In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

Bakgrund. Föräldrar upplever oro över att cystisk fibros ska få deras barn att uppleva sig annorlunda. På grund av en långvarig relation upplever sjuksköterskor det känslomässigt krävande att vårda en patient med cystisk fibros i livets slutskede.Problem. Få kunskap om den som är drabbad av CF upplever att sjukdomen är ett hinder för att leva.Syfte. Beskriva upplevelser av att leva med cystisk fibros.Metod.

This report describes how the system may be exposed to oscillations and how this can lead to resonance. Resonance is a phenomenon that occurs when a system is affected by external periodic oscillations with frequencies close to the system's natural frequencies. Structures subjected to resonance can risk great damage and destruction, why resonance is something that is important to take into account when designing structures. Alternative ways to counteract resonance is to supply damping in the system. Damping means that the resonance decreases instead of letting the amplitude increase.The report discusses some examples on constructions that have experienced the effect of resonance.

The female dog has a unique reproductive endocrinology, with high levels of progesterone throughout the 70-day long luteal phase. In this project, markers of glucose metabolism were studied and compared from the aspects of breed group and time in oestral cycle. The parameters studied were: glucose, insulin, progesterone, fructosamine and the newly introduced analysis of HbA1c. Hba1c was also further evaluated and discussed as a diagnostic tool in canine medicine.No differences in terms of glucose markers were found between a group of purebreed dogs of various breeds compared to a group of dogs with high risk of dioestrus diabetes, namely the Norwegian and Swedish elkhounds.No differences were found between the two sample occasions, anoestrus and dioestrus, concluding that there is no need for relating test results to the time of the oestrous cycle in middle-aged intact female dogs.There were statistically significant higher values of all glucose markers in diabetic dogs than in non-diabetic dogs. When it came to HbA1c, however, there was a larger overlap between the two groups, compared to fructosamine.

This essay describes a single case self-study of a music composer in order to track the compositional process in real time. In the study the subject and the researcher are the same person. The study builds on previous empirical studies that have used methodological approaches such as analysis of computer-based digital data collection, verbal protocol and video observations. It deals with issues of the compositional process related to for example time consumption, number of artistic decisions, the different roles and skills of a music composer, and methods of research in the musical composition process. During three shifts the researcher worked as a music composer dealing with the issue of converting an audio sketch of a composition into a representative finished audio product.

In Peru guinea pigs are raised for meat production and salmonellosis is considered as a major problem. Studies have detected salmonella in animals with enteritis and pneumonia. Salmonellosis exists both in an acute and a chronic form. In the rural areas the diagnosis is made according to clinical signs and macro pathological findings at autopsy. The major systems applied for the guinea pig production are often classified as family, family-commercial and commercial. These systems differ in number of animals and how industrialised they are.

Serum thymidine kinase 1 (TK1) activity is used as a tumor marker in disease monitoring in veterinary and human medicine. TK1, an intracellular enzyme, is involved in a salvage pathway of DNA precursor synthesis. TK1 is used in DNA precursor production by catalyzing the transfer of the gamma-phosphate-group from a phosphate-donor to the 5?- hydroxyl-group of thymidine forming thymidine-monophosphate. Nucleoside monophosphosphates are finally converted into thymidine-triphosphates. TK1 activity significantly rises in the G1 and the S phase of the cell cycle.

Sweden is in the initial phase of forming a national forest programme (nfp). The establishment of an nfp has been evoked by international policy developments and a national debate questioning Swedish forestry and forest policy. National forest programmes are participatory processes for the development and implementation of forest-related policies and international commitments. Hence, the aim of this master thesis is to assess the stakeholders? acceptance of participation and integration of international issues within the Swedish national forest programme.

