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.

Flowcytometric technology has been widely used for measurement of the absolute numbers of T-lymphocytes subsets in Human Immunodeficiency virus (HIV), defining the disease state, monitoring antiviral treatment, and identifying any risk for opportunistic infections. A manual preparing of the samples is required. More recently an automated and enclosed blood cell counting, Celldyn Sapphire has been introduced. In this study the performance of the Flow cytometer EPICS XL as a reference method for analysis of CD3+, CD4+ and CD8 T-lymphocytes was evaluated with blood from 40 individual?s samples.

The purpose of this thesis is to investigate how childrens librarians at public libraries motivate their selection and their purchases of fiction for children and youth. The aim is also to find out what is felt like a problem at the selection process and what is not. Six childrens librarians have been interviewed in this qualitative study. On a basis of a theory of literature pedagogic perspectives the librarians were asked how they look upon purchase of fairy-tales, classics, pulpliterature and literature that contributes to the debate about man and society. They were also asked about their opinions of Bibliotekstjänst, of criticism of childrens books and how they reason about their purchases in general.

För det nyfödda barnet är det viktigt att direkt få hud mot hud kontakt och därmed en bra möjlighet att knyta an till sina föräldrar. En tidig anknytning ligger till grund för barnets utveckling och välbefinnande. Efter ett kejsarsnitt separeras mamman och barnet de första timmarna postpartum. Denna studie var en beskrivande litteraturstudie med syfte att beskriva om anknytningen påverkas mellan föräldrar och barn efter ett kejsarsnitt. Relevant litteratur har söks genom databaserna Medline och Cinahl.

The purpose with this essay is to evaluate the retrieval performance between Googles basic search and the advanced search functions. A secondary purpose is to evaluate the differences between the binary relevance scale and a 4- point scale. The basic search is defined as a search with two terms combined with the Boolean operator AND. The advanced search is based on search functions that are adequate to compare to the basic search. They are categorized as AND-searches, OR-searches, AND and OR-searches, exact phrase, and depending on where the terms occur on the page.

Denna uppsats behandlar precisionsgranaten XM982 Excalibur. Syftet med arbetet var att öka kunskapen inom Försvarsmakten avseende Excalibur inför ett nyttjande av granaten i krig och konflikter.Syftet var också att definiera faktorer som är viktiga att tänka på vid nyttjandet av Excalibur i krig och konflikter.Frågeställning jag ställde upp för detta arbete är: Hur kan XM982 Excalibur användas i krig och konflikter?För att kunna svara på frågeställningen så besvarades tre olika delfrågor.De tre delfrågorna är:Vilka tekniska och taktiska faktorer framkommer genom information från industrin?Vilka tekniska och taktiska faktorer framkommer genom information från Försvarsmakten?Vilka faktorer framkommer genom information från nyttjandet av Excalibur av USA i Irak?  Metoden som användes var litteraturstudier samt intervjuer av personer som arbetat med utveckling av granaten. Varje frågeställning avslutas med en diskussion där de olika faktorerna som framkommit diskuteras. Efter att ha diskuterat de tre olika frågorna avslutas arbetet med en sammanfattande diskussion.I resultaten från avhandlingen framkom att Excalibur är en väldigt teknisk artillerigranat med mycket bra egenskaper för att kunna underlätta för markförbanden, främst i strid i urban terräng..

Studies of modern communication media such as Cell Phones and so called Instant Messengers are popular today. This study focused on these modern techniques, focused on parents as a target group and on what is important for them in everyday communication.By exploratory using three focus groups it became clear that the children, and the link to them was the absolute most important thing for the parents. It became clear that this link to a great extent today exists through the mobile phone.In a following study a Mobile Instant Messenger called My Friends was introduced. It was used by two families during two weeks to see how it would change the communication within the family. The focus was to see how problems with availability were handled, it turned out that:My friends had a more obvious way of indicating availability than the Cell Phone had.

