region of the world, and the cities an
Water molecules play important roles in all biochemical processes. Therefore, it is of key importance to obtain information of the structure, dynamics, and thermodynamics of water molecules around proteins. Numerous computational methods have been suggested with this aim. In this study, we compare the performance of conventional and grand-canonical Monte Carlo (GCMC) molecular dynamics (MD) simula
Increases in temperature related to global warming have important implications for organismal fitness. For ectotherms inhabiting temperate regions, ‘winter warming’ is likely to be a key source of the thermal variation experienced in future years. Studies focusing on the active season predict largely positive responses to warming in the reptiles; however, overlooking potentially deleterious conseq
Pulse transformer size is fundamentally linked to application pulselength, pulse power and pulse rise time. In considering long-pulse high-power applications, it has earlier been demonstrated that the large voltage-time integral associated with long-pulse operation in combination with the severe pulse rise time required to ensure high pulse efficiency strictly limits the number of transformer wind
Objective: Although targeted approaches have become available in second- and third-line settings, platinum-based chemotherapy remains the standard first-line treatment for advanced muscle-invasive bladder cancer (MIBC). Therefore, the prediction of platinum resistance is of utmost clinical importance. Methods: In this study, we established a routine compatible method for the molecular classificati
The transcriptional mechanisms underlying tooth development are only beginning to be understood. Pitx2, a bicoid-like homeodomain transcription factor, is the first transcriptional marker observed during tooth development. Because Pitx2, Msx2, and Dlx2 are expressed in the dental epithelium, we examined the transcriptional activity of PITX2 in concert with Msx2 and the Dlx2 promoter. PITX2 activat
What difference can local participation make in a world where inequality increases everywhere, where segregation pulls communities apart and where policymakers marginalise the needs and interests of the people whose lives their decisions affect the most? This question was central two decades ago when research on participatory institutions took off. Leftist scholars described participatory budgetinWhat difference can local participation make in a world where inequality increases everywhere, where segregation pulls communities apart and where policymakers marginalise the needs and interests of the people whose lives their decisions affect the most? This question was central two decades ago when research on participatory institutions took off. Leftist scholars described participatory budgetin
Context The context of this research is software process improvement (SPI) success factors for small and medium Web companies. Objective The primary objective of this paper is to propose a theoretical framework of SPI success factors for small and medium Web companies. Method The theoretical framework presented in this study aggregated the results of three previous research phases by applying prin
In order to provide clinical utility for research of how art therapists perceive clients’ inner change, the authors created a structured observational framework. This note-taking and assessment consist of five themes and sub-themes: Therapeutic Alliance, Creating, Affect-Awareness, Self-Awareness, and Ego-Strength. The framework was designed to be clinically-friendly, adaptable to various settings
Introduction: People living with acromegaly and neuroendocrine tumours (NETs) may be treated with injectable somatostatin receptor ligands (SRLs), administered by either a caregiver or as self-injection via a proprietary or generic device. Injection device attributes that contribute to ease of use and storage, minimise preparation requirements, and reduce injection pain are associated with improve
