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.

This study aims to examine the effect the evaluation system used by the Stockholm County Council, has on how the healthcare providers themselves conduct the evaluation regarding their own operations. This is done through a qualitative case study of the evaluation systems of the Stockholm County Council and of four primary healthcare producers concerning one primary healthcare contract. The evaluation systems were analysed using Merchant and Ver der Stede's (2007) framework for different types of control. In order to give a more detailed picture this framework was complemented with different types of performance measurement. The evaluation that the Stockholm County Council conducts was found to have little influence on the providers own evaluation with the exception of the quality indicators that are rewarded with a monetary bonus..

In past decades information technology has changed the conditions of organizations, not at least within the industry. Advanced IT systems have become a fact in order to cope with rapid changes in the market and to effectively manage an organization?s knowledge. When organizations became more flexible and customized expectations from customers and stakeholders also become higher. These expectations and guidelines are documented in a company?s management system, which can be designed differently depending on what standards the company chooses to implement.

Lansen Technology develops and sells alarm systems. The communication between the system devices are wireless. The radio protocol used by the system is developed by Lansen with the purpose to be energy efficient. The alarm systems target groups are individuals, businesses and government agencies. The current system is installed, configured and controlled from a control panel for all audiences.

Today there are many applications of digital terrain models (DTM) and the requirements of low uncertainty increases. Most of the DTM are produced with Global Navigation Satellite System (GNSS), terrestrial laser scanning (TLS), airborne laser scanning (ALS) and total stations. Guidelines for the preparation and verification of DTM are found in Swedish Standards Institute ? Technical Specifications (SIS-TS) 21144:2007 and SIS-TS 21145:2007. These were defined in collaboration between Swedish National Rail Administration, Banverket, and Swedish Road Administration, Vägverket, to satisfy the needs of requirement formulations in the production of DTM planning, design and construction. The purpose of this paper is to produce and control DTM over Åkermans kulle, located west of the University of Gävle, according to SIS TS 21144:2007 using GNSS with network-RTK, TLS and ALS.

I was assigned to the thesis as part of a project GMA AB (Ground Machinery Applications AB) is running. The project aims to develop a new method for injection of drilled holes in rock walls. Currently, the injections usually involve cement but the basic idea of the project is to replace cement with a supplement called Silica sol.Silica sol is known as a gelling liquid. The gel time is controlled by a mixing of saline. Depending on the amount saline that gets mixed in, the gel time varies.

The purpose of this master thesis is to construct a steering transmission, for a trackedvehicle, containing two hydraulic circuits which are connected. The steeringtransmission should be mechanical to avoid steer-by-wire.BAE Systems Hägglunds has in an earlier study examined a system with two hydraulicpumps and one hydraulic motor, but the safety of the system wasn?t sufficient.To achieve sufficient redundancy there must be two hydraulic motors, which arecontrolled separately. When the two systems are connected in one point, this point is acritical part of the system because it directly affects both circuits. If one of the hydrauliccircuits fails the other should be able to operate independently as a steeringtransmission.

Studien syftar till att se hur personlighet, söka-arbete self-efficacy och locus of control påverkas av arbetslöshet. Personlighet mäts enligt Costa & MacCraes fem-faktor modell och avser dimensionerna extroversion, neuroticism, öppenhet, trevlighet och samvetsgrannhet. Hypotesen är att det finns skillnad mellan nyarbetslösa och långtidsarbetslösa avseende personlighet, söka arbete self-efficacy och locus of control. Frågeformulär innehållande påstående om ovanstående faktorer besvarades av en grupp nyarbetslösa och en grupp långtidsarbetslösa. Resultatet visar inga signifikanta skillnader avseende personlighet och söka arbete self-efficacy mellan grupperna.

Swedish school has for the last decades been using quality management as a method for improvement. Quality management is an enormous work and the whole school staff needs to be involved. The management consists of several parts like planning, surveys and interviews, analysis of the replies and setting up new goals. Parents, children and teachers are nowadays accustomed with quality surveys. The last few years these quality surveys have been computerized, but they still look almost the same, using little interaction with the respondent.I have had the opportunity to work with the company KMF Ventures, which has a vision that entails a more interactive web survey.

Lansen Technology develops and sells alarm systems. The communication between the system devices are wireless. The radio protocol used by the system is developed by Lansen with the purpose to be energy efficient. The alarm systems target groups are individuals, businesses and government agencies. The current system is installed, configured and controlled from a control panel for all audiences.

The change of control clause is nowadays a well used covenant in the Eurobond market, with the aims to protect bondholders in case of a leveraged buyout. This thesis intend to evaluate whether the change of control clause is a new phenomenon in the Eurobond market today and to estimate what have been the driven force for the popularity of it. The thesis found that the change of control clause already existed before and thus it is not a new phenomenon. Several factors where found though to explain the extended use of the clause today. Starting in 2005 the LBO activity increased rapidly, exposing almost every company to the risk of LBO.

Background: Running economy is one of the key factors to achieve top performance in endurance events. Little evidence exists for improving running economy using high-intensity interval training while running. Objectives: The purpose of this study was to examine how HIIT affects running economy and VO2max. Method: 14 well-trained athletes (age 35 ± 8,9 years, height 175 ± 11,7 cm and weight 69 ± 12,2 kg) were divided into two separate groups (HIIT and Control). HIIT group performed 3 HIIT exercises every week for 4 weeks and Control group continued with their separate training programs consisting of mostly traditional endurance training. Results: Running economy showed no improvement in HIIT (pre 38,62 and post 38,62 ml/kg/min, p=1.00) but Control improved (pre 45,41 and post 43,37 ml/kg/min, p=0,03). VO2max decreased in HIIT (mean 61,32 to 60,84 ml/kg/min) and in Control (mean 61,99 to 58,47 ml/kg/min)..

Background: Running economy is one of the key factors to achieve top performance in endurance events. Little evidence exists for improving running economy using high-intensity interval training while running. Objectives: The purpose of this study was to examine how HIIT affects running economy and VO2max. Method: 14 well-trained athletes (age 35 ± 8,9 years, height 175 ± 11,7 cm and weight 69 ± 12,2 kg) were divided into two separate groups (HIIT and Control). HIIT group performed 3 HIIT exercises every week for 4 weeks and Control group continued with their separate training programs consisting of mostly traditional endurance training. Results: Running economy showed no improvement in HIIT (pre 38,62 and post 38,62 ml/kg/min, p=1.00) but Control improved (pre 45,41 and post 43,37 ml/kg/min, p=0,03). VO2max decreased in HIIT (mean 61,32 to 60,84 ml/kg/min) and in Control (mean 61,99 to 58,47 ml/kg/min)..

A degree project has been carried out at Motion Control, Västerås. The degreeproject ?Grafisk Skärm för Inbyggda System? have developed a first prototype of anembedded system with a display, a graphical user interface with touchscreen andpossibilities to communicate with external units.The work initiated with surveys of critical components. A technical specification forthe desired end product was developed. With the technical specification as support,design specifications for hardware and firmware were developed.After the specifications were done, a circuit diagram was developed and a circuitboard was made.

When an error occurs in an IT system that is vital for the production of a major industry, the consequences can be great. To quickly identify and correct errors is important as a stop in a system can lead to a break in production, which is costly for the industry. Our task in this thesis has been to develop a system for ÅF that facilitates the debugging process of the system Paperline. The system's target audience is ÅF-call personnel that provides support for Paperline 24 hours a day if something goes wrong. The system consists of a Windows service, a database and a web application and is developed mainly with the techniques C#.NET, MVC 5, Google Charts, Javascript, HTML, CSS, and Entity Framework.