GlowBots: Robots that Evolve Relationships

GlowBots are small wheeled robots that develop complex relationships between each other and with their owner. They develop attractive patterns which are affected both by user interaction and communication between the robots. The project shows how robots can interact with humans in subtle and sustainable ways for entertainment and enjoyment

The see-Puck

We present the see-Puck, a round display module that extends an open robot platform, the e-Puck. It holds 148 LEDs (light emitting diodes) to enable the presentation of eye-catching visual animated patterns, while keeping hardware costs and energy consumption at a minimum. The see-Puck was a result of a study of future robot applications, where relationship and interaction qualities found in owners of unusual pets (e.g. spiders, snakes, and lizards) were transferred to the robotic domain. In our first proof-of-concept application, humans and robots can engage in a playful open ended interaction. We argue that open interactive robot platforms such as the see-Puck point to opportunities not only in robotics but also future user interfaces and ubiquitous computing

Erasing borders at Teltow Canal Berlin

The thesis investigates alternatives to contemporary urban planning. The aim is to find solutions to how a more flexible development can be brought about in the specific area around the Teltow Canal on the outskirts of Berlin. In the thesis, it argues that planning regulations and methods have not been able to keep up with the rapid changes in society which has led to urban environments not being flexible enough when conditions change. To find methods and ideas for solutions, a literature study of contemporary sources on the subject was conducted. The literature study is presented in a theoretical framework divided into the three themes; Flexible Urban Planning, Small-scale Interventions and Interim Use. From the conclusions drawn from the themes, a number of design concepts are established and presented in a conceptual framework. The concepts include reusing and retaining elements of the area, multifunctional material and design, open planning process, accessibility to and adaptability of areas, and establishing clear frameworks for future development. The study of the district chosen for the thesis shows that it contains extensive green spaces along the Teltow Canal as well as built environment of historical and cultural importance. The area also exhibits a lack of infrastructure and accessibility. The proposal is based on the examples and methods studied in literature. The idea combines the strength of the existing green spaces with the implementation of a new green path network. It will act as a framework for future urban development and at the same time ensure a connectivity of green spaces over time. Within the green path network a series of interventions are proposed. By adapting to the existing conditions and reusing and retaining physical characteristics, the interventions open up spaces for new connections, uses and possibilities. All interventions are placed at strategic points in the area to have a catalytic effect, guiding the future development of the surrounding environment.Detta arbete undersöker alternativa metoder för stadsplanering som fokuserar på en mer flexibel framtida stadsutveckling. I arbetet argumenteras det för att lagstiftning och metoder inom stadsplanering inte har lyckats hålla takten med den snabba samhällsutvecklingen, vilket har lett till stadsmiljöer som inte är tillräckligt flexibla när förhållandena förändras. Arbetets syfte är att finna lösningar för en mer flexibel utveckling i det specifika området runt Teltowkanal, i utkanten av Berlin. För att finna exempel på metoder och idéer på lösningar, har en litteraturstudie av samtida källor inom ämnet genomförts. Litteraturstudien presenteras i ett teoretiskt ramverk, indelat i tre teman; Flexibel stadsplanering, småskaliga interventioner och interim-användning. Från de slutsatser som dragits i detta ramverk presenteras ett antal gestaltningsmetoder. De inkluderar bland annat multifunktionell gestaltning, tillgänglighet och anpassningsbarhet. att återanvända och behålla fysiska samt mentala aspekter på platsen, samhällsengagemang och öppna planeringsprocesser, och etablering av tydliga nätverk och ramverk för framtida utveckling. Platsstudien av det valda området visar att det finns rikligt med grönområden längs Teltowkanal och flera bebyggelser med historisk och kulturell betydelse. Inom stora delar av området finns också en bristande infrastruktur vilket drastiskt minskar tillgängligheten. Baserat på de exempel och ideér som studerats i litteraturen har ett gestaltningsförslag för områdets utveckling tagits fram. I förslaget som presenteras sammanförs styrkan i den utvecklade grönstrukturen med den bristande infrastrukturen genom att etablera ett grönt vägnät. Detta nätverk fungerar som ett ramverk för framtida stadsutveckling i området och säkerställer samtidigt en sammanhängande grönstruktur. Inom det gröna vägnätet föreslås ett antal interventioner som placeras på strategiskt valda platser och anpassas till den befintliga situationen och återanvänder platsernas karaktär. Interventionerna skapar nya kopplingar och funktioner som möjliggör för en katalytisk effekt som även kan vägleda den framtida utvecklingen av närliggande områden

