In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

FlexRay is a new communication protocol which is fast, reliable and flexible and therefore can meet the increasing demands on data communication in the vehicle industry. The protocol is developed by an industrial consortium containing among  others BMW, Daimler Chrysler, Motorola and Phillips. Today (May 2009) Hägglunds is using CAN for data transmission in their systems. CAN is getting obsolete and has difficulties in coping with the increasing flow of communication. In this report FlexRay and its communication capacity is studied.

Helsingborg has the intention to build a train tunnel south of Knutpunkten. This report investigates the hydro geological aspects of the project. Questions at issue that will be answered: 1. Which parameters affect the groundwater level? 2. How will these parameters change within 100 years considering climate changes and what will be the consequences on the groundwater level. According to SMHI climate analysis the climate can change causing increasing precipitation, temperature, and a rising sea level.

The thick-shelled river mussel (Unio crassus) is a red listed species classified as Endangered (EN) and is also considered within the Habitats Directive. The distribution in Sweden is fragmented and it is mostly occurring in the south eastern parts. We investigated the presence of Unio crassus in a section of the stream Storån, Östergötland County, from Falerum to the inflow into Lake Åkervristen. The environmental parameters investigated were water depth, bottom substrate, shading, water velocity and the slope over the water surface. In this thesis I have focused mainly on water depth and shading, comparing sites with and without mussels.

In this master thesis we are trying to investigate whether the heads of the four major Swedish banks are receiving compensation because of their own performance. We have investigated a number of parameters in the reporting and compensation description of Handelsbanken, Nordea, SEB and Swedbank and compared it to macro data.We have used publicly available information from the banks as well as macro data from 1998 to 2009.We have come to the conclusion that the revenue and profits of the banks are heavily influenced by external factors and that there does not appear to be a clear link between a CEOs actions, the reported results for the bank, the shareholder gains and the compensation for the CEO. It appears as if the bonus payments to a CEO may depend more on parameters beyond the CEOs own control than the performance of the CEO..

Playfulness and curiosity in the usage of new technology and digital filmmaking has always been of great importance within these fields. There are many different media technologies that can form what the user wants to communicate in a certain context. One of these forms of expression that has increased in popularity from the early 20th century until today is the animation technique, Stop motion. Amateur filmmakers have also found an interest in using the technique. Our purpose has been to study the different aspects as to why young-adult amateur filmmakers have chosen stop motion as the way to express themselves.

Leisure boats of today have a lot of electronics that needs battery power to work. In additionto that electric propulsion systems have gotten more popular lately, which further increasesthe demand for high battery capacity. The batteries used are mostly lead-acid batteries and toget the most out of the batteries it is important to treat them right. To optimize the electricsystem it is important to have knowledge of how the batteries and the electric motor are usedand which factors affect e.g. efficiency and recharging.A new electric drive that can replace old diesel engines is being developed and needs testingand evaluation.

Although I myself haven?t been bullied per say during my school years. I?ve sure been teased and occasionally felt left out. On the other hand ? who hasn?t? And that as well is my point.

The equine hoof is often manipulated in purpose to achieve a better stride or to reduce the weight on damaged tissue. The living tissue in the hoof can?t store energy as glycogen and is therefore depending on a continuous supply of glucose for its energy production. The purpose of the study was to determine if wedging (i.e. elevating) the heel could influence the hooves glucose and lactate consumption/production. Five standardbred horses were trained to trot on a treadmill without getting physical or mentally tired.

In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

Wood pellets are an upgraded product of residuals from several wood processing industries, for example saw mills and pulp industries. The pellets are produced by pressing the milled and dried sawdust to cylindrical units with a higher density than the initial raw material. Pellets have great benefits compared to the raw material: high energy per volume, good transport and storage properties and homogeneity. Several parameters collaborate in the whole process, which makes it complex. Wood is a heterogeneous material, chemically and structurally dependent on wood parts, habitat and storage procedures.

Disneys 12 animationsprinciper är ett ramverk som används av animatörer och när animationsprinciperna appliceras framhäver de en animationsstil vilket är problematiskt om de påverkar rörelsernas utseende. I undersökningen används animationsprincipen Follow Through and Overlapping Action för att undersöka om den verkar kontraproduktivt till att förmedla känslorna sorg och glädje. Follow Through and Overlapping Action handlar om att rörelser inte börjar eller slutar samtidigt. Glädje är en positiv känsla medan sorg är negativ. Artefakterna som skapas är sex animationsklipp där tre representerar glädje och de andra företräder sorg.

Denna studie undersöker om där finns indikationer på att animerade instruktionsbeskrivningar av steg-för-steg-modell är mer effektiv än dess statiska motsvarighet vid en monteringsövning. Forskare inom fältet är oeniga där vissa hävdar att tidigare studier oftast utförts på ett sådant sätt att resultatet anses som icke trovärdigt. Annan forskning pekar på vikten av betraktarvinkel och visuell utformning av animerade instruktionsbeskrivningar.För att genomföra studien införskaffades två handhållna pussel av lika svårighetsgrad. Med pusslen som monteringsobjekt togs fyra, varav två animerade och två statiska, instruktionsbeskrivningar fram i en 3D-mjukvara. Pusslen modellerades i skalenligt förhållande och texturer togs från de verkliga delarna för att skapa ett realistiskt utseende.

A numerical simulation case involving space plasma and the evolution of instabilities that generates very fast electrons, i.e. approximately at half of the speed of light, is used as a test bed for scientific visualisation techniques. A visualisation system was developed to provide interactive real-time animation and visualisation of the simulation results. The work focuses on two themes and the integration of them. The first theme is the storage and management of the large data sets produced.

The purpose of this master thesis is to implement and validate a Power System Stabilizer (PSS) to a generator at Trängslet hydropower station in Dalarna, Sweden. Problems with local rotor oscillations can occur at the hydropower station when power is transferred on a new power line (130 kV) from Northern to Southern part of Dalarna. To ensure good operation properties on this power line Fortum Generation AB and Fortum Distribution AB wants to activate a PSS on a generator.There have been investigations in which situations and what equipment that contributes to rotor oscillations. When this is known the PSS is tuned to damp these oscillations by choosing a good set of parameters. The most important parameters for good performance are to choose amount of gain and phase compensation.