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.

The division of Electricity at Uppsala University runs a project called Lysekil project, they have designed a buoy that uses the waves to create electric power from a generator attached to the bottom of the sea.Uppsala University is closely connected with the company Seabased and the university makes use of their facilities in Lysekil. When they designed the buoy issues occurred, the geometric design was flawed, brackets with a short shelf life and it is generally uneconomic.A study visit was done in Lysekil on Seabased facility. With this visit the project started, which is to improve the design of the buoy and the attachment of wires leading to the generator. In this project we have chosen to use a beam system with three beams that are attached to the buoy. Then a wire attached to a plate that sits between the beams will be leading to the generator. Two proposals for construction are created, what distinguishes them are the brackets between the beams and the buoy.From these constructions, the design that is considered most optimal for our project is chosen.All parts of the buoy have been modeled and the drawings are designed in ProEngineer software.The two constructions are compared with each other, but the whole focus is on the second and final structure. The report begins with an introduction describing Lysekil project, and a task description of our project.The project aims to produce an optimal buoy that will be easy to design, materials restrictive with good durability and an economical solution.Wave power true function has been studied, mechanical and finite element analysis of beams, buoy and plate design.This has been presented in this report, where in the various chapters can read more about the processes. Although the relevant facts and information on this project and buoy development is included.

Idag strävar de flesta företag mot att skapa användbara hemsidor med hjälp av olika designprinciper. Denna studie är en undersökning av designprinciper i syfte att belysa vilka designprinciper företag och organisationer tillämpar. Designprinciper är riktlinjer som används för att uppnå ett mål, det vill säga god design. Studielitteratur som använts i denna studie är ?Don´t make me think? skriven av Steve Krug. I boken nämns flera designprinciper som vi har haft till hjälp för att ta reda på om företag använder sig av liknande principer. Sex deltagande medverkade i intervjun som utfördes.

ABB Capacitors is looking to introduce LEAN within their organization. The purpose of this research is to suggest ways to improve the production planning in order to facilitate the company?s production processes. This should be done in accordance with the LEAN concept.Today, ABB will produce two of the customers? orders at the same time.

Heat and power stations are often in need of optimizations. A simulation model is a tool for findingways to optimize the plant. The scope of this diploma work is to develop a simulation model ofBoiler 5 at Mälarenergi AB. Boiler 5 is a circulated fluidized bed boiler that was taken into service inyear 2001. Among the included parts in the boiler are cyclone, convection part andINTREX-chambers.

Web pages are visited through a variety of different devices with varying screensizes. One method for adapting web pages to this variety is called responsive design. Geographical information, often in the form of embedded maps, is common on the web. The combination of responsive design and geographical information has been shown to lead to interaction problems and is therefore assumed to need special considerations. This thesis examines this combination and investegates how presentation of geographical information can be adapted to responsive web design.

The residential yard at Kvarteret Landsfiskalen 1, in the area Herrgården in Rosengård, Malmö was built in 1971 and has since then been reconstructed twice, in 1984 and 2008. The yard is found in an area which was built during the years 1965 ? 1974, a period in which the swedish goverment approved a decision to build one million homes, and much of the events in this particular yard is also typical for the process in many other areas built during the same period.At the original construction the design of the yard was entirely incused by the pressure in time and finance, one was under at that time, in order to over- come the housing shortage. The design it has nevertheless been given, reflects the esthetic ideals of that time well.The building of the area was barely finished when the swedish authori- ties started handing out grants in order to support the rearmament of the outdoor environment in the areas built during the so called ?million program?.

It seems like Swedish municipalities are dominated by beliefs that all citizen participation is good for the development of local democracy. A critic of this certainty is rising among Swedish scholars of political science. However, a critic with an ambition of such generalization is harsh. Different democratic projects contents different qualities and thereby diverse problems in the democratic process. If these democratic problems within the process can be recognized, a deeper understanding can be found and in the prolongation a strengthening of the democracy.This essay examines the democratic process of Lomma municipality's democratic project of citizen participation.

Jag har studerat och försökt att undersöka varför förpackningar av sexleksaker ser ut som de gör och i processen har jag också undersökt hur deras visuella kommunikation uppfattas och vad som eventuellt skulle kunna göras bättre. Anledningen till denna uppsats är att min uppfattning av förpackningar i sexleksaksindustrin är sexistisk, kränkande och framför allt består av dålig design. Jag redogör för litteratur som jag anser vara intressant för uppdraget och den behandlar både byggandet av varumärken och förpackningsdesign. En undersökning och intervjuer med experter kommer också att presenteras. Slutligen ger designarbetet ett exempel på hur en stilren förpackningsdesign kan vara svaret på frågan om hur man bäst kommunicerar förpackningen till en sexleksak. Uppsatsen är inte avgörande i den aspekten att den inte ger ett svar på varför paketen är utformade som de är, dock utvecklar jag vad några av möjligheterna skulle kunna vara.

