A path planning and path-following control framework for a general 2-trailer with a car-like tractor

Maneuvering a general 2-trailer with a car-like tractor in backward motion is a task that requires significant skill to master and is unarguably one of the most complicated tasks a truck driver has to perform. This paper presents a path planning and path-following control solution that can be used to automatically plan and execute difficult parking and obstacle avoidance maneuvers by combining backward and forward motion. A lattice-based path planning framework is developed in order to generate kinematically feasible and collision-free paths and a path-following controller is designed to stabilize the lateral and angular path-following error states during path execution. To estimate the vehicle state needed for control, a nonlinear observer is developed which only utilizes information from sensors that are mounted on the car-like tractor, making the system independent of additional trailer sensors. The proposed path planning and path-following control framework is implemented on a full-scale test vehicle and results from simulations and real-world experiments are presented.Comment: Preprin

Reduction of Undesired Range Shifting in an Agricultural Continuously Variable Transmission

The subject of this thesis was to investigate the possibility of a supplemental control algorithm to suppress gear alternation in the ZF ECCOM gearbox series. The acquired solutions were implemented on a dSpace MicroAutoBox II and connected to a Claas Xerion 5000 to evaluate their effect. The different approaches have gone through three steps of validation, first a Simulink model simulation, secondly a tractor simulator test, and finally tests on the real tractor

Soft nanostructuring of YBCO Josephson Junctions by phase separation

We have developed a new method to fabricate biepitaxial YBa2Cu3O(7-x) (YBCO) Josephson junctions at the nanoscale, allowing junctions widths down to 100 nm and simultaneously avoiding the typical damage in grain boundary interfaces due to conventional patterning procedures. By using the competition between the superconducting YBCO and the insulating Y2BaCuO5 phases during film growth, we formed nanometer sized grain boundary junctions in the insulating Y2BaCuO5 matrix as confirmed by high resolution transmission electron microscopy. Electrical transport measurements give clear indications that we are close to probing the intrinsic properties of the grain boundaries.Comment: 16 pages, 6 figure

Common psychiatric disorders share the same genetic origin : a multivariate sibling study of the Swedish population.

Recent studies have shown that different mental-health problems appear to be partly influenced by the same set of genes, which can be summarized by a general genetic factor. To date, such studies have relied on surveys of community-based samples, which could introduce potential biases. The goal of this study was to examine whether a general genetic factor would still emerge when based on a different ascertainment method with different biases from previous studies. We targeted all adults in Sweden (n=3 475 112) using national registers and identified those who had received one or more psychiatric diagnoses after seeking or being forced into mental health care. In order to examine the genetic versus environmental etiology of the general factor, we examined whether participants' full- or half-siblings had also received diagnoses. We focused on eight major psychiatric disorders based on the International Classification of Diseases, including schizophrenia, schizoaffective disorder, bipolar disorder, depression, anxiety, attention-deficit/hyperactivity disorder, alcohol use disorder and drug abuse. In addition, we included convictions of violent crimes. Multivariate analyses demonstrated that a general genetic factor influenced all disorders and convictions of violent crimes, accounting for between 10% (attention-deficit/hyperactivity disorder) and 36% (drug abuse) of the variance of the conditions. Thus, a general genetic factor of psychopathology emerges when based on both surveys as well as national registers, indicating that a set of pleiotropic genes influence a variety of psychiatric disorders.National Institute of Health, R01 HD056354-04A1Swedish Research Council for Health, Working Life and WelfareSwedish Research CouncilAccepte

Educación Superior: cifras y hechos (Año 7 no. 43-44 ene-abr 2009)