Social sustainability in Stockholm Royal Seaport : “a world class sustainable city district”

Globaliseringen har försatt Stockholm i en konkurrenssituation gentemot världens städer. För att bemöta konkurrensen har Stockholms stad bland annat valt att satsa stora resurser på stadsbyggnadsprojektet Norra Djurgårdsstaden. Förhoppningen är att det ska bli en miljöstadsdel i världsklass som samtidigt ska representera Stockholms stads arbete kring ett modernt och hållbart stadsbyggande. På så sätt ska Norra Djurgårdsstaden fungera som ett skyltfönster för Stockholm som stad. Hållbart stadsbyggande innefattar tre aspekter; ekologiska, ekonomiska och sociala. Syftet med vår kandidatuppsats är att undersöka den sociala hållbarheten i Norra Djurgårdsstaden och hur arbetet med den har bedrivits i den bebyggda miljön. Vi har valt att i uppsatsen studera fyra konkreta faktorer i den bebyggda miljön, nämligen fastighetsindelning, kvartersformer, boendeformer och mötes-platser i utemiljön. Vi undersöker hur utförandet av faktorerna påverkar den sociala hållbarheten i stadsdelen. Eftersom Norra Djurgårdsstaden ännu inte är färdigställd har detta arbete inriktats på delområdet Hjorthagen där planeringen är längst kommen. Där har Stockholms stad hittills presenterat fem detaljplanerade etapper samt en etapp med en omfattande planering av den yttre miljön. Vi valde att utföra undersökningen genom litteraturstudier, intervjuer samt granskning av befintliga detaljplaner och illustrationsbilagor. Litteraturstudien gav oss bakgrundsfakta om hur begreppet social hållbarhet kan definieras och hur det uppnås i bebyggd miljö. Dessa kunskaper kunde vi sedan applicera på Norra Djurgårdsstaden. Studien innefattade även utomstående experters bedömning av den sociala hållbarheten i Norra Djurgårdsstaden. För att få en mer djupgående information om planeringen intervjuade vi stadsdelens projektchef. Eftersom Hammarby Sjöstad fungerat som en förebild för Norra Djurgårdstaden intervjuades även projektledaren för detta projekt. Vi granskade även tillgängliga detaljplaner och illustrationsbilagor för Norra Djurgårdsstaden för att få kunskap om hur den sociala hållbarheten har konkretiserats. Resultatet av undersökningen visade att stadsdelen kommer ha en relativt god anpassningsförmåga i framtiden när nya behov uppstår. Den visade även att stadsdelens boende kommer ha en stor möjlighet till en upplevd trygghet. De boende riskerar dock att bestå av en homogen och kapitalstark grupp vilket kan bidra till att utomstående besökare lätt kan känna ett utanförskap i Norra Djurgårdsstaden. Den homogena boendestrukturen riskerar även att bidra till segregation i Stockholm.Globalization has put Stockholm in a situation where it has to compete with other cities. To be able to compete in this market, the City of Stockholm has decided to spend large amounts of money on the city planning district Stockholm Royal Seaport. The City of Stockholm hopes that this district will become a world class environmentally friendly city district and represent the City of Stockholm’s work with modern and sustainable urban development. Stockholm Royal Seaport is intended to function as an advertisement for the whole city of Stockholm. Sustainable development comprises three aspects, environmental, economic and social sustainability. The purpose of this essay is to examine the work with social sustainability in the Stockholm Royal Seaport and how it has been con-ducted in the built environment. Throughout this essay built environment in-cludes four tangible factors. These factors are plot sizes, block shapes, housing configurations and meeting places in the outdoor environment. We examine how the factors affect social sustainability in the district. As the Stockholm Royal Seaport is not yet fully built, this essay focuses on the area of Hjorthagen, which is most advanced in the planning process. The City of Stock-holm has so far presented five development plans for different parts of Hjorthagen and an extensive programme for the exterior environment of yet another part. We chose to conduct the study through literature studies, interviews and scru-tiny of development plans and illustration attachments. From the literature study we gathered background facts about social sustainability, how it can be defined and how it is achieved in the built environment. We then applied this knowledge on the Stockholm Royal Seaport. The literature studies also included opinions of independent experts on social sustainability in the Stockholm Royal Seaport. To get more in depth knowledge about the planning, we interviewed the project manager for the district. We also conducted an interview with the project manager of Hammarby Sjöstad because that district has been a model for the Stockholm Royal Seaport project. To gain knowledge about how the social sustainability has been made tangible in the Stockholm Royal Seaport, we reviewed available development plans and illustration attachments. The results show that the city district will have a relatively good ability to conform to changes in the future needs of the inhabitants. They also indicate that the inhabitants of the Stockholm Royal Seaport will have a high sense of security in their living environment but there is a risk that those inhabitants will be a homogeneous and wealthy group which could lead to visitors feeling unwelcome and also to a more segregated Stockholm