This report describes the work process to an interactive movie addressed to children with neurodevelopmental disabilities, where Jippieserien is the client. The aim is to explore how multimodal media can convey Jippieseriens message to children with neurodevelopmental disabilities and their parents, by taking the users needs into account.It is important to focus on the people who will use the system when designing interactive systems. This project is therefore using the designprocess human-centered design for interactive systems. The process includes four basic elements and provides guidelines for user-centered design. These parts are analysis, prototyping, implementation, and evaluation (Johansson.

As IT service departments in organisations are becoming more complex and customised, the indirect costs are increasing in relation to the total costs. The difficulty of fully estimating and identifying the spread of the cost in the IT service department is increasing. As a result, firms tend to budget the business unit as a total cost rather than as a spread of defined costs. In order to deal with this challenge an ABC calculation will be applied. The Time Driven ABC model will be conducted in OMX´s Servicedesk unit within the IT services.

Pattern design is a territory which has been widely explored by many during a long period of time. With this project I hope to shine a new light on wallpaper design, the area on which I?ve applied my patterns to.The inspiration for this wallpaper collection originated in a past project in which I experimented with weaving strips of paper together in different ways. During this time I found myself curious to investigate how this kind of weaving could be applied to textiles, wallpapers, etc.My main focus in this project has been about creating interesting patterns in which unexpected motifs are woven together. I?ve also touched on the subject of creating a kind of conceptual wallpaper constructed by weaving strips of wallpaper together.I based my patterns on a series of drawings that I created during the course leading up to this project.

Den här rapporten avhandlar Kristin Charlie Torsdotters examensarbete i industriell design vid Högskolan på Gotland. Examensarbetet gick ut på att utforma foajén till det påbörjade bostadshuset SommarRo i Uppsala, samt en sittmöbel till foajén. Projektet genomfördes i samarbete med arkitekterna till bostadshuset, Arcum Arkitekter.Projektets tyngdpunk har legat på att utforma en sittmöbel till foajén. Kravet på möbeln var att den inte bara ska vara funktionell och tilltalande utan att den även ska fungera som en installation i rummet. Möbeln skall även binda samman foajén med den övriga byggnaden samtidigt som den ska ha ett tydligt samband med byggnadens överliggande tema: modern japansk design med inslag av skandinavisk samtida design.Arbetet har skett i enlighet med design metodikens olika faser.

Design som har en hög igenkänningsfaktor kan man idag uppleva har blivit mer vanlig då det ofta dyker upp nya produkter och möbler av olika slag som är lätta att känna igen och som vi därför har väldigt lätt att ta till oss. Vi mår bra av att lätt kunna förstå oss på, och man slipper tänka till och fundera kring varför objektet ser ut som det gör, det blir istället väldigt lättläst.Igenkänningsfaktorn spelar alltså en väldigt stor roll, och vi kan dra paralleller till t.ex.ståuppkomiken där ståupparen ofta försöker skapa bilder och situationer som publikenkänner igen sig i, och därför också skrattar åt skämten. Men att igenkänningsfaktorn på designen är hög innebär inte enbart fördelar, utan frågan om vad som är plagiat och inte blir väldigt aktuell när ett objekt är snarlikt ett annat. Om man tittar tillbaka i tiden kan man dra kopplingar till konstvärlden och s.k. ready-mades.

AimThe aim of this study is to through managers in eldercares deskriptions of the systematic qualityleadingsystem examine the implementation process of this system in the eldercare in the municipality of Halmstad.  BackgroundIn this paper the background explains elderly care and social work context, leadership in change and implementation processes. The theoretical frame illustrates Vedungs implementation theory and Webers model of bureaucracy MethodTo collect empirical data for this study, a qualitative research design was used in which eleven managers within Halmstads municipality home care management stood as respondents. ResultThe respondents highlighted a variety in the use of the systematic quality management system tool. The result describes that several obstacles were experienced in the use of the systematic quality system. ConclusionBased on the descriptions the respondents gives of the implementation process of the systematic quality management of Halmstad municipality home care management, the conclusion can be drawn that the implementation process has not resulted in the employees making use of systematic quality management in practice. The systematic quality management system that will ensure the quality of the care work is thus used to a limited extent..