Inom utvecklingsområdet haptic är det fria arbetsområdet för singulariteten viktigare änsjälva singulära punkten när det gäller haptic-mjukvaran, då användaren spontantförflyttar verktyget för enheten och inte fritt kan planera en bana för att undvikasingulära punkter. En singulär punkt i arbetsområdet tenderar att skapa komplexaförhållanden såsom oändliga krafter och moment i styr- o reglerteknik designen, som ären viktig del i haptic-applikationen. Det huvudsakliga syftet med denna studie var attupptäcka och undvika olika typer av singulariteter i olika delar av arbetsområdet ochsamtidigt optimera processtiden i ARES haptic enheten. För kartläggning av det friaarbetsområdet för singulära punkten används simulering och beräkning avarbetsområdet för ARES haptic enheten. Simuleringen beskrivs med hjälp av tvåmetoder, där den ena metoden är aritmetiska intervallberäkningar för parallellarobotstrukturer och den andra metoden bygger på att samla in stora mängderinformation om arbetsområdet genom simulering.

This thesis considers the development of the software for an, newly developed, embedded real-time control system, based on a Periferal Interface Controller (PIC). The control system is developed to be used for several different applications. In this thesis work, software for two different applications are developed. The first task is a time controlled system, while the other task is implementation of aPI-/PID-controller. A user interface is also developed and implemented.The time controlled system is an automatic horse feeder, which is used for feeding horses at certain predefined points in time.

Vattenfall hedge its future electricity production in order to decrease fluctuations in theresult. Hedging can in a simplified way be described as selling the future electricity deliveriesin long-term contracts so that the future price of the delivery becomes fixed. The contractsused are electricity forwards traded at the Nordic electricity market Nord Pool. Animbalance between buyers and sellers can lead to a situation where the forward price notequals the expected spot price. The difference between the forward price and the expectedspot price is referred to as the market risk premium.

In order to facilitate design and maintenance of such a large and complex site as a nuclear power plant, all system functions must be described in a stringent way. In the past, these descriptions consisted of text documents and logical diagrams, but today there are an increasing number of object-oriented programs available on the market which might be used for this purpose. This Master Thesis has made a closer study of one of these programs named Rational Rose. The principal of the program is to facilitate software design and development, not to create models of plants. However, using the program the same way as developing software, specifying actors then gradually extend the model with use cases, use cases diagrams etc, the same methods can be used when modelling plants.

Detta examensarbete är en undersökning av hur många liggbås som finns i olika skötselsystem för robotmjölkning med dels fri kotrafik och dels olika former av styrd kotrafik. Undersökningen föreslogs av Växa Sverige och är en enkät som skickades ut till 70 lantbrukare. Användbara svar till undersökningen lämnades av 44 av lantbrukare. I undersökningen har vi valt att redovisa resultaten i 5 olika kategorier, Milk first, Feed first, Frigående kotrafik, Flerboxsystem och Ekologiska. Det finns idag inga rekommendationer för antalet liggbås per mjölkningsrobot baserade på praktisk erfarenhet, för lantbrukare som ska bygga nytt stall. De enda riktlinjer som finns är robotföretagens teorier och Sveriges djurskyddlag som kräver minst ett liggbås per ko. I studien framkom att det var en stor variation i antal liggbås per robot och även i önskade antalet liggbås per robot. Faktorer som påverkade antalet liggbås var kornas medelavkastning, aktuellt system för kotrafik och hur lantbrukarna vande in kvigorna och sinkor till roboten innan kalvning.

Methane (CH4) is a greenhouse gas (GHG) that contributes to the global warming. One of the largest sources of methane is livestock, preferably ruminants which alone counted for 30% of the total agricultural anthropogenic methane emissions in the year of 2000. The reason to why ruminants are such large contributors of methane are that the gas is produced in the rumen by enteric formation and leaves the animals by belching, exhaling or by the excreta.Diets high in concentrates can result in a lower emission of methane. Also diets with a high content of starch, such as alfalfa-grass, have a methane-decreasing. It is profitable to reduce enteric methane formation since that form of methane is unavoidably lost.