Microbial and human transcriptome in vaginal fluid at midgestation: Association with spontaneous preterm delivery

Background Intrauterine infection and inflammation caused by microbial transfer from the vagina are believed to be important factors causing spontaneous preterm delivery (PTD). Multiple studies have examined the relationship between the cervicovaginal microbiome and spontaneous PTD with divergent results. Most studies have applied a DNA-based assessment, providing information on the microbial composition but not transcriptional activity. A transcriptomic approach was applied to investigate differences in the active vaginal microbiome and human transcriptome at midgestation between women delivering spontaneously preterm versus those delivering at term. Methods Vaginal swabs were collected in women with a singleton pregnancy at 18 + 0 to 20 + 6 gestational weeks. For each case of spontaneous PTD (delivery <37 + 0 weeks) two term controls were randomized (39 + 0 to 40 + 6 weeks). Vaginal specimens were subject to sequencing of both human and microbial RNA. Microbial reads were taxonomically classified using Kraken2 and RefSeq as a reference. Statistical analyses were performed using DESeq2. GSEA and HUMAnN3 were used for pathway analyses. Results We found 17 human genes to be differentially expressed (false discovery rate, FDR < 0.05) in the preterm group (n = 48) compared to the term group (n = 96). Gene expression of kallikrein-2 (KLK2), KLK3 and four isoforms of metallothioneins 1 (MT1s) was higher in the preterm group (FDR < 0.05). We found 11 individual bacterial species to be differentially expressed (FDR < 0.05), most with a low occurrence. No statistically significant differences in bacterial load, diversity or microbial community state types were found between the groups. Conclusions In our mainly white population, primarily bacterial species of low occurrence were differentially expressed at midgestation in women who delivered preterm versus at term. However, the expression of specific human transcripts including KLK2, KLK3 and several isoforms of MT1s was higher in preterm cases. This is of interest, because these genes may be involved in critical inflammatory pathways associated with spontaneous PTD

Is the risk of infection higher during treatment with secukinumab than with TNF inhibitors? An observational study from the Nordic countries

Objectives The positioning of secukinumab in the treatment of axial SpA (axSpA) and PsA is debated, partly due to a limited understanding of the comparative safety of the available treatments. We aimed to assess the risk of the key safety outcome infections during treatment with secukinumab and TNF inhibitors (TNFi). Methods Patients with SpA and PsA starting secukinumab or TNFi year 2015 through 2018 were identified in four Nordic rheumatology registers. The first hospitalized infection during the first year of treatment was identified through linkage to national registers. Incidence rates (IRs) with 95% CIs per 100 patient-years were calculated. Adjusted hazard ratios were estimated through Cox regression, with secukinumab as the reference. Several sensitivity analyses were performed to investigate confounding by indication. Results Among 7708 patients with SpA and 5760 patients with PsA, we identified 16 229 treatment courses of TNFi (53% bionaive) and 1948 with secukinumab (11% bionaive). For secukinumab, the first-year risk of hospitalized infection was 3.5% (IR 5.0; 3.9-6.3), compared with 1.7% (IR 2.3; 1.7-3.0) during 3201 courses with adalimumab, with the IRs for other TNFi lying in between these values. The adjusted HR for adalimumab, compared with secukinumab, was 0.58 (0.39-0.85). In sensitivity analyses, the difference from secukinumab was somewhat attenuated and in some analyses no longer statistically significant. Conclusion When used according to clinical practice in the Nordic countries, the observed first-year absolute risk of hospitalized infection was doubled for secukinumab compared with adalimumab. This excess risk seemed largely explained by confounding by indication.Peer reviewe

