This master thesis includes a description of how a number of sensors are put together in a sensor platform. It also gives a description of how localization and mapping has been performed with data collected from the sensor platform. Localization is a prerequisite for most of the tasks that can be requested from an autonomous mobile robot. In many situations the GPS signal is not available and hence an additional localization system is required. One approach is to apply localization based on landmarks extracted from the robots surrounding.

Cache simulator is a tool to increase the understanding of a cache memory. Therefore cache memory simulation is included in the course Computer Engineering IS1200 at the Royal Institution of Technology. The purpose of this project is to develop a cache memory simulator for education. The existing MipsIt and Mips Simulator which is currently used in IS1200 has been the main source of inspiration. This resulted in the development of the cache memory simulator LMSim.

The prevailing urban migration is a worldwide process. This results in growing cities and a diminishing proportion of people living in the countryside. As the urbanization continues a large amount of the world?s population is expected to live in urban settlements of informal character by 2050. Green Belt has for many years been used to control urban growth and to secure the sustention of larger green areas around towns and cities.

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 aim of this essay is to examine three separate Swedish public libraries and their respective websites on the grounds of the usability sciences. I firstly had to summarize the main properties of the usability-field in order to gain an extended knowledge of its purposes and possible usage for today?s library systems. I was then able to apply the extended knowledge in the examination of the three library websites and the purpose of determining whether or not they were designed according to the standards set by the usability-sciences.Usability is a rather new science that deals with the dissection and examination of computer-based systems, in order to find the key components that make systems user-friendlier. With user needs being the main focus of its research, usability tries to meet all the different needs of the modern user and construct systems that are less system-centered and more user-centered.

The purpose of this thesis was to investigate whether accounting quality is a priced factor by investors. The event studied is the release of year-end result and the release of the annual report. To assess accounting quality a sample of 30 companies listed on the Stockholm Stock Exchange during 2003 to 2007 are studied. We assess accounting quality by the absolute size of discretionary accruals using the modified Jones model developed by Dechow et al. (1995).

Strömstad is a small city located on the Swedish west coast. Urbanization and development is acurrent issue for the municipally, as for many other in the current situation. The municipal housingcompany Strömstadsbyggen is one of the parties involved in the extensive development that mustbe implemented to meet the changes and developments which the issue holds.One area that is of interest in the discussion is Rådhusberget - this due to the existing infrastructureand unique qualities that the area holds. In order to achieve the best solutions possible for the area,Strömstadsbyggen wishes to listen to what the existing tenants at Rådhusberget thinks and feelsregarding the area and its future potential.This thesis has therefore been carried out in collaboration with Strömstadsbyggen and has beenaimed at identifying the current tenants' thoughts and opinions in the existing area of developmentand infill potential. The aim of this work was also to investigate how the tenants value their homeand local environment in its current state, and what their wishes are for the possible futuredevelopment of Rådhusberget.To achieve analyzable results concerning how the tenants perceive these aspects, an extensivesurvey have been carried out which were sent out to all tenants in the area.

A common assumption in marketing is the wider variety of product a corporation has, the better for the consumer: more product - more choices. Companies often develop a line extension to broaden consumer range through product attributes including quality, function and design. These developed attributes within the product are not always optimal for the consumer. As a result, companies often become entangled in having a price higher than the cost and benefit of the products. This essay aims to analyze the consumer value of line extension products and how these evaluations relate to extended line product pricing.

The aim of this essay is to examine three separate Swedish public libraries and their respective websites on the grounds of the usability sciences. I firstly had to summarize the main properties of the usability-field in order to gain an extended knowledge of its purposes and possible usage for today?s library systems. I was then able to apply the extended knowledge in the examination of the three library websites and the purpose of determining whether or not they were designed according to the standards set by the usability-sciences.Usability is a rather new science that deals with the dissection and examination of computer-based systems, in order to find the key components that make systems user-friendlier. With user needs being the main focus of its research, usability tries to meet all the different needs of the modern user and construct systems that are less system-centered and more user-centered.

