AbstractThis report is about the creation of a test system for development of a control system for a off the shelf RC-helicopter, which can be bought for about two thousand SEK. The test system consists of both electronics for controlling the helicopter and mechanical constrainer. The constrainer is used for mounting the helicopter so that it won´t crash.A circuit board including processor and sensors was manufactured. This was used for doing test of the different control algorithms. In this way were we able to analyze the quality of the sensors chosen, and what other sensors that could contribute to the control of the system.Basic helicopter control have been studied and presented in the report.

A well known optimization-problem of multiprocessor system is scheduling of tasks. In this paper I use a variant of previous known algoritm, (Fast Critical Path) for scheduling real-time tasks on a multiprocessor system. This is made in a simulation study in MATLAB. The system architecture is assumed to be a MIMD- machine, (Multiple Instruction stream Multiple Data stream) with bus-typologi and message-architecture. Scheduling was made on this system where the number of processors varying from five to ten.

This thesis has been written at Linköping University for the company Instrument Control Sweden AB (ICS).ICS is a small company located in Linköping that develops software and hardware for Unmanned Aerial Vehicles, UAV. At present, ICS has a fully functional autopilot called EasyPilot but they want to reduce the autopilot?s size to make it more attractive.The purpose of this thesis was to investigate if it was possible to reduce the size of the autopilot and how, in that case, it would be done. It was also necessary to examine whether the old processors should be replaced by new ones and how hard it would be to convert the old software to these new processors.To succeed with the goals many of the old components had to be changed for new, smaller ones. Some less necessary parts were also completely removed.

The remotely operated underwater vehicles that the client develops have needs of different kinds of data channels. In order to minimize the need of physical cable between the control unit and a ROV, a multiplex protocol has been developed. The protocol has been designed with the aim of using the bandwidth of the transferring link as efficient as possible.The different kinds of data channels used during this thesis project is; RS232, RS485 and CAN. ROM and FIFO-memories have been used to be able to effectively manage the different data channels. All the reading and sending of these channels have been implemented in FPGA-technology, the coding is made generic so that it will be easier to add more channels to the system in the future.The multiplex protocol is a modified version of the method STDM and it is a proprietary protocol.

AIMS AB is a Swedish company that develops and sells inertial sensor systems. A new product is under research which basically is an aided inertial navigation system where unwanted drift is eliminated. This can be done by integrating a GPS reciever into the system and fuse measurement data from GPS and IMU. Such a product is useful in racing, where engineers always are searching for the optimal performance and the shortest lap times. Today the only feedback the engineers and mechanics get from their work is the driver?s comments and lap times.

A large part of the interactions between horse and rider during horseback riding takes place through the reins and the bit and devices for measuring the tension on the reins, rein tension meters, has fairly recently been developed. To safeguard the welfare of the ridden horse riders need to be aware of the rein tension they apply and actively work to decrease it. Furthermore, there is a need to develop the study of rein tension through new techniques and refined analysis procedures. A good-quality rein tension meter should be small in size, sensitive, durable and as accurate for light rein tension as for strong forces. Rein tension meters used in research on horse and rider interaction commonly depend on strain gauge technique for generating rein tension data.

In the following study I probe the social world of hard-rock music. By conducting interviews with four young male enthusiasts of this music I try to develop a general picture of this social world, as well as of the basic elements on which this particular subculture is constructed. The identity of a hard-rocker is based upon a number of factors beyond just a preference for that music. Throughout the interviews I encountered many implicit norms that one must followed in order to be able to see oneself as a true hard-rocker. I also found that from the respondents? perspective, the mainstream culture has, throughout the history of metal music, used various ways to counter the spreading of this genre.

Electronic article surveillance (EAS) is widely used in shops and libraries together with an RF-tag attached to the goods or books in order to prevent shoplifting. By implementing the addition of a moisture sensor to the RF-tag, other functions become possible, including the ability to use as an alarm with regards to frozen goods, which have been shipped but which have melted and have, subsequently, refrozen. In- relation to care for the elderly, one time-consuming step involves checking whether there is the necessity for a change of diaper and this can, instead, be based on an RF-tag with an EAS-system alarm. A preliminary investigation was made using the moisture sensors, which involved how the resistance changes when liquid and/or heat is applied. A simulation of the LCCR circuit (RF-tag with the sensor) was conducted in order to determine how the resonance frequency changes for different resistances levels.