Severe acute respiratory syndrome (SARS) är den epidemi som 2003 spred sig från Guangdong provinsen i Kina till 26 länder runt om i världen. Sjukdomen som orksakades av SARS-coronavirus (SARS-CoV), drabbade under utbrottet 8098 personer och tog 774 liv. SARS är ett utmärkt exempel på hur en dödlig sjukdom kan komma från ?ingenstans? för att snabbt, spridas med hjälp av vårt globaliserade samhälle. Viruset utsöndras med luftvägssekret, feces och urin och kan under fuktiga och gynnsamma omständigheter vara infektionsdugligt i upp till fyra dygn. I regel krävs direktkontakt eller nära kontakt mellan smittbärare och frisk individ för att sprida viruset vidare.

The female dog has a unique reproductive endocrinology, with high levels of progesterone throughout the 70-day long luteal phase. In this project, markers of glucose metabolism were studied and compared from the aspects of breed group and time in oestral cycle. The parameters studied were: glucose, insulin, progesterone, fructosamine and the newly introduced analysis of HbA1c. Hba1c was also further evaluated and discussed as a diagnostic tool in canine medicine.No differences in terms of glucose markers were found between a group of purebreed dogs of various breeds compared to a group of dogs with high risk of dioestrus diabetes, namely the Norwegian and Swedish elkhounds.No differences were found between the two sample occasions, anoestrus and dioestrus, concluding that there is no need for relating test results to the time of the oestrous cycle in middle-aged intact female dogs.There were statistically significant higher values of all glucose markers in diabetic dogs than in non-diabetic dogs. When it came to HbA1c, however, there was a larger overlap between the two groups, compared to fructosamine.

This report describes how the system may be exposed to oscillations and how this can lead to resonance. Resonance is a phenomenon that occurs when a system is affected by external periodic oscillations with frequencies close to the system's natural frequencies. Structures subjected to resonance can risk great damage and destruction, why resonance is something that is important to take into account when designing structures. Alternative ways to counteract resonance is to supply damping in the system. Damping means that the resonance decreases instead of letting the amplitude increase.The report discusses some examples on constructions that have experienced the effect of resonance.

The purpose of this master thesis is to implement and validate a Power System Stabilizer (PSS) to a generator at Trängslet hydropower station in Dalarna, Sweden. Problems with local rotor oscillations can occur at the hydropower station when power is transferred on a new power line (130 kV) from Northern to Southern part of Dalarna. To ensure good operation properties on this power line Fortum Generation AB and Fortum Distribution AB wants to activate a PSS on a generator.There have been investigations in which situations and what equipment that contributes to rotor oscillations. When this is known the PSS is tuned to damp these oscillations by choosing a good set of parameters. The most important parameters for good performance are to choose amount of gain and phase compensation.

The interest in tiny wireless applications raises the demand for an integrated reference oscillator with the same performance as the macroscopic quartz crystal reference oscillators. The main challenge of the thesis is to prove that it is possible to build a MEMS based oscillator that approaches the accuracy level of existing quartz crystal oscillators. The MEMS resonator samples which Philips provides are measured and an equivalent electrical model is designed for them. This model is used in the simulations of the Pierce oscillator and the transresistance amplifier oscillator that are evaluated in this thesis. Finally the Pierce oscillator is implemented in the A BCD2 process and manufactured at Philips Semiconductors in Nijmegen, The Netherlands.

Abstract The purpose of writing this thesis was to improve methods during requirements engineering phase. Usercentred system engineering has some problem areas, which are examined and verified to create a new guideline for developers. This guideline tends to make requirements engineering more effective and help developers create more concrete requirements. It is not uncommon that system development projects ends up with unsatisfied users or delay in deliveries. The reasons are different kinds of communication problems between users and developers during verification of requirements.

Active headsets have been on the market for years and now it is time for something else to enter the stage. The technology of active noise reduction can for exmple also be used in ventilation systems for reducing ventilation noise. An active control system principally consists of four important components, namely the downstream error microphone, the upstream detection or reference microphone, the digital signal processor (DSP) and a loudspeaker. The upstream reference microphone listen to the primary ventilation noise and sends it to the DSP which makes a phase shift to the signal and sends it to the loudspeaker. The loudspeaker sends out the opposite waveform of the incoming one and reduce the primary ventilation noise.