This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

Keywords: ID-method, internet, security, digitzing, bank Background: The digitizing of our society continues to grow and more parts of our lives is spent on the internet. The banks are one of the institutions that is at the forefront of this development since they established themselves on a early basis. The banks meeting points have since this establishment moved from the regular bank office out on the internet. A problem that has occurred during this transfer is the possibility to positive ID a customer in a virtual world. It is essential to offer the customer methods to identify themselves that are both safe and easy to use.

The most common method for identifying merchandise in the commerce is by barcodes. Symbian OS is an advanced operating system aimed at cell phones and the most commonly used in smart phones. Opportunities to a full range of new services are given through barcode recognition in a Symbian OS based device. Therefore the purpose of this degree project was to create an application which would contribute to a future solution aimed at shopping where the cell phone constitutes a reader of items? identification numbers.

The main goal of this project was to develop some sort of a diverter for pipestransporting waste in a vacuum system. This unit was supposed to be both cheap andeasy to serve/exchange worn out parts. With a limited space to install the pipeexchanger, the challenge was to keep it as compact as possible without constructingbends with to small radius or to sharp angles as this would wear out the system a lotfaster than planned. The system was also supposed to be able to handle clothes andscrubs from hospitals. Having too much sharp edges or angles would tear the clothesapart.

The purpose of the essay is to investigate SVT: s (Swedish Television) attitude to allocation of quotes and preferential treatment. In Sweden there is only one law, which allows preferential treatment ? the law of equal opportunities. This law prohibits discrimination between women and men. The profession of camera operator and editor have been viewed as masculine in accordance to heavy lifting and high technology, this considering being hindrance to women.

Lame dogs are a common group of patients for the practicing veterinarian. In the literature it is described how a clinical examination can be performed, based on general clinical-, orthopedic- and neurological examination, and visual evaluation of the dog when standing and during motion. For research, objective gait analysis systems are also used to study clinically healthy and lame dogs during motion. The aim of this degree project was to compare objective kinematic gait analysis with a visual evaluation of dogs with different types of lameness. The project was a pilot study to show if objective gait analysis could be used as a support for the visual examination. Ten lame dogs of different breeds and with different diagnoses were included in the study. They were all patients at the University Animal hospital, Uppsala.

The interest for food and cooking has probably never engaged the people of Sweden as much as it does today. Especially cookbooks are selling better than ever which has been a quite constant trend since the mid 90's. This study explores the connection between visual communication in Swedish cookbooks and the post-modern values which have influenced the market climate and the visual culture. I have used a theoretical framework as reference consisting of theories of semiotics, visual rhetoric, marketing communications and postmodernism. I have been studying six cookbooks, three from the late 00's and three from the early 90's, from the two separate angles of their graphic design and photographic material.

The Sitting while waiting for sustainability project goal was to make a functional model for a resting chair and to make it by using furniture and artefacts as material. A try of understanding the process of re-design and to use it to design was driving the project through. The result was a prototype made out of a bed frame and 18 pair of jeans and with details made out of leather..

I dagens visuella effekter är digital compositing en av de viktigaste processerna. Från att uteslutande ha utförts i 2D har digital compositing dock kommit att innebära en alltmer tredimensionell process. Det här arbetet reder ut begreppet 3D-compositing och sammanställer vilka 3D-compositingtekniker som är vanligt förekommande. Ett urval av dessa tekniker tillämpas sedan i en egen effektsekvens. Slutsatsen blir att det är kombinationen av 3D-funkionalitet och 2D-compositing i samma program som är styrkan med digital compositing i 3D-miljö..

Energy is an essential part of the society and for a sustainable future we need to use the energy resources in a sustainable way. The forest is Sweden?s most important resource for renewable energy and a higher production combined with shorter rotation periods (time from planting to clear cutting) can increase the access to energy. The tree genus poplar (Populus spp.) is interesting as energy resource as it has both high production and short rotation period. But browsing ungulates are a major threat to the establishment of poplar plants and therefore the poplar plantations need to be fenced in today. To use fences is expensive and time consuming; this makes it interesting to find more cost-effective solutions where there is no need to fence. The aim with this study was to look at the ungulates? occupation rate and browsing pressure in poplar plantations without fence.

Matte painting och camera projection är ett relativt snabbt och kostnadseffektivt sätt att skapa miljöer som inte existerar. I denna rapport redovisar jag om matte paintings användning inom VFX-produktion och går igenom hur man uppnår ett effektivt arbetsflöde med godtagbara slutprodukter. Jag redovisar skillnaden mellan 2D, 2.5D och 3D-genererade miljöer och vad som bör användas vid olika situationer. Jag rapporterar även om områdets generella utveckling samt i vilken riktning dess utveckling ser ut att gå..

För att skapa kraftfullare presentationer måste nya metoder implementeras för att visualisera projekt. Ett aktivitetshus för ungdomar visualiseras i detta projekt genom att 3D-modellen av huset placeras i ett filmklipp från den plats där huset skall stå. Stegen som togs för att realisera detta var förarbete i form av inskaffande av ritningar, filmande, matchmoving, 3D-modellering, rendering, compositing och ljuddesign. Resultatet blev ett filmklipp som ur ett första persons perspektiv både visar exteriören och interiören..

In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

Understensho?jden is Stockholm's largest eco-village which was built in the early 1990s with the vision of enabling ecological living for people. However the ecovillage is no longer considered as environmentally friendly because of its relatively high energy consumption, and non-updated energy system. The purpose of this study is therefore to investigate how Understensho?jden should reduce their energy consumption and upgrade its energy system by using Blower-Door, IR-camera and Design Builder.

?Halmstads Fastighets AB? is a local real estate company investing in sustainable development. One problem though is that the domestic waste, particularly the source separation, at the three resident blocks for students? isn´t working very well. This creates inconveniences for people and environment as well as decreasing the impression on the estates.This project has had the ambition to improve the domestic waste and increase the amount of source separation at HFAB´s student hostels.