The ÅF Group is a leader in technical consulting, with expertise founded on more than a century of experience. They offer highly qualified services and solutions for industrial processes, infrastructure projects and the development of products and IT systems. They are also one of the leading names in certified third-party testing and inspection work.Today the ÅF Group has approximately 4,000 employees. Their base is in Europe, but their business and clients are found all over the world.A part of ÅF-Engineerings business is programming different automation systems to clients. Another part is support in both telephone and personal visits.Because the number of clients is high and the flora of different automation systems is big the consequence is that the employees must have access to many licenses with programming tools.

The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

Syftet med rapporten är att förse en dagligvarugrossist med en bra grund till kravspecifikation för att användas vid införande av ett automatiserat fördelningsflöde. Kravspecifikationen är inte helomfattande, men ska kunna brukas som grund till resonerande tankar runt om huruvida man ska automatisera eller inte. Frågeställningen som behandlas är: ? Att skapa ett underlag för en kravspecifikation åt ett grossistföretag. Underlaget ska vara lämpligt att använda vid en offertförfrågan för automatisering av deras nuvarande manuella fördelningssystem.

Abstract In high voltage substations there is an increasing demand for computerized equipment, and automation of operation and supervision. The future primary equipment will provide the possibility to collect more information and to provide better control for improved effectiveness. Since ABB has got a large customer target, each product must be custom made to fulfil the customers (often from different countries) demands. Later these products will be configured by engineers who may not be familiar with the tools used at ABB. This is a very expensive and time consuming.

This case study, ?The sense of place in a courtyard in Gothenburg?, examines whether the city planners? vision correspond to the residents? perception regarding the sense of place and the physical environment in a courtyard in Gothenburg. By carrying out a questionnaire survey, the inhabitants? perception has been explicated, which we have then compared to the total vision for the design of the courtyard that we have gathered from doing interviews with the planning executive, the developer and the landscape architect as well as reviewing the development plan. The study has shown that the vision coincides relatively well with the residents? perception, but it differenciates when it comes to social aspects.

Denna studie är en kvalitativ undersökning som syftar till att undersöka hur de anställda inom Halmstads kommun använder sig av visionen ? Halmstad 2020 och värdegrunderna den vilar på i sitt arbete. För att analysera det empiriska materialet har vi använt oss av teorier om kommunikation, värdebaserat och expressivt ledarskap, ledarskap i politiskt styrda organisationen samt Human Resources. Totalt har vi genomfört två informantintervjuer, samt tio intervjuer inom två olika förvaltningar i kommunen. Vi har även tagit del av olika dokument som har legat till grund för vår studie.

This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone path as to make the acceleration continuous will be presented.

This thesis is divided in to two different parts. The first part includes examination of the measurementsystem of an industrial robot using a resolver sensor. The main focus is on methods for suppressing noise in the angularvelocity signal without increasing timedelay. Five different methods are investigated. Three of these are based on oversampling: burstsamplingmethod, meanvaluemethod and correlationmethod.

The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

Material handling is a term that includes all kinds of handling of material from a raw product to a finished one. ABB is active in the following segments; foundry, packaging and palletizing, metal industry and plastics industry.The demands for efficiency and reliability have been set very high in the industrial sector. Optimizing of the material handling will give the company higher cost-effectiveness. Around the robot there are different kinds of material flows, to optimize the cycle time, consisting of carriages combined in different ways.Motion Control is a complex system with main functions such as; positioning, synchronizing, indexing and more. The products in the system need to cooperate to make these functions possible therefore integration of motor- and servo products are important.

The centre of attention in this essay is on public-private-partnerships in Swedish city planning. It discusses the phenomenon and tries to identify the problems and possibilities that may appear when private and public actors are trying to work together to plan new cities or parts of cities in a process with network structures. The main questions that is asked is ?what vision for the city can we se, and who's vision is it?? together with the question of where the actual power to make the city plan and the vision can be find. The soon-to-be-built area Ulriksdal in Stockholm were Peab AB and Solna Stad stands as main actors has been chosen to illustrate the possible problems and is analysed from different angles, but the writers intention is also to say something on the matter in general.

Konkurrensen mellan kommunerna i Sverige har ökat på grund av den ekonomiska globaliseringen, den informationsteknologiska utvecklingen och till följd av den nationella ekonomiska omstruktureringen. Idag är det inte längre inom industrisamhället som den mesta tillväxt genereras utan kunskapssamhället har fått en allt större betydelse. Luleå kommun är en kommun som antagit en vision för att få till stånd en utveckling och tillväxt. Syftet med uppsatsen är att analysera policyprocessen som ledde fram till att Vision 2010 antogs i Luleå kommun samt diskutera ifall Vision 2010 utifrån trippel helix-teorin kan vara ett medel för att skapa den önskvärda tillväxten? För att kunna besvara syftet i uppsatsen har jag ställt följande frågor: ? Vad bygger visionen på för resonemang? ? Hur har visionen tagits fram? ? Vilka intressenter står bakom framtagandet av visionen? Studien består av två delar: utvecklandet av en teoretisk modell för att kunna analysera och förstå processen samt en analys av policyprocessen kring Vision 2010 i Luleå kommun.

Denna rapport beskriver det examensarbete som genomförts av Johan Möller. Examensarbetets syfte var att utveckla en lösning för att flytta virtuella maskiner mellan olika datastores som finns i virtuella miljöer. Examensarbetet utfördes på Atea Sverige AB som hyr ut virtuella serverlösningar till sina kunder. Arbetet är utfört på 10 veckor, där den största delen av tiden har gått åt till att sätta upp en lämplig virtuell testmiljö som liknar Ateas riktiga produktionsmiljö.Av rapporten framgår hur jag har satt upp den virtuella testmiljön. Jag redovisar även utvecklingsarbetet som genomförts för att få mitt script för att flytta virtuella maskiner mellan olika datastores att fungera på det sätt jag ville, det vill säga utföra uppgiften på ett så enkelt och säkert sätt som möjligt.

Syfte:Elektronisk handel är ett växande fenomen i affärsvärlden. Att förstå företagens avsikt med e-handelsanvändning är viktigt för både akademiker såväl som praktiker. Företag, organisationer och till och med kommuner har börjat bedriva e-handel för att automatisera, effektivisera och på sikt spara pengar i sina verksamheter. Syftet med denna studie är att empiriskt beskriva e-handelns utveckling och användning i Sverige och specifikt inom den teknologiska industrin som arbetar med automation. Metod:Denna studie behandlar e-handel i automationsföretag. Respondenterna ombads att validera betydelsen av e-handel genom webbaserade enkäter.

The global spread of the Internet has enabled busniesses and consumers in all industries to be better informed. Consequently, the buying process has appeared to become different from what tratditional models implies. As the buying behaviour among customers is evolving, selling companies are responding to this change. This thesis evolves around the consequences that the developing relationship between buyer and seller in business-to-business companies has led to. The topic in focus is the buzzword and phenomena "content marketing" with its marketing and selling strategy.