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.

This thesis treats the extended Swedish rules regarding deduction limitations on interest. The purpose for this thesis is to investigate whether the interest deduction limitation rules have potential to protect the Swedish tax base. The thesis also assesses whether the options presented how the extended rules could look liked had been better to protect the Swedish tax base. Furthermore thin capitalizations rules have been evaluated if this is a better method to protect the Swedish tax base.In 2009 the Swedish deduction limitations rules on interest came in to force to protect the Swedish tax base. Despite these rules companies was still able to avoid Swedish tax and therefore threatened the Swedish tax base.

A buyer of a new car is often offered a various selection of warranties. A warranty can e.g. exist in the form of an extended new car warranty. However, some manufacturers demand that the car has to be serviced by an authorised repairer for the validity of an extended warranty. In the thesis I analyse whether such a contractual term is incompatible with today?s legislation and I argue for when such a term is to be seen as unfair.

The purpose of this essay is to investigate how consumer advertising has an effect on other groups than the intended, the so-called extended audience of advertising. Previous research shows that consumer advertising can influence investors and employees of a company as well as affect the attractiveness of a company as a potential employer. In addition, research shows that more perceived cognitive effort in advertising results in positive signaling effects for consumers. This study aims to further build on these concepts in order to gain additional understanding of how consumer advertising can influence extended audiences. More specifically, it examines if more (versus less) effort in advertising can improve the future prospects on the labor market for an employee of the advertising company, by looking at recruitment consultants as an extended audience.

The following study is a comparative analysis on the usage of history in Ridley Scott?s epic Kingdom of Heaven. Based on the thesis that this movie has a lot to say about contemporary political values, it compares the theatrical version from 2005 with the 45 minute extended Director?s Cut, which came out on DVD in 2006. Firmly based in the popular-cultural context I tried to evaluate whether these changes related in any way, to matters concerning the current gender debate and post-colonial theory.

Efterfrågan och tillhandahållandet av platsberoende tjänster blir allt större vilket i sin tur skapar intresse för billiga och skalbara tekniker i alla möjliga olika miljöer. Särskilt intressant blir tekniker som är lätta att installera på nya platser och vars hårdvarukomponenter är enkla och billiga. I denna rapport presenteras en experimentiell systemteknisk metod för positionsberäkning i inomhusmiljöer, specifikt de som på grund av lokala elektromagnetiska fält, rörliga större föremål eller oregelbundna ytor skapar störningar som gör det svårt att utföra förlitlig positionering. Systemet utgörs av ett antal wifi-routrar samt en signalmottagre kopplad till en dator med systemets mjukvarukomponent installerad. Resultatet bedömdes utifrån en förväntad nivå av korrekthet, närmare bestämt att minst hälften av systemets bedömningar inte har fel med mer än två meter, samt en övre gräns på högst tre meters fel i minst 90 procent av fallen.

This paper examines the power producing dams along the Ume-river as an integral part of and a result from the urbanization process in Sweden during industrial capitalism. The aim of the paper is to contribute to the knowledge of the urbanization process in Sweden in general and of its traces along the Ume river in the county of Västerbotten in particular. The paper applies the theory of concentrated urbanization and extended urbanization put forward by Neil Brenner and Christian Schmid (2015) and argues that the building of power producing dams along the Ume-river is part of an extended urbanization process. This becomes particularly evident when examining the vast physical structures that is the dams, situated in an otherwise remote and sparsely populated area. These vast physical structures are also very well connected to a nation wide electric grid that has connections to bordering countries as well.

The aim of this Master's thesis is to study the public library identity from a brand perspective, how the public library brand identitity is communicated through blogs and what is communicated in them.The authors analyse the public library identity through selected concepts and a model within Aaker´s and Kapferer´s branding theories. These theories have been applied on literature and blogs as a method. The authors have examined literature about the public library identity in different works within Library and Information Science and political documents that applied to public libraries. An empirical study has been carried out on blogs published by public libraries in Sweden.The result of this study has lead to the identification of different core and extended identities for the public library brand. The core identities have been identified as democracy, adult education (the swedish word ?folkbildning? has no correct translation in english, adult education is the recommended related term) and lifelong learning.

Svängningar i drivlinan hos en lastbil påverkar växlingskvalitén negativt. Det blir långsamma växlingar med dålig komfort. Metoder för att komma tillrätta med dessa problem kan till exempel vara att skatta svängningarna och aktivt dämpa dem genom att styra motorn i lastbilen. Dessa metoder behandlas i detta arbete. En matematisk modell över drivlinan har tagits fram.

This paper describes the Swedish reconnaissance squads in the engineer battalions, their equipment, tasks and organization. An analysis is made to compare the present weapons and fire power of the reconnaissance squad with an extended weapon alternative. The analysis focuses on the abilities effect, protection and movement in different situations typical of a reconnaissance squad.The facts that are presented in this paper are mostly founded on the new field manual FältarbR Dyktjänst 2007, which regulates much of the reconnaissance activities. The aim of this paper is the making of a contribution in the developing progress of the new field manual and the reconnaissance squads in Swedish engineer battalions.The result of the analysis shows that the extended weapon alternative would be an asset..

This Masters Thesis considers tracking of ground targets. Since ground targets often are difficult to detect with sensors a track is easily lost in ground target tracking. The main question in this thesis is whether information on close targets and observations of them can be used to make the tracking more reliable. An algorithm using Kalman filters and JPDA-association to create a group track for vehicles travelling together has been implemented in Matlab. Using the state of the centre of the group the state of a vehicle in the group can be updated.

This paper presents a study of educational materials used in Swedish language education. The aim of the study is to understand in which way multimodal resources can be used in texts, to benefit in the process of meaning making among pupils in the nine-year compulsory school. The theoretical framework used as a basis for understanding and analysing these educational materials is the social semiotic multimodal perspective and the design theoretical multimodal perspective. The study is a multimodal text analysis but it also involves analyses of the syllabi connected to the subject of Swedish language education. The extended concept of text was introduced in the year of 2000 in the syllabus and today multimodal texts are supposed to be part of the Swedish language education.

Den situerade ansatsen inom artificiell intelligens har i tidigare experiment visat på stora möjligheter vid utvecklingen av enkla beteenden. Ansatsens framgångar är dock inte lika tydliga när det kommer till utvecklingen av mer komplexa beteenden som i högre grad påminner om de experiment som gjorts inom traditionell artificiell intelligens. I studien utvecklas en agent med ett ?Extended Sequential Cascaded Network? som kontrollarkitektur för att lösa en uppgift som kräver ett ?räkneliknande beteende?. Utvecklingen av nätverket grundas på en situerad syn på kognition, däribland att designern i så liten grad som möjligt skall styra utvecklingen.

The purpose of this investigation is to come across the associations of consumers who are being exposed to a brand extension from a different product category. Moreover, our aim is to contribute to the knowledge of how consumers respond to these extended products, by investigating the influence of the parent brand. To fulfill our purpose, this study was conducted through qualitative interviews with consumers. In order to carry out our investigation and analyze our findings the following theoretical framework has been used: Customer-based equity, Parent brand affect and Perceived fit. Our data was collected through ten semi-structured interviews including consumers of Fiat and Marlboro brand extensions.

The water tower in Uppsala city forest was built in the late 1950's in what is now a nature reserve. The unique place was supposed to be visited by people, which is currently not the situation. This bachelor thesis aimed to perform an analysis and make a design proposal for the environment surrounding the water tower. The analysis was performed using the methodology previously described by architect Arne Branzell. The methodology focuses on how a space is perceived by a person moving through it.