Artículos -Para una vindicación del luddismo José Guadalupe Gandarilla Salgado - Rabia Contra la Máquina Luis Hernández Navarro - Grandrisse: trabajo y general intellect Franco Berardi Bifo Reflexiones -Sobre la reconstitución del pensamiento crítico Franz J. Hinkelammert -Una nueva edad en la historia de la filosofía: el diálogo mundial entre tradiciones filosóficas Enrique Dussel - Para leer sobre...geopolítica del conocimiento, diversidad epitémica y decolonialidad Subrayados David Watson Ana Esther Ceceña Exlibris José Guadalupe Gandarilla Salgado Carlos Arturo Flores Villela Panorama Universitari

Physical function, physical activity and quality of life in systemic sclerosis

Background and aims. Systemic sclerosis (SSc) is a multisystem rheumatic disease characterized by fibrosis, vasculopathy and immune system activation. There is a dearth of knowledge how different subphenotypes such as patients with no–mild and moderate–end-stage lung disease differs in physical function and activity, muscle function and active range of motion. Likewise, no study has yet investigated what experiences patients with SSc have of physical activity and exercise. Although it is known that many patients with SSc have physical disabilities, reduced health-related quality of life (HRQoL) and have anxiety and depression symptoms, little is known about differences between patients with no-mild and moderate-end-stage lung disease respectively. The overarching aim of this thesis was to increase the knowledge of physical function, physical activity and HRQoL in patients with SSc and different degrees of lung disease. The specific aims were to investigate the differences in physical capacity, physical activity, muscle function and range of motion in comparison with population-based controls or reference values. Further, a specific aim was to explore patients’ own experiences of physical activity and exercise. Participants and methods. Three Cross-sectional studies were performed. In paper 1, 106 patients with SSc and 106 age- and gender-matched population-based controls were involved. In paper II, 205 patients with SSc were compared with reference values and in a paper III, 279 patients were involved. Further, a qualitative study with interviews of 16 individuals with SSc were performed and underwent a content analysis. Results. Paper I: Patients with SSc reported overall lower physical capacity for walking, jogging, and running, and more limiting factors for physical capacity than controls. Patients with no–mild lung disease reported pain more often than their controls, whereas moderate–severe lung disease patients reported cardiopulmonary disease and reduced muscle strength as limiting factors for physical capacity more often than their controls. More patients than controls had ‘never exercised’ for at least 30 min per occasion within the past year; however, there were no differences overall between patients and controls in frequency of exercise, physical activity, nor time spent sitting. Paper II: Shoulder- and hip flexion muscle endurance were lower in relation to reference values, median [53% and 40% of predicted], respectively. Patients with moderate–end-stage lung disease had lower endur- ance in shoulder- and hip flexion [39% and 35%] than patients with no-mild lung disease [57% and 48%]. All patients, regardless subtype/grouping, needed longer time to complete the Timed-Stands Test (TST) [21 s] compared to reference values [17 s], and patients with moderate–end-stage lung disease needed longer time to complete TST than patients with no-mild lung involvement, [25 s vs 19 s]. Active range of motion in shoulder-arm were lower compared with reference values, and patients with dcSSc had lower shoulder-arm movement than patients with lcSSc. Paper III: The following three themes (and categories) emerged from the analysis: Essential for life and health (Diminishes symptoms and is as effective as pharmaceuticals, Reduces fear of deterioration, and, Feeling healthy and satisfied with oneself); Disease-related and other hindrances (Breathlessness, pain and other disease consequences limit, Risk of worsening, and, Non-disease barriers); and, Own understanding about physical activity/exercise and support from healthcare (Experience-based knowledge about own capability and physical activity/exercise, and, Education and support from healthcare and others). Paper IV: Patients with moderate–end-stage lung disease scored lower on Medical Outcomes Trust Short Form 36 (SF-36) physical component score than no–mild. Patients with moderate–end-stage lung disease had lower physical capacity, were less physical active on low-moderate intensity and exercised less the past year compared with no–mild. Patients with moderate–end-stage lung disease scored higher on Health Assessment Questionnaire (HAQ) and higher scores on Hospital Anxiety Depression scale (HADs), than the no–mild group. In the whole SSc sample, the SF-36 physical component score correlated highly with HAQ and moderately with symptoms on HAQ-VAS- general, dyspnoea, pain; and physical capacity, while SF-36 mental component score correlated moderately with anxiety and depression (HAD). Conclusions: Although SSc patients reported lower physical capacity and more limiting factors for physical capacity than controls, there were no differences in reported physical activity and time spent sitting. However, SSc patients have markedly reduced muscle endurance in both the upper and lower extremities, reduced muscle strength in the lower extremities and impaired active range of motion in the shoulders and arms. Patients with moderate-end stage lung involvement had more impaired muscle endurance and strength than those with no-mild lung involvement but surprisingly no differences were found between lcSSc and dcSSc patients. Among individuals with SSc with both no-mild and moderate-end-stage lung disease, physical activity and exercise was expressed as essential for life and health and that it reduces fear of deterioration. Nevertheless, it was also expressed as a risk for worsening. As patients with SSc with moderate-severe lung disease have lower physical capacity, are less physically active and exercise less, are more physically disabled, have a lower physical HRQoL and have more depressive symptoms than patients with no-mild lung disease, individualized physical activity and exercise support from physiotherapist might be beneficial. The studies included in this thesis contributes to new knowledge, about how to develop and evaluate future physical exercise programs including resistance training for patients with SSc, especially for those with more severe lung disease

