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.

The aim of this report is to give a picture of how attitudes and behaviours of owners of environment cars look like and how they can be influenced. The alignment lies on environmental cars which run on biogas and ethanol which both are renewable fuels. The starting point is to sort out if it is environmental thinking that controls the choice and use of an environmental car. The feeling is that there are many other factors that can be more controlling, for example the price and the quality of the car. The result of the questionnaire survey which is the foundation of the report shows however that those who buy an environmental car do it mostly because of environmental reasons.

The determination of the optical properties of biological tissue is an important issue in laser medicine. The optical properties define the tissue´s absorption and scattering behaviour, and can be expressed by quantities such as the albedo, the optical thickness and the anisotropy coefficient. During this project, a measurement system for the determination of the optical properties was built up. The system consists of a double integrating sphere set-up to perform the necessary reflection and transmission measurements, and a computer algorithm to calculate the optical properties from the measured data. This algorithm is called Inverse Adding Doubling method, and is based on a one-dimensional transport model.

The paper is a discourse analysis of the liberal environmental discourse in Sweden today. It is based on articles in two of the main liberal Swedish newspapers, Dagens Nyheter and Sydsvenska Dagbladet, and a liberal periodical, Neo.The purpose of this study is to analyze how the environmental problems that have been produced by the industrialised society, especially global warming, are seen upon in the liberal discourse in Sweden today. The theoretical point of departure is a discourse analysis that as a method seeks to analyze the material to reveal what assumptions the discussion departs from, and what assumptions the discussions reject.The thesis concludes that the main trends in the discussions are to position the environment against the financial system and state that the capitalist system is the only system that can solve the environmental issues. The existing environmental problems are not denied, but constantly belittled and only considered to be a problem if it poses a direct threat to humans. The solution for these environmental problems is believed to be the strengthening of the financial system and the development of new technologies..

By conducting qualitative interviews five pedagogues and eight children in the ages three to five have answered questions regarding environmental work in preschool.The purpose of this report was to examine how environmental work is pursued at two preschools and what children at these preschools think about environmental work. Recycling of garbage and small cultivation projects together with the children is what the pedagogues consider being the most common environmental work at their particular preschools. In the professional role of the pedagogue if can be clearly seen what special interests he or she has.Most of the children associate the forest with some kind of snack and animals. Half of the interviewed children also think about animals when they visit the forest. Half of the interviewed children also have an understanding of where peels from fruits should be tossed, but no one knows the meaning of the word environment.

Micronic Laser Systems AB produces and develops machines for the photo mask production market. One of their products is the Omega machine which exposes photo masks using 5 laser beams simultaneously. It is important that the distance between the each laser beam, the x-separation, is the same. The x-separation is today measured by exposing a photo mask with a certain pattern and thereafter measured with a metrology system. This takes to much time and it is desired to find a faster method to measure the x-separation without loosing precision.The task for this master thesis is to improve an existing measurement method which uses a calibration mask.

This research analyzed differences in measurements of magnetic field strength and frequency response in five audio induction loops installed in rooms of wooden construction materials and five audio inductive loops installed in rooms of steel reinforced concrete constructions. The inductive loops were installed at floor level and the measurements were made at the listening height of 1.2m. Measurements of background noise, field strength and frequency response were made at fifteen different measurement points across the room. The research measurements showed that there are differences in field strength and frequency response between these two conditions, whether the audio induction loop is installed in a wooden construction or the audio induction loop is installed in a reinforced concrete construction. The results had a significance level of p=0,05..

The purpose of this study was to increase the level of knowledge in the field of Environmental Impact Assessment (EIA) for wind power. The study includes six wind power farms in the County of Västerbotten in northern Sweden. The main questions were: What are the real dimensions of roadways and land claims for both roads and wind power turbines? How do those dimensions correlate with the dimensions stated in the EIA? Are there any differences in values of the dimensions between the wind power farms that are included in this study? The width of the roadways and the land claims for both roads and wind turbines in wind power farms were examined on site. The results from the examinations were compared with the dimensions available in the EIA for each wind power farm.

The Energy Market Inspectorate is implementing a new tariff regulation in Sweden. A small part of the new regulation concerns effectible operation costs and originally they where intended to be calculated using a modification of equivalent comparison standards, in Swedish Ekm. This thesis is intended to analyze if Fortums grid in Stockholm could be described correctly, using equivalent comparison standards. In Ekm every part of the distribution grid is designated a weighting in relation to 1 km 0.4kV over head line. These Ekm-measurements are intended to simplify comparison between different grid areas with different structure and geographical conditions.

The aim of this essay was to study the nitrogen flow in two willowplantations, at different locations in the south of Sweden, that wereirrigated with sewage. The study was also performed to compare thedifferences in nitrogen flows between two years, 1998 and 1999. The studywas made in three parts. First, the denitrification activity was measuredusing the acetylen inhibition method. Second the nitrogen flow, as well asthe water- and heat flows, were modeled through the SOIL-SOILN-modelThird; the nitrogen flow was calculated to compare with the results fromthe model.The results from the measurements were then compared with the resultsfrom the SOILN-simulations to detect differences in the denitrificationrate.

Chapter 1 defines the aim of the project and gives a general orientation about ground heat extractors. In chapter 2 physical processes that could be expected to be involved in the heat transport around a ground heat exchanger are discussed. It is shown from a literature study what amount of moisture transport due to thermal gradients there could be expected in a ground heat exchanger. The conclusion is drawn that the moisture gradient (Sr) is of same magnitude as the driving temperature gradient (°C). At the expected amount of increased moisture around the pipes the moisture transport could be considered to have a little effect on the brine temperature.

Background: Last year (2006) has been a year when the environmental issues figured more often in the media, and the environmental awareness among common people increased. Environmental climate reports have lately been on the headline all over the world. As a result of the increasing population in the world, it?s becoming more important to be aware of the environment. To do that, it is important to maximize the efficiency in the work with the environment.

Problem: When opening a newspaper today there is a good chance that the headlines have something to do with recent developments in the global climate debate. This development is forcing companies to take action. The problem for many companies, including Thule, is that they are unaware of the environmental work conducted throughout their value chain and also what they need to do to become green. Thule, a company with a strong focus on profitability and growth, will not make environmental issues a part of their core strategy unless it can be shown that economic incentives exist. With this thesis we will try to build a case that will help Thule, and also other companies, see the possibilities a green venture brings with it.

Teaching preschool children about the environment. A comparative study of how two preschools work with environmental issues.My investigations are based on qualitative interviews and observations carried out at two preschools, one of which has a nature and environment profile while the other works in traditional ways with these questions. I sought to explore the ways in which pedagogues in each preschool raise environmental awareness and, more generally, awaken an interest in nature in the children. The consequences of methodological similarities and differences will be considered.This term paper concludes that the difference between an environmental profile preschool and a traditional preschool working on environmental awareness is not large. The knowledge gained by children in the latter preschool surpassed that gained in the former.

While the call for regulations against greenhouse gas emissions are louder then ever before, demand for oil is also at an all time high. Oil companies face the dilemma of making sound business without being perceived as environmental villains. In this essay I will examine how BP, one of the largest companies in the world, broke rank with the industry and devoted itself to being an environmental friendly oil company. The actions and motives of this change will be evaluated through up-to-date theories about company motivation to environmental adaptation. We see that BP:s transformation can be well explained through Simone Pulvers theory about the socially embedded company.