In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

The hybrid larch (Larix x eurolepis Henry) is a fast growing tree species and was introduced in Sweden for about 50 years ago. The high growth and expected resistance to diseases are probably the main reasons of introducing the tree species into the Swedish forests. The purpose of this thesis was to document the production of hybrid larch planted in the Snogeholm landscape laboratory and to compare the production in the pure hybrid larch stand with the mixture together with pedunculate oak (Quercus robur). The data collection in Snogeholm since the establishment has been carried out by the Swedish University of Agricultural Science (SLU). The fieldwork for the thesis was carried out in 3 stands, containing hybrid larch, pedunculate oak and a mixture of hybrid larch and pedunculate oak, in order to be able to compare the total stand production of the areas. The results show that the total production of hybrid larch in the mixed stand only is 35 % compared with the total production of hybrid larch in the pure stand. Therefore, the hypothesis that the total production of hybrid larch is equal to the planted mixture with pedunculate oak was rejected. The other hypothesis that the total production of a 2 hectare large stand containing a mixture of hybrid larch and pedunculate oak would be greater than the total production of two pure stands of 1 hectare containing hybrid larch and oak each was also rejected. In the studied case the total production was 45 % greater if hybrid larch and pedunculate oak was planted in pure stands. The results from the case-study only indicate that the total production of hybrid larch and oak under the investigated conditions can be higher when planting the two species in pure stands compared with a mixture of the two species.

This thesis work contains a litterature study about electrical motors in general and how PWM-patterns for brushless DC-motors can be made. A suitable method has been implemented as a simulation model in VHDL. A simulation model of a brushless DC-motor which describes the phasecurrents, torque and angular velocity has also been made. The motor model made simulations easier for the complete PWM-system. The design was synthesised and tested with a prototypeboard including a SPARTAN II FPGA.

In this project a simulator has been developed (in C++) with the purpose of illustrating how changes in environmental regulations, tax levels and other policy measures affect the composition of an energy system. The aim of the project was to investigate how energy companies? investment strategies are affected when changes in economic and environmental conditions occur. A standard scenario has been created based on current Swedish conditions, but the user can create new scenarios and set parameters freely. The user is tasked with building power plants to supply the city/region with district heating and electricity during a pre-set number of years. When the simulation is finished the result is graded in the following categories: economy, environment and quality. To evaluate the simulator three scenarios were created (?early 20th century?, ?reduced environmental control? and ?future?) in addition to the standard scenario and these were compared with each other by examining how a select group of power plants perform under the given conditions.

The SK 60 Aircraft has been a workhorse for the Air Force?s training of future pilots since the late 1960s. The aging SK60 aircraft is going out of style, and the system has merely a few years of total running time left. A replacement for the SK 60 needs to be implemented in the coming years, and the Armes Forces Flying School has been commissioned to conduct flight tests on suitable replacement systems. This study will conduct a system analysis of two aircrafts mentioned in the Flying Schools report.

Fiscal policy and its consequences have attracted much attention on both academic and societal level, in Sweden and elsewhere. However, the dependence between fiscal policy on municipality level and business cycles has only recently sparked a debate among Swedish economists. Studies point out that a law which came to force in 2000, balanskravet, may have caused municipalities to lower expenditures, alternatively raising taxes, during recessions. This thesis examines how the level of municipality taxes depends on business cycle fluctuations and the impact that balanskravet has had on this correlation. We employ econometric regressions, with annual data covering the period 1980-2014, to enable an analysis of the dependence between taxes and business cycles, both before and after the introduction of balanskravet.

Background:Several studies have shown there has been significant lack of knowledge about women who have sex with women cross infect each other with STIs. It has been less likely that women who have sex with women visit health care than heterosexuals, they often felt badly treated, invisible and did not always know where to turn in case of an STI. Objective: The objective was to examine if STI information from Kalmar and Växjö county websites and GCK-summit, targeted women who have sex with women. Method: With a queer theoretical perspective a critical discourse analysis was made by STI information on the internet. Results: Women who have sex with women have been excluded in the STI information currently available through Kalmar and Växjö county websites.

