Lantmäteriet (the Swedish mapping, cadastral and land registration authority) has been laser scanning Sweden since 2009. From the laser scanned data a digital elevation model (DEM) in grid format, with a resolution of 2 m, is produced. This DEM is called GSD-Höjddata, grid 2+ and from its data and the laser point cloud itself (in the form of a las-file) contour lines can be extracted. Lantmäteriet has not yet done this, but plans to update the contour lines in their cartographic products exist. If this is to be done in a satisfactory way an evaluation of different methods for it is needed.

Business Process Modelling Notation (BPMN) is a way to graphically draw a diagram of a business process. A BPMN diagram consists of several so-called flow objects. These are interconnected in the graph through sequence  flows. BPMN models are merely graphical representations of business process and there is a need to simulate these diagrams for different purposes. The simulation that now is available for BPMN is that the model is evaluated by checking if it is correct.

During the last years the need for real-time database services has increased due to the growing number of data-intensive applications needing to enforce real-time constraints. The COMponent-based Embedded real-Time database (COMET) is a real-time database developed to meet these demands. COMET is developed using the AspeCtual COmponent-based Real-time system Development (ACCORD) design method, and consists of a number of components and aspects, which can be composed into a number of different configurations depending on system demands, e.g., Quality of Service (QoS) management can be used in unpredictable environments. In embedded systems with requirementson high up-time it may not be possible to temporarily shut down the system for reconfiguration. Instead it is desirable to enable dynamic reconfiguration of the system, exchanging components during run-time.

This study presents a methodology that enables the annual average power of a wind turbine to be increased by automatically optimizing it?s airfoil, twist and chord dis- tribution. As a part of the study the software SiteOpt has been developed. This software connects the open source software XFOIL with the blade element momen- tum theory. XFOIL gives lift and drag coefficients which enable the blade element momentum theory to predict the power of a wind turbine at different wind and ro- tational speeds.

The problem of separating a non-rectangular foreground image from a background image is a classical problem in image processing and analysis, known as matting or keying. A common example is a film frame where an actor is extracted from the background to later be placed on a different background. Compositing of these objects against a new background is one of the most common operations in the creation of visual effects. When the original background is of non-constant color the matting becomes an under determined problem, for which a unique solution cannot be found. This thesis describes a framework for computing mattes from images with backgrounds of non-constant color, using Bayesian statistics.

Business Process Modelling Notation (BPMN) is a way to graphically draw a diagram of a business process. A BPMN diagram consists of several so-called flow objects. These are interconnected in the graph through sequence  flows. BPMN models are merely graphical representations of business process and there is a need to simulate these diagrams for different purposes. The simulation that now is available for BPMN is that the model is evaluated by checking if it is correct.

This thesis is closely related to the Dynamically Self-Configuring Automotive System(DySCAS) project. DySCAS is a middleware for electronics in an automotive system. Thethesis work has been performed in cooperation with ENEA. Parts of the demonstrationplatform Self configurable High Availability and Policy based platform for Embeddedsystem (SHAPE) developed for the DySCAS project by ENEA have been used in theimplementation phase of this master thesis.The goal of this thesis was to evaluate how the Meteor MW, an offspring of the DySCASmiddleware, should handle QoS and to design a Quality of Service Manager (QoSM) for theMeteor MW that fulfilled hard real-time requirements. The thesis also had the objectiveof analysing and identifying the requirements on such a QoSM from a QoS perspective.Specifically the requirements to guarantee real-time support for applications running onthe MW.

The aim of the Master?s Thesis work is to study and develop Algorithms for autonomous travel of a UGV (Unmanned Ground Vehicle). A vehicle for the mounting of sensors has been constructed in order to perform the work. Since the UGV is to be used outdoor in urban areas, GPS can be used. To improve precision and robustness, inertial navigation is used in addition to GPS, since GPS reception is likely to be diminished in such areas.

