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This paper proposes an intuitive nonlinear lateral control strategy for trajectory tracking in autonomous nonholonomic vehicles. The controller has been implemented and verified in Alice, Team Caltech's contribution to the 2007 DARPA Urban Challenge competition for autonomous motorcars. A kinematic model is derived. The control law is described and analyzed. Results from simulations and field test
Background: Acute lymphoblastic leukemia (ALL) and acute myeloid leukemia (AML) are common early-onset malignancies. Their causes are largely unknown but infectious etiology has been implicated. Type 1 diabetes (T1D) is an autoimmune disease for which infectious triggers of disease onset have been sought and increasing pointing to enteroviruses. Based on our previous results on co-morbidity betwee
Background: Neuroblastoma are pediatric tumors of the sympathetic nervous system with a poor prognosis. Apoptosis is often deregulated in cancer cells, but only a few defects in apoptotic routes have been identified in neuroblastoma. Methods: Here we investigated genomic aberrations affecting genes of the intrinsic apoptotic pathway in neuroblastoma. We analyzed DNA profiling data (CGH and SNP arr
Background: Malaria parasites need to synthesize chitinase in order to go through the peritrophic membrane, which is created around the mosquito midgut, to complete its life cycle. In mammalian malaria species, the chitinase gene comprises either a large or a short copy. In the avian malaria parasites Plasmodium gallinaceum both copies are present, suggesting that a gene duplication in the ancesto
Background: In spite of considerable rice production gains over the past 50 years, Sub-Saharan Africa is becoming increasingly dependent on rice imports as demand is outpacing domestic supply. The serious economic and social strains caused by this have urged national leaders to address production deficits. The aim of this article is to analyse and discuss the drivers behind recent changes in rice
Nonlamellar lipid liquid crystalline (LC) bulk phases and dispersions show promise as functional nanostructured materials for potential use as controlled release matrices e. g. in pharmaceuticals. Herein, methods for preparing and characterizing thin films of lipid liquid crystalline phases on solid surfaces are presented. The thickness, hydration phase structure and surface topography of spin-coa
Motive: Priorities in conservation management are often difficult to determine because we lack comparable biodiversity metrics. So that actions can be cost-effective, conservation decision-making and management needs such metrics. Question: What suitable metrics can compare efforts and investments in biodiversity conservation? How can established measures of genetic diversity be combined with the
Popular Abstract in Swedish Stamceller är unika celler som har möjlighet att både förnya sig själva och ge upphov till en mängd mogna celler. Den ultimata stamcellen är det befruktade ägget, som är den cell som efter omfattande celldelning kommer att ge upphov till alla vävnader och celler i den färdigutvecklade kroppen. Dessa celler kallas därför pluripotenta. Även i den färdigutvecklade kroppen Hematopoiesis is the process of blood formation that originates with the hematopoietic stem cell (HSC), a cell type that is responsible for the life-long supply of mature blood cells. HSCs are defined by their ability to self-renew as well as giving rise to differentiated cells of all blood lineages. Because of these features, HSCs are also the basis for bone marrow transplantation regimens for tr
A consensus protocol for treatment of distal radius fractures (DRF) has been developed to aid clinicians in treatment decision making. The protocol was evaluated in Paper I using a validated subjective outcome instrument, DASH in 518 consecutive patients. A good final subjective result was achieved with the proposed protocol, regardless of initial severity with a low median DASH score in all group
The cross section of diffractive deep-inelastic scattering ep -> eXp is measured, where the system X contains at least two jets and the leading final state proton is detected in the H1 Forward Proton Spectrometer. The measurement is performed for fractional proton longitudinal momentum loss x(P) < 0.1 and covers the range 0.1 < vertical bar t vertical bar < 0.7 GeV2 in squared four-momentum transf
Aim. The aim was to explore opinions on individual needs and other factors that may influence nursing staff turnover. Background. High staff turnover is a great problem for many hospitals. It is shown to have a negative effect on the quality of nursing care and to increase hospital costs. Design. In 2004 in a large university hospital in Sweden five focus group discussions (FGDs) including departm
Honig and Samuelsson (2014) recently published an article in this outlet criticizing “Does business planning facilitate the development of new ventures? “ a paper I wrote with Scott Shane nearly 15 years ago. They claim that their effort adds to the discussion of (a) the merits of business planning, (b) data replication and extension, (c) sample selection bias, (d) evaluation of normative research
BACKGROUND: There are increasing reports of deaths and serious complications associated with the use of negative pressure wound therapy (NPWT), of which right ventricular heart rupture is the most devastating. The use of a rigid barrier has been suggested to offer protection against this lethal complication by preventing the heart from being drawn up against the sharp edges of the sternum. The aim
The stigma associated with long-term unemployment spells could create large inefficiencies in labor markets. While the existing literature points toward large stigma effects, it has proven difficult to estimate causal relationships. Using data from a field experiment, we find that long-term unemployment spells in the past do not matter for employers' hiring decisions, suggesting that subsequent wo
Background - There are numbers of persons living in the community with late effects of polio, of which many develop new symptoms, but the course of progression is unclear. Objectives - To assess changes after 4 years in ability and perceived difficulty in persons with late effects of polio. Material and methods - Community dwelling persons from a polio clinic. Information was gathered by questionn
Total knee replacement in severe osteoarthritis usually requires extensive soft tissue releases often associated with considerable bleeding. In a prospective, randomised trial we compared postoperative conventional suction drainage versus four hour clamping drainage in 60 patients undergoing total knee arthroplasty for severe osteoarthritis. We compared blood loss, number of transfusions, postoper