Physical function, physical activity and quality of life in systemic sclerosis

Background and aims. Systemic sclerosis (SSc) is a multisystem rheumatic disease characterized by fibrosis, vasculopathy and immune system activation. There is a dearth of knowledge how different subphenotypes such as patients with no–mild and moderate–end-stage lung disease differs in physical function and activity, muscle function and active range of motion. Likewise, no study has yet investigated what experiences patients with SSc have of physical activity and exercise. Although it is known that many patients with SSc have physical disabilities, reduced health-related quality of life (HRQoL) and have anxiety and depression symptoms, little is known about differences between patients with no-mild and moderate-end-stage lung disease respectively. The overarching aim of this thesis was to increase the knowledge of physical function, physical activity and HRQoL in patients with SSc and different degrees of lung disease. The specific aims were to investigate the differences in physical capacity, physical activity, muscle function and range of motion in comparison with population-based controls or reference values. Further, a specific aim was to explore patients’ own experiences of physical activity and exercise. Participants and methods. Three Cross-sectional studies were performed. In paper 1, 106 patients with SSc and 106 age- and gender-matched population-based controls were involved. In paper II, 205 patients with SSc were compared with reference values and in a paper III, 279 patients were involved. Further, a qualitative study with interviews of 16 individuals with SSc were performed and underwent a content analysis. Results. Paper I: Patients with SSc reported overall lower physical capacity for walking, jogging, and running, and more limiting factors for physical capacity than controls. Patients with no–mild lung disease reported pain more often than their controls, whereas moderate–severe lung disease patients reported cardiopulmonary disease and reduced muscle strength as limiting factors for physical capacity more often than their controls. More patients than controls had ‘never exercised’ for at least 30 min per occasion within the past year; however, there were no differences overall between patients and controls in frequency of exercise, physical activity, nor time spent sitting. Paper II: Shoulder- and hip flexion muscle endurance were lower in relation to reference values, median [53% and 40% of predicted], respectively. Patients with moderate–end-stage lung disease had lower endur- ance in shoulder- and hip flexion [39% and 35%] than patients with no-mild lung disease [57% and 48%]. All patients, regardless subtype/grouping, needed longer time to complete the Timed-Stands Test (TST) [21 s] compared to reference values [17 s], and patients with moderate–end-stage lung disease needed longer time to complete TST than patients with no-mild lung involvement, [25 s vs 19 s]. Active range of motion in shoulder-arm were lower compared with reference values, and patients with dcSSc had lower shoulder-arm movement than patients with lcSSc. Paper III: The following three themes (and categories) emerged from the analysis: Essential for life and health (Diminishes symptoms and is as effective as pharmaceuticals, Reduces fear of deterioration, and, Feeling healthy and satisfied with oneself); Disease-related and other hindrances (Breathlessness, pain and other disease consequences limit, Risk of worsening, and, Non-disease barriers); and, Own understanding about physical activity/exercise and support from healthcare (Experience-based knowledge about own capability and physical activity/exercise, and, Education and support from healthcare and others). Paper IV: Patients with moderate–end-stage lung disease scored lower on Medical Outcomes Trust Short Form 36 (SF-36) physical component score than no–mild. Patients with moderate–end-stage lung disease had lower physical capacity, were less physical active on low-moderate intensity and exercised less the past year compared with no–mild. Patients with moderate–end-stage lung disease scored higher on Health Assessment Questionnaire (HAQ) and higher scores on Hospital Anxiety Depression scale (HADs), than the no–mild group. In the whole SSc sample, the SF-36 physical component score correlated highly with HAQ and moderately with symptoms on HAQ-VAS- general, dyspnoea, pain; and physical capacity, while SF-36 mental component score correlated moderately with anxiety and depression (HAD). Conclusions: Although SSc patients reported lower physical capacity and more limiting factors for physical capacity than controls, there were no differences in reported physical activity and time spent sitting. However, SSc patients have markedly reduced muscle endurance in both the upper and lower extremities, reduced muscle strength in the lower extremities and impaired active range of motion in the shoulders and arms. Patients with moderate-end stage lung involvement had more impaired muscle endurance and strength than those with no-mild lung involvement but surprisingly no differences were found between lcSSc and dcSSc patients. Among individuals with SSc with both no-mild and moderate-end-stage lung disease, physical activity and exercise was expressed as essential for life and health and that it reduces fear of deterioration. Nevertheless, it was also expressed as a risk for worsening. As patients with SSc with moderate-severe lung disease have lower physical capacity, are less physically active and exercise less, are more physically disabled, have a lower physical HRQoL and have more depressive symptoms than patients with no-mild lung disease, individualized physical activity and exercise support from physiotherapist might be beneficial. The studies included in this thesis contributes to new knowledge, about how to develop and evaluate future physical exercise programs including resistance training for patients with SSc, especially for those with more severe lung disease

