The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

Business Process Modelling Notation (BPMN) is a way to graphically draw a diagram of a business process. A BPMN diagram consists of several so-called flow objects. These are interconnected in the graph through sequence  flows. BPMN models are merely graphical representations of business process and there is a need to simulate these diagrams for different purposes. The simulation that now is available for BPMN is that the model is evaluated by checking if it is correct.

When I got the opportunity to write this examination did I want to write about something that I both was interest in and also can use in the future. I think it?s going to be difficult to carry on the milk production with only 28 cows. I wanted to investigate the possibility to increase the herd of cows. I also wanted to compare this cost with a new cow house the cows where milked with a robot.

The SK 60 Aircraft has been a workhorse for the Air Force?s training of future pilots since the late 1960s. The aging SK60 aircraft is going out of style, and the system has merely a few years of total running time left. A replacement for the SK 60 needs to be implemented in the coming years, and the Armes Forces Flying School has been commissioned to conduct flight tests on suitable replacement systems. This study will conduct a system analysis of two aircrafts mentioned in the Flying Schools report.

Our lives in urban areas are becoming more and more inactive with negative effects on our mental and physical health. Natural environments and physical activity have the power to both prevent and reduce mental fatigue. Meanwhile we engage ourselves with physical activity, the nature fascinates us with its complexity. In April 2006, some of the visitors to the recreational area of Skrylle were asked to fill in a questionnaire which included questions about their habits within physical activity and the experience of nature. The questionnaires were then divided into two groups: those filled out by persons who exercise on regular basis (i.e. three or several times/week) and those who rarely exercise.

The global Positioning System (GPS) provides location and time information as long as there are unobstructed lines of sight to four or more GPS satellites. However, when this is not the case the signal may be inaccurate or sometimes even completely blocked. In these situations the Inertial Navigation System (INS) is an appropriate choice for positioning.  An INS has already been proposed in a previous thesis by Erik Andersson and the objective of this thesis is to fuse the GPS with the INS in a proper way. A part of this project is to decide the reliability of the GPS.Three methods for GPS reliability detection have been proposed. One method based on the statistical properties of each of the separate systems, and two methods based on the statistical properties of the residuals between the GPS and INS.

How do you build cities that are exciting and nice to live in? What factors in the physical environment is it that make you feel comfortable in some of the places in the city, but in other places not comfortable at all? Why do some cities have a rich public life in their public realm, while the public realm in other cities is abandoned and empty? How do you plan environments that support people?s physical and mental health? These are questions that I put to myself, and that people who are interested in or working with physical planning should ask themselves. That is why I have been studying an authority on the subject, the Danish Professor Jan Gehl, who has been researching and working with peoplefriendly public realms for 50 years. He is best known for his book Life between buildings that has been a text-book in the education of architects for more than 30 years, and to have initiated Copenhagens most famous pedestrian street, Strøget, to show his theory of how people will use the public realm, if it?s only got the right qualities.

This work is a product development of a product which facilitates enduro drivers swallowing fluid while driving. My own experience of the problem and a custom survey gave me some frames and requirements of how such a product would look. To obtain the different concepts the method of brainstorming was used where I outlined the various proposals. The basic concept was that some kind of pump would build pressure in the liquid and when the user opens the nozzle the liquid will come out without the need to use the mouth to suck. The screening phase consisted of two steps.

This essay is a case-study of an ethnically homogeneous association, situated in an ethnically heterogeneous neighbourhood. The purpose is to examine the social capital of the members in this particular association. The theory of social capital claims that this form of association constitutes an example of bonding social capital, and is running the risk of becoming excluding towards non-group members. However, several scientists suggest that the ethnically homogeneous associations can assist immigrants in their new home countries to become a part of society, hence promote a more bridging form of social capital. This would be extra valuable in an ethnically heterogeneous context where the phenomenon of social capital often has a hard time.

Business Process Modelling Notation (BPMN) is a way to graphically draw a diagram of a business process. A BPMN diagram consists of several so-called flow objects. These are interconnected in the graph through sequence  flows. BPMN models are merely graphical representations of business process and there is a need to simulate these diagrams for different purposes. The simulation that now is available for BPMN is that the model is evaluated by checking if it is correct.

This report is an inventory of the street lighting in half of the residential estates owned by Karlstad Bostads AB, a public housing company. The inventory was made to reduce the environmental impact of the street lighting. From the inventory an estimation of the total installed power and the energy consumption was made. The total estimated power of the street lighting was 125 kW and the energy consumption was 500 000 kWh/year with an estimated running time of 4 000 h/year. The dominating source of light was 125 W discharge mercury lamps.

The implementation of large IT-systems is a complex area where many aspects have to be taken into account.KSU, Kärnkraftssäkerhet och Utbildning AB, is a small company in the Vattenfall group that is increasingly being urged to implement SAP, one of the largest ERP-systems on the market. Vattenfalls purpose with SAP is to centralize certain processes within economy that are common to all the companies in the group, this to gain benefits with economics of scale. However, KSU is not convinced that SAP is a suitable system and that the common processes apply to them.The purpose of this degree project is to investigate if SAP is a suitable system and if KSU will benefit from a transition to SAP. Three perspectives were applied to further specify important areas of the main question. From a technical point of view KSU:s demands on a system was mapped against SAP.

Every year the Swedish government invests capital in different projects. In recent years the Swedish government has chosen to invest in design. The reason for this is that the government wants industry to use design as a competitive source. Two organizations, Svensk Form and Stiftelsen Svensk Indistridesign, have been assigned to improve industry and society?s under¬standing of design.

The purpose of this paper is to analyze and map out the cyber culture of the Internet and its all users, identity, design theories and services. How people communicate and how they build up their identities are some of the baselines. I will also discuss the important aspects of Interaction design and how this can be used in a Community for digital storytelling. The Internet, or new media, was founded in the 60?s by some great philosophers (McLuhan, Rheingold, Lambert and more). With influence from their books I will discuss and analyze what kind of media the Internet is and how it can be seen as extensions to our senses, as McLuhan claims.

This study was commissioned by the Västerbotten sports federation, whocalled for an overview of the policies that the municipalities inVästerbotten work after in the field of sport. The study aimed to identifysports policy programs or documents that have been produced by themunicipalities, and how they work with them. Furthermore, the studyhighlights the municipality?s politicians reasoning aboutsport andrecreation-sector,and how their sport policy-work was practiced. The datacollection was based on seven interviews and document-collections fromthe 15 municipalities.