Den klassiska approachen till navigering innefattar att agenten håller en intern representativ modell av omgivningen. Denna approach har emellertid många nackdelar, speciellt för dynamiska miljöer. En modernare approach är att förlita sig på den faktiska omgivningen istället för en modell av denna. Detta arbete presenterar en undersökning av navigeringsproblemet och hur väl det löses av agenter vars kontrollmekanismer utgörs artificiella neurala nätverk. Tillförlitligheten hos de två neurala arkitekturerna Extended sequential cascaded network och Self-organized recurrent network bestäms genom experiment.

I det här arbetet har jag undersökt hur mitt musicerande på marimban kan utvecklas genom att hitta nya sätt att spela på.Syftet är att försöka hitta och utveckla för mig nya sätt att spela på och också försöka skaffa en vana att spela på dessa mindre etablerade sätt på marimban. Tillsammans med mina egna erfarenheter och en litteraturstudie om hur marimban är uppbyggd, hur plattorna är stämda, hur rören påverkar och om mindre etablerade sätt att spela på har jag experimenterat fram och värderat ett flertal nya spelmetoder.Jag har hittat olika sätt att spela på där jag bland annat spelar med stråke, spelar flageoletter mm. Jag har spelat efter grafisk notation för att få användning av de olika spelsätten..

Vocal technique and interpretation are the key elements of voice training. Thepurpose of this article is to investigate what vocal technique and interpretation meanto teachers and students and how they would describe the relationship between thetwo. The questions at issue, intended to be answered in this article, are the following:What is the relationship between vocal technique and interpretation? How should theteaching be structured for the students to experience progress on the musical plane?What role does the teacher have in the musical development of the student?This is a qualitative survey and the methods of investigation are semi-structuredinterviews and classroom observations. Presented in the article are a number ofresearchers and writers whose thoughts on the subjects have gained great importanceto vocal teachers and students, as well as leading the research on the voice and itsfunctions forward to higher grounds.

How do you present your message? Is there any technique that is better than others? How do you make a presentation understandable for everybody, not only architects? We have tried to answer these and other questions in this thesis. Our focus has been how to use pictures and texts in presentations. How to put them together and make a good looking presentation, which is understandable and attractive. The work is directed to students working with presentations, using both pictures and texts..

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.

In this essay, I want to achieve an accessible and applicable entrance to Alexander Technique as a method for learning to use the body in such a way as to allow emotional expression in music. It is necessary to see the real need of Alexander Technique for the active musician, and therefore important components of music-making will be presented. These components are presented from an Alexander-perspective in order to produce a clear picture of the method of application.The prerequisite for emotional expression in music is musicians and music listeners with the ability to generate, and respond after emotional impressions. Alexander Technique provides an approach to make it easier for musicians, especially guitarists, to express emotions in a performance situation.After years of practice and obtaining musical knowledge and practical skills at the instrument, it is common that muscle tension and ingrained patterns contribute to limited expression. Muscle tensions arising from pressured situations such as auditions, competitions and concerts.

This thesis is divided in to two different parts. The first part includes examination of the measurementsystem of an industrial robot using a resolver sensor. The main focus is on methods for suppressing noise in the angularvelocity signal without increasing timedelay. Five different methods are investigated. Three of these are based on oversampling: burstsamplingmethod, meanvaluemethod and correlationmethod.

Among researchers it has been established since decades that humans and animals have an internal biological clock that controls certain physiological mechanisms. One example regarding humans is the impairment of lung function during the night, causing the phenomenon ?nocturnal asthma? among asthmatics. Only a few studies concerning respiratory circadian rhythm in horses have been done previously and they showed a daily variation in horses with a chronic or an acute respiratory disease. The technique used in those studies was the conventional technique, which is invasive and less sensitive than the technique used in this study.

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.

This is a bachelor thesis that studies and discuss the question: How can we develop our individual narrative technique with sound design in a Swedish drama production? We have done research and empirical studies. We have analyzed movies to get an idea how we use the sound design in Swedish drama productions today. We have produced a movie that gives sound the biggest part. Key words: Swedish drama production, narrative technique, sound design.

Background: Liquidity and the management of liquidity are of great importance for companies. Cash management is not a new term, but the need for it has increased recently, for one thing because of the internationalisation and growing harmonisation between the countries in Europe. Netting is a cash management technique, where receivables and liabilities are netted. This technique can be used to release capital and increase the company?s cash flow by reducing the number of transactions in the internal payment system.

At Saab Aerosystems, situated in Linköping Sweden, there is a presentation and manoeuvre simulator simulating the fighter jet JAS-39 Gripen. This flight simulator is called PMSIM. In this thesis we study how to transfer sensor images generated by PMSIM to other simulators or desktop computers. The transmission is band-limited so some kind of image coding must be used. Because of this the greater part of this thesis is concerned with image coding.