This thesis has been conducted at Saab Bofors Dynamics AB. The purpose was to investigate if a non-linear missile model could be stabilized when the optimal control signal is computed considering constraints on the control input. This is particularly interesting because the missile is controlled with rudders that have physical bounds. This strategy is called Model Predictive Control. Simulations are conducted to compare this strategy with others; firstly simulations with step responses and secondly simulations when the missile is supposed to hit a moving target.

Clopidogrel is an antiplatelet substance that prevents blood coagulation in the arteries. It is an inactive pro drug that becomes activated after first-pass metabolism by the liver. The active metabolite of clopidogrel is 2-oxoclopidogrel, which is unstable therefore pharmacokinetic data is obtained by measuring the inactive metabolite clopidogrel acid in plasma. Clopidogrel is taken orally in tablet form. The aim of this project was to develop a LC-MS/MS method for quantification of clopidogrel and its metabolite in plasma. The method has been developed by optimizing the sample preparation.

Med denna uppsats har jag undersökt vad som kan få en person att bestämma sig för konstnärsyrket redan som barn och sedan verkligen bli konstnär som vuxen. Dessutom har jag undersökt och visat på de narratologiska metoder som konstnären/författaren Lars Lerin utnyttjat i sitt självbiografiska verk En liten konstnär (2009) enligt den tidigare forskning och de teorier som Anna Johansson, sociolog och genusforskare, beskriver i Narrativ teori och metod (2005) och de teorier som filosofie doktor i litteratur-vetenskap Ulla Rhedin för fram i Bilderboken, på väg mot en teori (1992)..

The purpose with this masters thesis was to model the scanner in a system for laser bathymetry. The model was then used to develop a controller for the scanner so a good search pattern was achieved. Two different types of models have been tested, a physical model and a Black Box model of Box Jenkins type. The physical model has been derived from Lagranges equations. Identification experiments have been used to compute the Black Box model and to find the unknown parameters in the physical model.

Vi, Anna Nilsson och Jeanette Svensson, valde att producera musikvideos under vårat kandidatarbete på Blekinge tekniska högskola. Detta eftersom vi båda har ett stort intresse till musik och rörlig bild. Vi valde att göra två stycken för att lära oss produktionens process grundligt och för att nu kunna jämför de båda och av detta ta lärdom. Den ena musikvideon gjorde vi till en skånsk duett som heter KC och den andra till Advance Patrol. Båda låtarna är inom genren hiphop.

In order to measure the quality of the logs, one can with help of Fast Fourier Transform technique get the signals resonance peaks. With help of these peaks you can see whether the quality of a tree is good or bad. This report contains the work of a where a program has been developed to be able to process a vibration created by an automatic hammer hitting on a log of wood. From the processed signal the program should be able to show both the raw wavesignal and the processed measured data from the resonance peaks. Beyond the raw wavesignal and resonance peaks the program should also be able to control the automatic hammer.

Direct effects of the insecticide deltamethrin on zooplankton and benthic invertebrates werestudied during an attempt to eradicate signal crayfish. In accordance with earlier studies theresults of this investigation showed that deltamethrin is highly toxic for arthropods, whileRotifera, Oligochaeta and Mollusca have a higher tolerance. This study concludes thatRotifera in treated ponds coped with the actual concentration of deltamethrin used during theeradication attempt but that they probably got a different abundance and changed compositiondue to a new situation in competition and predation. Crustacean zooplankton totallydisappeared, but approximately a month after the treatment they began to recolonise. All thetaxonomical groups of arthropods drastically decreased in abundance, with total eliminationof the most sensitive groups.

In order to measure the quality of the logs, one can with help of Fast Fourier Transform technique get the signals resonance peaks. With help of these peaks you can see whether the quality of a tree is good or bad. This report contains the work of a where a program has been developed to be able to process a vibration created by an automatic hammer hitting on a log of wood. From the processed signal the program should be able to show both the raw wavesignal and the processed measured data from the resonance peaks. Beyond the raw wavesignal and resonance peaks the program should also be able to control the automatic hammer.

