The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600. The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox. A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace.

Wavecraft AB develops medical equipment for heating of organic synthesises. The heating is done with microwaves, which improves the process in both speed and accuracy compared to the more traditional methods where heating elements are used. This report discusses the developement of an automatic lid mechanism for one of Wavecraft's product prototypes. The company assumes that the final product will be integrated by customers into fully automated systems, and the upgrade from a manually to an automatically controlled lid is therefore an important step in the product's developement process.The first stage och the project was an idea generation process. The ideas generated here were organized into five different concepts of which the best one was selected through the use of a concept matrix.

The purpose of this thesis has been to explore in what ways Franz Kafka?s ?The Metamorphosis? can be read as a story of gender. By bringing together Judith Butler?s theory of materialization and Lennard J. Davis?s crip theory I have spoken of Dismodernity as the domain of abject bodies that have been repudiated by (post)modern societies as untintelligible and dysfunctional.

Fodermedelsallergi är ett tillstånd som beror på att immunsystemet reagerar mot något, oftast ett protein, som normalt sett inte ska utlösa ett immunsvar. De vanligaste symptomen är kutana symptom såsom klåda, alopeci och otit. Fodermedelsallergi diagnosticeras med hjälp av en eliminationsdiet med efterföljande provokation och vid diagnos behandlas sjukdomen genom att undvika det orsakande allergenet. För att inte utveckla fodermedelsallergi måste hunden eller katten utveckla en oral tolerans mot proteinerna i kosten; misslyckas detta kan allergi uppstå. Denna uppsats syftar till att sammanfatta den tillgängliga forskningen kring hur den orala toleransen uppstår, den immunologiska bakgrunden till fodermedelsallergi samt hur en eliminationsdiet påverkar immunsvaret.

Dairy cows transform grass to milk with help from ruminal microorganisms that can digest indigestible fiber in their feed. The digestive system of the cow is adapted to a diet consisting of forage and disorders like acidosis, laminitis and abomasal displacement can occur if the feed contains too much starch. To achieve the highest production possible the cow has to be given a high amount of concentrate or grain as the difference in milk yield is significant, approximately 1000 kg energy corrected milk per cow and year between conventional and organic cows that are fed a lower versus a higher share of forage. If the cow shall be able to eat the same amount of energy from forage as from grain or concentrate the eating- and rumination time gets longer and she might not be able to eat enough, which will result in a lower milk yield and will make it harder for the cow to recover from the negative energy balance that originate from the beginning of the lactation. Fat and in a sense protein content differs also depending on if the cow is given a high or low share of forage..

The purpose of this thesis has been to explore in what ways Franz Kafka?s ?The Metamorphosis? can be read as a story of gender. By bringing together Judith Butler?s theory of materialization and Lennard J. Davis?s crip theory I have spoken of Dismodernity as the domain of abject bodies that have been repudiated by (post)modern societies as untintelligible and dysfunctional.

This Master Thesis describes how a concept for a new fly fishing reel has been developed. Thethesis has been an interwork with Loop Tackle Design, which is a leading company in the flyfishing industry with their high-quality products. Loop designs and develops all types of flyfishing equipment like fly fishing reels, rods, lines and clothes.The purpose of this thesis is to generate a concept for a new type of fly fishing reel. The new flyfishing reel shall be innovative and reduce the number of components in fly fishing equipment.The solution for this is to create a fly fishing reel that is collapsible and can be used for all typesof fly fishing.The thesis started with a history of fly fishing and the equipments that have been used for flyfishing in the past and what is used today, in order to get an idea how fly fishing haveprogressed. A frame of reference was then compiled to get an idea of the forces and surroundingsa fly fishing reel will be exposed to.

Trots global spridning av miso produceras den sällan på regionalt odlade grödor. Syftet med denna uppsats är att undersöka möjligheterna att producera fermenterade bönpastor med shinshu miso-karaktär på gula ärtor och korngryn. Metoden som använts i studien var litteraturstudie utförd på fyra vetenskapliga artiklar. De veteskapliga artiklarna hämtades från en databas med inriktning på måltidskunskap.Fermentering på andra grödor än de som vanligtvis används vid misoproduktion sker med goda resultat. Fermenteringstiden är avgörande för den karaktäristiska smak och färgkaraktären i miso.

