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The notion of warping the rate of time is explored in the context of differentially flat systems to enable time-optimal motion by convex optimisation. Examples are given with systems configured on the special Euclidean groups SE(2) and SE(3), with and without differential constraints. The proposed method complements classical methods of motion planning, may be used in a real-time context with guar
The usual pigmentation pattern in mammalian skin consists of fixed melanocytes in the basal layer of the epidermis, supplying keratinocytes with melanosomes. We observed that the glabrous skin (rhinaria and footpads) of dogs deviates from this pattern. In dogs, melanocytes are found in both the dermis and epidermis. The epidermal melanocytes are situated in the intercellular spaces of the basal an
For many polar organic micropollutants, biotransformation by activated sludge microorganisms is a major removal process during wastewater treatment. However, our current understanding of how wastewater treatment operations influence microbial communities and their micropollutant biotransformation potential is limited, leaving major parts of observed variability in biotransformation rates across tr
The detailed characterization of human biology and behaviors is now possible at scale owing to innovations in biomarkers, bioimaging, and wearable technologies; "big data" from electronic medical records, health insurance databases, and other platforms becoming increasingly accessible; and rapidly evolving computational power and bioinformatics methods. Collectively, these advances are creating un
Human-induced climate change is expected to cause major biotic changes in species distributions and thereby including escalation of novel host-parasite associations. Closely related host species that come into secondary contact are especially likely to exchange parasites and pathogens. Both the Enemy Release Hypothesis (where invading hosts escape their original parasites) and the Novel Weapon Hyp
A frequency-dependent 14N and 13C NMR relaxation study of the micellar region formed by a very long zwitterionic surfactant, viz., 6-(dimethyleicosylammonio)hexanoate (C20AH), is presented. As a starting point the binary phase diagram of C20AH/D2O is determined. The phase diagram is similar to those found for shorter chain ionic surfactants with bulky head groups. The NMR relaxation data show a de
In their roles as purchasers, users and dischargers of used products, consumers play an important role in the circular economy. In this article, we put forward a ‘hierarchy of consumption behaviour’ to support European Union policymaking. Among the priorities are avoiding the purchase of single-use and unnecessary products, prolonging the lifetime of products through maintenance and engaging in re
If experience is the guiding light in entrepreneurship education, then why is there so little mention of a philosophy of experience? This article aims to illuminate the philosophical foundations upon which entrepreneurship education rests by discussing learning through experience. In particular, we discuss the concept of experience used in educational research and learning activities for fostering
Grating-based X-ray dark-field contrast is an emerging new imaging modality that is demonstrating particularly high potential for radiography. The signal in dark-field X-ray imaging is determined by small-angle X-ray scattering at structures typically below the spatial resolution of the imaging setup. Thus, this technique not only yields complementary information but also visualizes information th
Urban resilience to natural and human-induced shocks and stresses has become an important issue in the contemporary world. Several reviews exist on urban resilience, but limited attempts have been made to critically review studies that shed light on determinants of urban resilience in sub-Saharan Africa (SSA). This study synthesizes both peer-reviewed and grey literature on the determinants of urb
The limits of the environmental state in the context of the provision of economic growth are addressed by applying materialist state theory, state-rescaling approaches and the degrowth/postgrowth literature. I compare state roles in a capitalist growth economy and in a postgrowth economy geared towards bio-physical parameters such as matter and energy throughput and the provision of ‘sustainable w
High-pressure homogenizers are often used in tomato juice production to fragment tomato cells, to increase viscosity. Compared to emulsification, little is known about the mechanism of cell breakup in general and of vegetable cell breakup in particular. The objective of this contribution is to extend the mechanistic understanding of vegetable cell breakup in homogenizers, using a research methodol
Importance: Associations between putative risk factors and psychiatric and substance use disorders are widespread in the literature. Basing prevention efforts on such findings is hazardous. Applying causal inference methods, while challenging, is central to developing realistic and potentially actionable etiologic models for psychopathology. Observations: Causal methods can be divided into randomi
Purpose: The purpose of this study is to explore warehouse configuration in omni-channel retailing. Design/methodology/approach: A multiple case study is conducted with six large omni-channel retailers from three different sectors. Findings: The study shows an increase in the number, variation and frequency of flows passing through omni-channel warehouses. Along with an increased variety of stock
A load frame for in situ mechanical testing is developed for the microtomography end stations at the imaging beamline P05 and the high-energy material science beamline P07 of PETRA III at DESY, both operated by the Helmholtz- Zentrum Geesthacht. The load frame is fully integrated into the beamline control system and can be controlled via a feedback loop. All relevant parameters (load, displacement