Transmission of digital signals is today more frequently used than transmission of analog signals. One reason for this is that a digital signal is less sensitive to noise than an analog, another reason is that almost all signals today are handled in a digital format. This thesis describes the development of a system that receives digital video signals through FireWire. The standard for FireWire, which is a high performance serial bus, is under development. Today the standard of the bus supports transmission of data with a speed of up to 400 Mbit/s.

ABSTRAKTSPECIALPEDAGOGPROGRAMMET Titel                                    ?Att se med lite andra ögon? Beskrivningar av specialpedagogik i förskolan.     Engelsk titel                       ?To see with different eyes? Descriptions of special education in preschool. Författare                           Anna Hellsaeus Handledare                        Leif Nilsson Antal sidor                         64 Nyckelord                          Specialpedagogik, förskola, pedagog, specialpedagog, barn i behov av särskilt stöd.

Vi, Anna Nilsson och Jeanette Svensson, valde att producera musikvideos under vårat kandidatarbete på Blekinge tekniska högskola. Detta eftersom vi båda har ett stort intresse till musik och rörlig bild. Vi valde att göra två stycken för att lära oss produktionens process grundligt och för att nu kunna jämför de båda och av detta ta lärdom. Den ena musikvideon gjorde vi till en skånsk duett som heter KC och den andra till Advance Patrol. Båda låtarna är inom genren hiphop. Vårt mål med projektet var att skapa två videos som inte följde den generella mallen för hiphop-videos.

AbstractMaster?s Thesis in Comparative literatureTitle: Ghettoiserade Vampyrer. En studie av barnvampyrlitteratur och dess betydelse för vampyrlitteraturgenren (Ghettoized Vampires. A study of children?s vampire literature and its significance for the vampire literature genre)Writer: Peter KostenniemiDepartment of Literature, History of Ideas and ReligionSupervisor: Anna NordenstamExaminer: Yvonne LefflerKey Words: Vampire literature, children?s literature, Der kleine Vampir, Nattens BørnIn vampire literature research the focus usually lies on adult and, to some extent, young adult fiction.

Titel: En utvärdering av de anställdas arbetsmotivation vid LantmäterietTitle: An evaluation of the work motivation of the employees at LantmäterietLevel: Final assignment for Batchelor Degree in Business AdministrationDepartment of Business AdministrationUniversity of GävleBOX 6052 GävleSwedenAuthor: Söderberg AnnaDate: 2006-06-08Supervisor: Gaddefors JohanEngvall ErikaPurpose: The main purpose of this study is to create a picture of the leadership,communication and organisation cultures effect on the motivation.Nyckelord: Motivation, ledarskap, kommunikation, organisationskultur, LantmäterietKeywords: Motivation, leadership, communication, organisation culture, Lantmäteriet.

Denna studie behandlar bolags informationssignaler före, i samband med och efter förvärv. Med utgångspunkt i agent- och signalteorin har informationssignaler som skickats identifierats, där en kvalitativ ansats med tillhörande diskurs- och etnografisk innehållsanalys har använts för att kartlägga informationssignalerande mekanismer samt generera en modell för analys av informationssignaler i samband med förvärv. Studien uppvisar resultat om varför informationssignaler sänds i samband med förvärv, där bolag generellt eftersträvar att minska informationsasymmetri gentemot sina intressenter, legitimera beslut samt nyttja informationsövertag för att skapa personliga fördelar. Studien bidrar till området för informationssignalering, där utfall av förvärv påverkar omfattningen och innehållet som informationssignaler uppvisar..

The purpose of this project was to further develop and complete a quadcopter that had been built in an earlier course at KTH, so that it could be used for demonstration and education at the school. The quadcopter was at the beginning of the project completed when it came to hardware, and there was some software functionality implemented but no system for automatic stabilization. The main goal of the project was to implement such a system, and to combine it with the previous functionality to make the quadcopter operable and able to fly. To create a functioning and stable ground multiple basic software features has been implemented, and on top of that additional software to improve the safety, stability and functionality. The most important part is the control system that is responsible for converting sensor and control signals to suitable motor values.