Inom Polisen finns ett behov av att renodla verksamheten, då de med åren fått ökade administrativa kostnader. Ett projekt startades inom Polisen och Statens kriminaltekniska laboratorium, där all ekonomi- och personaladministration ute på myndigheterna samlades på ett och samma ställe i ett servicecenter förlagt till Linköping. Syftet med studien är att utvärdera hur måluppfyllelsen för de mål som sattes upp för projektet upplevs. Studien är av kvalitativ karaktär, med en fallstudieliknande ansats, där 18 intervjuer genomfördes med de anställda på servicecentret, samt flertalet ur projektets styrgrupp.Resultatet av studien är att organisationen har kommit långt med måluppfyllelsen, men att man inte har nått riktigt ända fram då studien visar att åtta av elva mål är helt uppfyllda i nuläget. Tre mål är alltså ännu inte helt uppfyllda, vilket kan bero på att många av målen är otydliga, kan tolkas olika och inte är så väl förankrade hos de anställda.

Fuel pellets are in Sweden mainly produced from sawdust and cutter shavings. Before the pelletising process the raw material is dried to attain consistent moisture content and ground up in a hammer mill. In the densification process (pelletising) the ground material is forced through holes in a rotating die. This heats up the wood particles which cause them to soften and self bond. After the process the pellets are cooled, sieved and bagged. The milling process creates a wide range of particle sizes.

The focus of this project was to characterize the occurrence of ESBL-­?producing bacteria in two irrigation water ponds in Southern Sweden. Samples were taken from two ponds nearby each other, from which analyses were made based on levels of community and individual isolates. Community samples were used for attempts for characterization of resistance patterns in irrigation water using the Omnilog PM-­?plate system. The growth of community microbiota in the presence of the following antibiotic substances was assessed; amikacin, gentamicin, kanamycin, penicillin G, ampicillin, piperacillin, trimethoprim, potassium tellurite and ciprofloxacin. Isolates were pure cultured using semi-­?selective media: LB, Rainbow Agar, mEnterococcus, 0.1 TSA and VRBD. A total of 177 isolates were isolated randomly. Each isolate was identified using the Omnilog GENIII-­?system of biochemical characterization. Further, the isolates were tested on Brilliance ESBL-­?agar for their ability to grow. Out of the total number of isolates, 30 were selected, preferably Enterobacteriaceae or Pseudomonas spp., based on their high similarity to library strain during the identification in the Omnilog-­?system. These were further characterized using Etest-­?sticks. Three selected strains were picked for further analyses using exogenous isolation for attempts to simulate horizontal gene transfer, and Omnilog PM-­?panels containing various antibiotics of interest. Selections of samples were chosen for molecular tests targeting plasmid-­?borne resistance genes CTX-­?M1, CTX-­?M2 and SHV. The method for assessing community-­?resistance patterns showed ambiguous data that was difficult to interpret; further optimization is recommended. For all tested PM-­?plates, generally greatest differences between substances were found among wells with the strongest concentration of antibiotic substance. A total of 175 isolates displayed ability to grow on ESBL-­?agar. Etests confirmed ability of isolates to resist many ?-­?lactam antibiotics and many were clinically resistant to certain substances. No plasmids were transferred during exogenous isolation. During molecular tests, a few matches were found for the CTX-­?M1 gene. Isolates analyzed with Omnilog PM-­?plates showed resistance to most compounds tested. The isolates showed greatest resistance toward penicillin G, ampicillin, amikacin, kanamycin and trimethoprim. In the study, it was established that resistance among bacteria was frequently occurring in the irrigation water, and ?-­?lactamase producing bacteria was very common. Extended studies are needed to assess the frequency-­? and occurrence of horizontal gene transfer (HGF) in this environment. Although some potential corresponding data is found, it is at this point not possible to determine whether the resistances are due to antibiotics used in veterinary medicine, human medicine or one additional reason is travel and trade. in irrigation water using the Omnilog PM-­?plate system. The growth of community microbiota in the presence of the following antibiotic substances was assessed; amikacin, gentamicin, kanamycin, penicillin G, ampicillin, piperacillin, trimethoprim, potassium tellurite and ciprofloxacin. Isolates were pure cultured using semi-­?selective media: LB, Rainbow Agar, mEnterococcus, 0.1 TSA and VRBD. A total of 177 isolates were isolated randomly. Each isolate was identified using the Omnilog GENIII-­?system of biochemical characterization. Further, the isolates were tested on Brilliance ESBL-­?agar for their ability to grow. Out of the total number of isolates, 30 were selected, preferably Enterobacteriaceae or Pseudomonas spp., based on their high similarity to library strain during the identification in the Omnilog-­?system. These were further characterized using Etest-­?sticks. Three selected strains were picked for further analyses using exogenous isolation for attempts to simulate horizontal gene transfer, and Omnilog PM-­?panels containing various antibiotics of interest. Selections of samples were chosen for molecular tests targeting plasmid-­?borne resistance genes CTX-­?M1, CTX-­?M2 and SHV. The method for assessing community-­?resistance patterns showed ambiguous data that was difficult to interpret; further optimization is recommended. For all tested PM-­?plates, generally greatest differences between substances were found among wells with the strongest concentration of antibiotic substance. A total of 175 isolates displayed ability to grow on ESBL-­?agar. Etests confirmed ability of isolates to resist many ?-­?lactam antibiotics and many were clinically resistant to certain substances. No plasmids were transferred during exogenous isolation. During molecular tests, a few matches were found for the CTX-­?M1 gene. Isolates analyzed with Omnilog PM-­?plates showed resistance to most compounds tested. The isolates showed greatest resistance toward penicillin G, ampicillin, amikacin, kanamycin and trimethoprim. In the study, it was established that resistance among bacteria was frequently occurring in the irrigation water, and ?-­?lactamase producing bacteria was very common. Extended studies are needed to assess the frequency-­? and occurrence of horizontal gene transfer (HGF) in this environment. Although some potential corresponding data is found, it is at this point not possible to determine whether the resistances are due to antibiotics used in veterinary medicine, human medicine or one additional reason is travel and trade..