RIFEL - Ripple and Electromagnetic Fields in Electric Vehicles

The electrical system in an electrified vehicle consists of high voltage (HV) components interacting in a complex way. The switching interaction in the power electronics results in ripple causing electromagnetic fields, disturbing other electronics and degradation of components. An overview of this can first be obtained when a physical system is built which could lead to unintentional over- or under dimensioning of HV components. This lack of information within the electrical system can lead to late verifications in the project causing substantial cost if changes are needed. This project aims at improving early evaluation of new concepts, create tools and build the necessary competence for a virtual system model that includes the key HV components: battery, electrical motor and power electronics, a simple load along with cable and connectors. This virtual model shall be able to simulate voltage and current ripple generated by the power electronics, initially in a frequency range up to 100 kHz. Results from the simulations shall be presented both in time and frequency domain as well as be expressed in RMS values for easier comparison to measured results. Some of the more important findings are briefly summarised below;For the high voltage battery, the electrical characteristics up to a frequency of roughly 1000 Hz was well determined using an impedance spectroscopy instrument at cell level and then multiplied by the numbers of cells.\ua0 However for finding the impedance behaviour for frequencies above 1000 Hz, the determination must be done on the battery pack level since bus bars and other component in the complete battery pack will be dominating in this frequency range. From measurements of differential mode impedance in high voltage cables it is found that it is important that the mutual inductance between the centre conductor and shield is included in the model to describe cable impedance below 10 kHz properly.The control of the inverter is very important for the overall behaviour and in this project SVM was used which has been shown to give the lowest current and voltage ripple of the traditional switching schemes. And for the machine model, the temperature variations must be taken into account since the machine parameters has been found to vary with ~20 % over the specified temperature range.The system model is found to agree well with rig measurements well up to 1 MHz with regards to both currents and voltages at the DC and AC sides. Furthermore, measurements in a real car match those in the rig. For time domain simulations, it was decided to use Ansys Simplorer since it can handle the inverter and the electrical machine simulations very well and for frequency domain simulations, it was decided to use LTspice since it is freeware, has support for AC-sweeps, improved switching compared to other SPICE-simulators, and is easy to use.Magnetic field simulations have been calculated and compared to measurements in the driveline rig at Chalmers. It was a good match across the investigated frequency range 10 Hz to 100 kHz.In this project, only internally developed component models were considered. To expand the functionality of the system modelling tool, international interface standards such as the Functional Mockup Interface (FMI) need to be investigated. Consequently, it would be a good idea to include additional automotive OEMs as well as suppliers and software vendors in future research collaborations

Opportunities and challenges for real-world studies on chronic inflammatory joint diseases through data enrichment and collaboration between national registers : the Nordic example

RMD Open 2018;4:e000655. doi:10.1136/ rmdopen-2018-000655Peer reviewe

Low-density granulocytes are related to shorter pregnancy duration but not to interferon alpha protein blood levels in systemic lupus erythematosus

BACKGROUND: An increased risk of pregnancy complications is seen in women with systemic lupus erythematosus (SLE), but the specific immunopathological drivers are still unclear. Hallmarks of SLE are granulocyte activation, type I interferon (IFN) overproduction, and autoantibodies. Here we examined whether low-density granulocytes (LDG) and granulocyte activation increase during pregnancy, and related the results to IFNα protein levels, autoantibody profile, and gestational age at birth. METHODS: Repeated blood samples were collected during pregnancy in trimesters one, two, and three from 69 women with SLE and 27 healthy pregnant women (HC). Nineteen of the SLE women were also sampled late postpartum. LDG proportions and granulocyte activation (CD62L shedding) were measured by flow cytometry. Plasma IFNα protein concentrations were quantified by single molecule array (Simoa) immune assay. Clinical data were obtained from medical records. RESULTS: Women with SLE had higher LDG proportions and increased IFNα protein levels compared to HC throughout pregnancy, but neither LDG fractions nor IFNα levels differed during pregnancy compared to postpartum in SLE. Granulocyte activation status was higher in SLE relative to HC pregnancies, and it was increased during pregnancy compared to after pregnancy in SLE. Higher LDG proportions in SLE were associated with antiphospholipid positivity but not to IFNα protein levels. Finally, higher LDG proportions in trimester three correlated independently with lower gestational age at birth in SLE. CONCLUSION: Our results suggest that SLE pregnancy results in increased peripheral granulocyte priming, and that higher LDG proportions late in pregnancy are related to shorter pregnancy duration but not to IFNα blood levels in SLE