In this report a system for Rapid Control Prototyping, RCP, is evaluated through animplementation of the motor control methods Field Oriented Control, FOC, and Space VectorPulse Width Modulation, SVPWM. The evaluation emphasizes on time-consumption andresource utilization on the used hardware and on usability for of software.A new mechatronic laboratory is under development at ABB Corporate Research in Västerås. Itwill be used for both mechanical and motion control design using existing and new hardware.The control structure in a traditional robot system will be interfaced to a rapid prototypingsystem which should allow easy changes to Algorithms at different levels in the system.The system designated for this project comes from National Instruments and constitutesLabVIEW Real-time and FPGA module as the software tools. The hardware is a NI Single-Board RIO (Reconfigurable Input Output), sbRIO, development board including a Field-Programmable Gate Array, FPGA, from Xilinx and a microprocessor from FreescaleSemiconductor. Graphical programming is performed in the LabVIEW environment, andthrough Xilinx tools the LabVIEW FPGA code is compiled to VHDL code.A pre-study was carried out to clarify the concept of RCP and investigate different systems forRCP and their traits.

This project was led on behalf of Bombardier Transportation in Västerås, Sweden, incollaboration with KTH Stockholm and EPFL Lausanne. This project is connected to thedevelopment of a new and simplified tilt system for rail vehicles.Growing competition from other means of transportation has forced railway companiesthroughout the world to search for increased performances.Travelling time is the mostobvious performance indicator that may be improved by introducing high-speed trains.They require very large curve radii and long transitions curves not to impairridecomfort, another performance indicator. Building new tracks adapted to high speedtrains is very costly and can only be justified where the passenger base is large.Trains with the capability to tilt the carbodies inwards the curve is a more cost efficientalternative. The tilt inwards reduces thelateral force felt by the passengers allowing thetrain to pass curves at enhanced speed with maintained ride comfort but increases thefrequency ofmotion sickness.The benefits of tilting trains are improved speed capability in curves and enhancedpassengers comfort, but at higher buying and maintenance cost. As the conventionaltrains increase their speed in curves, the performance advantage of tilting trains isreduced while their prize is still kept significantly higher and constant.

In this thesis, input data for energy performance calculations on commercialpremises have been studied. In energy performance calculations, where internal heat gain parameters are unknown, template values that, in a reasonable way represent the activity in the room, are necessary. These values can be used as input data for whole-year calculations, or for calculations on shorter periods of time.The purpose of the Sveby project is to create standardized work practice in energy issues for the construction industry. The work in this thesis is conducted to correlate with the purpose of the Sveby project, with aims of contributing with information and guidelines for the continuing work with commercial premises.In this report, suggestions for template values for internal gains parameters, based on research and calculations in the field are presented. Suggestions on how these can be implemented in a user-friendly way for two energy performance calculation software are also given, VIP Energy and IDA ICE.

This thesis is made on behalf of SCA's Forestry Division and is a comparison of two bucking simulation tools: Aptan (manufactured by Skogforsk) and Best/upr (from Berget Systemdesign). The data is based on 32 stands from SCA's forests in Norrbotten and Västerbotten. The objective is to compare the simulations created by the tools with the harvested volumes from those stands. Three variables are needed for the bucking simulation; these are the diameter distribution (at breast height), the relationship function between diameter and height, and the taper coefficients. The volumes of five different assortments from the stands are compared.

This study investigates the difficulties that may arise for students as a consequence of differences that exist in mathematics education between different educational systems. The questions asked are when and why difficulties as a consequence of differences in writing or types of student problems may arise and in which way teachers and students attend to these difficulties. The focus is thus on the written parts of mathematics education and the questions are asked within the frame of general upper secondary education.In order to answer these questions, a sociocultural perspective based mainly on Sfard?s (2006) participationist theories together with Vygotsky?s (1999) general theories on development and learning is used. An important analytic tool is the discourse concept which in this context means a type of communication that brings some people together while excluding others from the communication.