This is a study of the insect community associated to the wood-decaying fungus Inonotus radiatus found on Alnus glutinosa trees growing in riparian forests at the northern and southern shores of boreal lakes in the province Uppland. Little is known about this particular bracket fungus and its inhabitants. Insects were reared out at the laboratory from samples of fruiting bodies of the fungus taken at five lakes. During the fieldwork in 2009, data about several environmental variables was also taken. After the rearing period, these variables and their effects over the insects were analyzed.

This study was conducted to test the hypotheses that a forest managed by selective cutting can store more carbon than a forest managed by clearcutting. The study was carried out as a meta-analysis. The data that was found was analyzed by performing t-tests on the proportional effect that the two silvicultural methods had on the driving factors of CO2-efflux and carbon stores in coniferous boreal forest. In all areas tested, an effect in favor of selective cutting was found, but not all of them significant however. The soil respiration following selective cutting was significantly lower than that of clearcutting, and the primary production of a clearcut area cannot according to reason exceed that of an area post-selective cutting.

This thesis investigates the relationship between economic growth and self-reported happiness in 45 European countries during the periods of 2011 and 2014-2022. In addition to economic growth, the effects of factors such as unemployment, health, and equality are also analyzed. Data has been collected from the World Bank and Our World in Data. To analyze these relationships, a fixed effects regression analysis and clustering are used, supplemented by tests for multicollinearity and scatter plots. The results of the study indicate that economic growth has no significant effect on happiness when our control variables are included in the analysis.

Within the political science research it is common to examine the effects on the national parliaments caused by European integration. In this Bachelor Thesis the aim is instead to show what involvement of the national parliaments in the European Union implicates to the European integration process.The object of examination is the introduction of the parliaments as supervisors of draft legislative acts, this is also known as ?the Early Warning Mechanism?, through the ratification of the Lisbon Treaty. An analysis of answers from the national parliaments in the tests of three pilot cases, conducted by the COSAC, is made with help of Institutional theory and an Europeanization perspective.The main findings show that the mechanism of early warning probably will not become an obstacle for continued European integration, but it could slow down the process in some areas. Most probably though is that the mechanism forces the national parliaments to adapt and to be better equipped to react at events taking place at the European level.

The purpose of this study is to find out teachers view on manipulatives as a way to concretize a certain mathematical content and to highlight knowledge and experiences within the range of using manipulatives to concretize. By answering the questions below different approaches a teacher may have towards the manipulatives and how that may impact on student?s learning will also be discussed in comparison to mainly traditional and socially constructive theories of learning.What is the teachers view on manipulatives as a way to concretize?What purpose do they have when using manipulatives?According to the teachers, what does it mean to concretize a certain mathematical content?According to the teachers, what connection is there between manipulatives and concretizing?Through interviews and observations conclusions can be made that the teachers are in general positive towards using manipulatives as a way to concretize a certain mathematical content although the definition of what a manipulative is differ somewhat between the teachers. The teachers working with manipulatives do it in a well thought out fashion but more research is needed to furthermore define the purpose of using manipulatives. Few countries spend so much time concretizing and working with manipulatives as Sweden do, but still Sweden score below the OECD-average on the mathematical PISA-tests.