The aim of this essay is to examine three separate Swedish public libraries and their respective websites on the grounds of the usability sciences. I firstly had to summarize the main properties of the usability-field in order to gain an extended knowledge of its purposes and possible usage for today?s library systems. I was then able to apply the extended knowledge in the examination of the three library websites and the purpose of determining whether or not they were designed according to the standards set by the usability-sciences.Usability is a rather new science that deals with the dissection and examination of computer-based systems, in order to find the key components that make systems user-friendlier. With user needs being the main focus of its research, usability tries to meet all the different needs of the modern user and construct systems that are less system-centered and more user-centered.

Saab Bofors Dynamics har som huvudsaklig verksamhet att utveckla missiler. Ofta krävs det att någon form av navigationsfunktion byggs in, och eftersom det inte är lätt att testa nya lösningar och algoritmer direkt på missilerna har man tagit fram två autonoma testplattformar, Freke och Gorm, i form av självgående bilar som kan ta sig fram inomhus i t.ex. en korridor.För navigation utomhus lämpar sig GPS väl i många situationer, men i autonoma sammanhang är det inte tillräckligt. GPS är inte alltid tillgänglig på grund av att man inte alltid har fri sikt till minst fyra satelliter och i militära sammanhang är den också lätt att störa ut. Därför förlitar man sig hellre på noggranna tröghetsnavigeringssystem (TNS) som kan ge data i 100-tals Hz, och kompletterar med GPS för att korrigera för avvikelser.

Computers and business systems are used more frequently in a world where IT gradually is taking over. This is also true when it comes to the real estate valuation process where actors on the Swedish real estate market are using automatic valuation systems for real estate appraisal. But the real estate agents have not yet seen the charm in using these automatic valuation systems for real estate appraisal. Can the real estate agents also use the automatic valuation systems? We developed our three main subjects: the valuation process, an automatic valuation system and the real estate market with assistance from scientific articles.

The Turkish accession to the European Union has been the most extended one that the Unionhas been dealing with so far. Turkey is now accepted as a candidate country but it is still in aproblematic situation. Most of the EU?s member states do not share the Union?s belief thatTurkey should become a full member of the Union, if they should even become a member atall. Europeanization constitutes a ground in this essay, and the ?top-down? perspective withinthis process can give an explanation to why most EU member states have such a hesitanceagainst Turkey..

Berättelser har sedan urminnes tider fängslat och fascinerat människor men idag är berättelsen inte bara ett sätt att förmedla sagor och fabler utan sker även inom företag och organisationer. Kraften i berättelser har under de senaste decennierna börjat användas inom företagsvärlden för att förmedla berättelser om företag och varumärken. Detta sätt att använda berättelser har kommit att kallas storytelling och är en populär strategi inom marknadsföring idag. Storytelling har blivit ett allt viktigare inslag i marknadsföring hos företag inom livsmedelsbranschen då konkurrensen från inhemska och utländska varumärken har ökat i samband med Sveriges inträde i EU. Syftet med uppsatsen är att ur ett företagsperspektiv undersöka hur företag använder storytelling i sin marknadsföring för att stärka sitt varumärke.

Vanlig tarmbakterie som Escherichia coli (E. coli) kan bland annat orsaka infektioner i bukhålan och urinvägsinfektioner. Infektioner orsakade av bakterien har ofta behandlats med betalaktamantibiotika, som penicilliner och cefalosporiner, vilket har resulterat i selektion av antibiotikaresistenta bakterier. Extended-Spectrum Beta-Lactamases (ESBL) är enzymer som hydrolyserar 3:e generationens cefalosporiner som cefotaxim, ceftazidim och ceftriaxon, men kan även bryta ner penicilliner, monobaktamer och övriga cefalosporiner. ESBL förekommer främst hos E.