The report aims to investigate how well a certain type of affordable embedded single board computer can hold up against today's more expensive computers in a computer system by doing various tests on a system with the specified requirements. The system has a Raspberry Pi as the single board computer which task is to control a camera based on coordinates obtained from a server as well as capture and stream a video signal on a network.The researches were conducted to check how much network traffic a single-chip computer sent in different video formats and how much CPU utilization was required. Studies were also made to ensure the accuracy of the camera control. The researches have been experimental, where several tests have been performed and analyzed.The results show that a sufficiently good accuracy can be obtained from the camera steering unit, in which two different servos have been investigated. When the video format MJPEG and H.264 are used, the single-chip computer is able to transmit a video signal up to 1280x720 at 15 fps.

Protecting the environment has with time grown to take a more central role in the society. Agriculture plays an important role in the society since this sector produces our food. More thorough research on how agriculture affects the environment is therefore motivated. This research can be used to improve the agricultural practice from an environmental point of view. This is something that both the farmers and the consumers can profit from. This study aims to form the basis for creating environmental indicators for use of nitrogen and energy on dairy farms. Twenty-three farmers in western Sweden have been interviewed about their farms, both organic and conventional. They produce milk with different intensity, defined as the amount of milk delivered (sold) per hectare of arable land.

Sänkgnistning är en icketraditionell bearbetningsmetod som i Sverige används av både små och stora verkstadsföretag. Metoden används i syfte att framställa geometriskt komplexa detaljer, främst ur härdat stål. Dessa detaljer används vanligtvis som produktionsmedel. Detta innebär att kunderna använder en eller fler detaljer, som producerats med sänkgnistning som verktyg, för att producera egna produkter. Vanligt förekommande är att kunder använder sänkgnistdetaljen som verktyg för formsprutning vilket ofta genererar många produkter per sänkgnistdetalj.

This thesis has been done on a haulage contractor company named GP-Last (AB Gustav Perssons Åkeri) and the purpose with the paper was to analyse their traffic from Malmö to Stockholm and leave suggestions on efforts that GP-Last can use to increase their level of transportation quality. This has been done with two main questions, which problem do they have today and which efforts they need to do to solve their problems? Through a case study with interviews as method to collect data it showed that GP-Last had four main problems.        Not enough information about their freights. The transport planning unit in Malmö doesn?t have the exact delivery address when GP-Last begins to bring in the gods.        There are no clear routes.

The aim of this master thesis is to evaluate the performance of the content-based image retrieval system ImBrowse from a semantic point of view. Evaluation of retrieval performance is a problem in content-based image retrieval (CBIR). There are many different methods for measuring the performance of content-based image retrieval systems, but no common way for performing the evaluation. The main focus is on image retrieval regarding the extraction of the visual features in the image, from three semantic levels. The thesis tries to elucidate the semantic gap, which is the problem when the systems extraction of the visual features from the image and the user?s interpretation of that same information do not correspond.

This study in the subject of forest planning is made for Sveaskog and its aim is to develop tools that prognosticate outcome in terms of volumes per sort from not yet cut forest stands. The degree of detail is just to get reliable results for at least one months volumes, for Sveaskogs own forestland in the market region of Norrbotten that is about 100 000 m3fub. The course of action to accomplish this is regression analysis and the data consists of cut tracts on own forestland in Norrbotten during the years 2006, 2007 and 2008. That is a little more than 4 million m3fub. Two tools were made.

In Sweden, grass is the single largest crop grown. Nearly 1 000 000 Ha grows on the fields, this is primarily used as feed for livestock. To get a good seed, you need to handle the crop carefully from planting to delivery. The part that I have been interested in, is how to dry the harvested seed with out destroying the growth in the small seed. This is very easily done if you aren?t careful during the drying period.

Alfa Laval?s strategy is to focus on modularized product platforms. Several benefits areforeseen, reduced lead-time, less costs, shorter Time To Market and better quality.Development and verifying will be carried out on block level. Today the separators arebeing tested as a complete unit. A number of factors affect the test results and problemsthat are encountered can be hard to identify.