Wizards of Oz in the Evolving Map of Design Research – Trying to Frame GUI Interaction Interviews

We present and discuss GUI-ii, Graphical User Interface interaction interview, a method used to remotely discuss, develop and test GUI prototypes with users and stakeholders. Examples of such sessions are presented to demonstrate that the main benefits of GUI-ii are that this way of co-designing allows for interaction-informed discussions around functions and user interfaces, where re-design and hands-on experience can be integrated and efficiently carried out remotely. Using a facilitation tool to enact GUI layout and responses allows participation and evaluation to take turns in participatory design processes in a productive way. We discuss this form of Participatory Design along the dimensions found in Sanders’ Map of Design Research. The discussion concludes that GUI-ii facilitates participation by relaxing demands for physical presence and by allowing people to participate from their own work environment while still making it easy for them to directly influence contents, structure and interaction

USABILITY TESTING OF INTERACTIVE SYSTEMS CONDUCTED BY UNIVERSITY STUDENTS DURING A PANDEMIC

This case study describes a usability testing course in which students learn by practicing several evaluation methods. The on-campus format makes it possible for teachers and students to meet to discuss recorded test sessions and students can observe other students’ execution of pilot studies conducted on campus. The COVID-19 pandemic placed new demands on this course. In-person activities were avoided by some students and many test participants. Some student teams tried remote usability testing. Interestingly, screen recordings (with sound) of the test sessions show that remote testing sometimes helped the students focus more on observation and less on (inappropriately) guiding the test subjects. Another effect was that the students found it easier to recruit participants than during the previous years when the university was teeming with students, lecturers, and non-academic staff. However, the recruited participants were often notably limited to the students’ circles of friends