Atopisk dermatit är en sjukdom som drabbar ungefär en tiondel av världens hundar. Sjukdomen ger som följd av allergenexponering symptom såsom klåda, hudlesioner och otitis externa. Patogenesen för atopisk dermatit är komplex och multifaktoriell. Målet med denna litteraturstudie var att undersöka hur genetiska och immunologiska faktorer bidrar till sjukdomens patogenes. En obalans i T-hjälpar-(Th)-svaret vid atopisk dermatit är allmänt accepterad.

Soja är den mest använda proteinkällan till fjäderfä i Sverige och mycket soja importeras i dagsläget. Då soja nämns mycket ur klimatsynpunkt, skövling av regnskog, minskad biologisk mångfald, är användning av svenskodlade proteinfodermedel som ärt, åkerböna och lupin av intresse. Ur odlingssynpunkt är ärt, åkerböna och lupin bra grödor i växtföljden då de är bra förfrukter. De passar även bra att odla i kallare klimat vilket gör dessa grödor intressanta att odla som proteinfodermedel i Sverige. Dock begränsas användningen pga.

Fotosyntesen kallas den process som omvandlar ljusenergi till kemisk energi. Fotosyntesen sker i tylakoidmembranet och drivs av två stora proteinkomplex, fotosystem II (PSII) och fotosystem I (PSI) då de tillförs energi i form av fotoner. PSI-N är ett mindre protein på ca 10 kDa som ingår i PSI. På något sätt, som ännu inte är klarlagt, samverkar PSI-N med PSI-F och plastocyanin när det dockar till PSI. Det är därför av viktigt att rena fram större mängder av PSI-N för att få djupare kunskaper om proteinet samt dess struktur och funktioner.

The purpose of this thesis has been to explore in what ways Franz Kafka?s ?The Metamorphosis? can be read as a story of gender. By bringing together Judith Butler?s theory of materialization and Lennard J. Davis?s crip theory I have spoken of Dismodernity as the domain of abject bodies that have been repudiated by (post)modern societies as untintelligible and dysfunctional.

The purpose of this thesis has been to explore in what ways Franz Kafka?s ?The Metamorphosis? can be read as a story of gender. By bringing together Judith Butler?s theory of materialization and Lennard J. Davis?s crip theory I have spoken of Dismodernity as the domain of abject bodies that have been repudiated by (post)modern societies as untintelligible and dysfunctional.

The relatively poor economy in European dairy farming might be improved from efficient feeding systems and dietary management. Increasing herd sizes and transition to loose housing systems in Sweden, increases the possibilities for other feeding systems than separate feeding that is the traditional feeding system in Sweden. Other possible feeding systems are partial mixed ration (PMR) and total mixed ration (TMR), where the TMR system sometimes is associated with overfeeding and thereby increased environmental impact and high feed cost. Diets providing nutrients above or below animal requirements are considered as unbalanced, which in turn are associated with reductions in health, fertility and milk production. On the other hand, a balanced feed ration improves feed efficiency, nitrogen utilization and profitability.

This thesis work was made to optimize the writing of the construction specificationsat FKA. These construction specifications are created before each plant modificationsthat is started because requirements from the Swedish radiation safety authority(SSM) and internally on Forsmarks nuclear group as constructions / implementationdocumentationThe study was done through seven interviews of two people at three different groupsinvolved in the construction specification and an interview from the group accreditedverification. The four selected groups were selected through an extensive analyticalwork resulted in an elimination matrix where these four groups was considered to bemost involved with the construction specification.The questions asked to these individuals were based on the instructions and sampletext that are described in the construction specification. To ensure the quality of thethesis were to limit itself to the chapters that were considered most relevant toimprove. The analysis revealed a number of points that should be improved, partlyinto the routines when writing the construction specification and when ether sampletext or suggestions should be changed and complemented.