I denna uppsats har jag undersökt metoder för förvaltande av kunskap samt lärande på arbetsplatsen genom att utgå ifrån personalens expertkunskaper inom sitt arbete och hur företag kan ta tillvara dessa. Den samlade kunskapen som finns på företag är ett värdefullt verktyg. Om den skulle varit möjligt att ta tillvara den på ett effektivt sätt skulle både medarbetare och företagets utveckling kunna dra stor nytta av det. Jag har undersökt hur denna kunskap skulle kunna förvaltas för att de anställda ska kunna få mer ansvar och möjlighet att förbättra sin arbetsplats med hjälp av olika metoder. Detta har jag gjort i samarbete med företaget Jidoka Innovation och deras metoder under samlingsnamnet HelpMe.

This report describes the development of a sample loader for my diploma work at Q-linea AB in Uppsala. The sample loader will replace the process of loading fluid samples into Q-linea?s instrument for biomolecule analysis. The earlier process was done by hand and was a time consuming and inefficient task.The work was initiated with a design phase where an overview of the system was created. The sample loader will be receiving text commands from a PC that coordinates all the subsystems like pumps and lasers on the analysis instrument.

When driving hard and cornering on a circuit good control of a car?s roll is desired, so the car reaches steady state quickly but yet in a controlled fashion. This control is mainly given by the combination of the cars springs, shock absorbers and anti-roll bars.The aim of this report is to investigate, analyze and measure a Porsche Boxster?s turn in behaviour and roll dynamics as well as with the aid of simulation results give suggestions for improvement of the previous mentioned combination.Two different simulations were made, one based on a simpler model that was based on an evolved version of the bicycle model in Matlab and one was more advanced model in the simulation software rFactor. Measurements of the real car was made using a GPS-based measurement system.

This paper is a literature study on search engine optimization (SEO) considering the leader of the search engine market: Google. There´s an introductory background description of Google and its methods of  crawling the Internet and indexing the web pages, along with a brief review of the famous PageRank algorithm. The purpose of this paper is to describe the major important methods for improved rankings on Google´s result lists. These methods could be categorized as on-page methods tied to the website to be optimized or off-page methods that are external to the website such as link development. Furthermore the most common unethical methods are described, known as ?black hat?, which is the secondary purpose of the text.

The project Design analysis and proposals of plastic screw caps in Australia was performed at Högskolan Dalarna incooperation with University of Western Sydney, Australia. The Swedish company Tetra Pak, in Lund, were assigner forthe project that was performed 2006-2007. The commission was to do a survey about the packages for non-carbonateddrinks in Australia. The bottles had to be plastic, able to open in one step and with focus on the caps.The project has result in design analysis and a new proposal of a plastic screw cap for the Australian market. Sixbottles were choosen and they were all testet on 20 consumers each with a Likert-scale test.

Många organisationer har ett behov av bemanning hela dygnet alla dagar i veckan. Personal vid sådana organisationer organiseras i arbetslag som enligt ett arbetsschema löser av varandra under dygnets gång. Beroende på hur dessa arbetsscheman utformas kan de få en negativ inverkan på personalens hälsa. Den här rapporten handlar om utvecklandet av en algoritm som genererar arbetsscheman med ergonomiska riktlinjer, det vill säga arbetsscheman som utformats på ett sådant sätt att negativa effekter på personalens hälsa undviks. Algoritmen som utvecklas baseras på optimeringsalgoritmen Squeaky Wheel Optimization.

This master thesis is an in-depth study of an existing heating system at a household cooperative in Uppsala that has been converted from district heating to a bedrock heat pump system. The study focuses on an economical system optimisation of the building?s complete heating system. The aim was to determine how well a heat pump system in large buildings actually work, find out possible ways to optimize the existing system and point out important system parameters for new heat pump installations in larger buildings.The project points out a possible energy cost reduction of 45 % without investment and further cost reductions with equipment investments. A reduction by 30 % is possible by improvements in the regulation system and 15 % is possible by maintaining the brine system.