During the summer of 2005 a number of steer producers in Skåne, Sweden, found that their animals graded less favourable according to the EUROP carcass grading system when slaughtered, than ordinary. The aim with this project was to determine factors that affects the production result in steer production and to find the reason to the lower classification. The project was initiated by Anita Persson, LRF, Skåne and was preformed with supervision from Ingemar Olsson, SLU, and Jens Fjelkner, Skånesemin. Ten producers of dairy steers located in Skåne was chosen for this study. The producers were interviewed to collect information about their steer production with respect to their planning and results.

Feed costs constitute a large part of the expenses of dairy farmers. Pasture is a high quality feed with a low cost. However, feeding with concentrates has been shown to enhance milk yield (Leaver, 1985; Bargo et al., 2003; Stockdale, 2004). The purpose with this study was to investigate how milk yield and milk composition were affected as the concentrate proportion in the diet decreased. Pasture behaviour was examined to see if the different concentrate levels affected the time cows spent grazing and ruminating.

Today?s farmers are constantly affected by the fluctuating world market prices on grain and thereby the price risk that comes with the price fluctuations. The volatile prices of grain increase the price risk within the business, which in turn affects the profitability of the business. The fluctuating prices together with the increased price risk within the farm business have opened up the market for hedging instruments. In this master thesis project, the aim is to identify the underlying end-values of 30 Swedish farmers? related to their choice of using hedging and the product; forward contract.

Selenium (Se) is an essential trace element that is involved in several physiological functions in mammals. Mostly, Se is bound to proteins, many of them with enzymatic functions. A group of seleno-depending enzymes, glutathione peroxidases (GSH-Px?s), are important as antioxidants and protects against free radicals. The activity of GSH-Px is strongly regulated by Se storage in the liver.

This literature review describes organic pig production in Sweden, its advantages and disadvantages, but also how its problems can be reduced or solved. Organic pigs have the possibility to a more natural behaviour than conventional pigs. With outdoor pigs comes problems, especially during wintertime, concerning water and feed supply, thermal environment and supervision. Parasites and leakage of plant nutrients are other difficulties that comes with outdoor pigs. All problems and difficulties can be reduced or put right through correct management.

When facing the fact that high yielding dairy cows has an increasing energy requirements, the practice of adding lipid supplements such as concentrates rich in palm oil and/or palm oil industry by-products become more common. Palm oil containing high levels of C16:0 causes high levels of free fatty acids (FFA) which are linked to larger milk fat globules (MFG) which affect the reaction of lipolysis resulting in rancid flavour and processing problems. Instead of using palm oil, rapeseed oil rich in C18:1 C18:2 can be used. In order to evaluate the effect of added C18:0 and C16:0 on milk lipolysis, 30 Swedish Red lactating dairy cows including 15 multiparous (MP) and 15 primiparous (PP) cows were randomly divided in three groups resulting in 3 10 cow-groups (5 PP and 5 MP cows per group) and fed one out of three concentrate mixtures: control (C), a standard concentrate mixture with no fat added; palmitate (P) as C plus the addition of palmitate methyl ester (10 % in DM basis); and stearate (St) as C plus the addition of stearate methyl ester (10 % in DM basis). Milk yield was registered, and milk samples were collected and analysed for milk composition, FFA content and size of MFG.

Zambia is a country in Southern Africa where poverty is widespread and the traditional keeping of local poultry therefore plays a crucial role in improving nutrition. Meat and eggs from poultry are important sources of protein but also of income. Improving the poultry production is thereby a method to fight poverty. For poultry, the access to light is an important factor for both growth and egg production. In this paper, the focus is on the traditional village chickens used for both egg and meat production, how they are kept, their health and welfare and if the use of a solar lamp will influence their behaviour, growth and egg production. Three studies were conducted in Chibombo and Choma Districts in Zambia were 17 farmers were interviewed regarding the village chicken management of which six farmers participated in a solar lamp experiment.

Why is the hare afraid? And what is the proud peacock so proud of?What does the sly fox do in the daytime and is the fast weasel fasterthan his friends? Who is that strong bear?!ese are the type of questions that inspired and pushed my creativeprocess forward in the work with my collection of illustrationsbased on swedish metaphors that relate to animals. !e collection isaimed at children between two and six years..

Background: The latest development within the business world has been characterized by deregulation and globalization which has made the company bigger and even more influential. The increased power has resulted in a shift of responsibility for the community from the public to the private sector. (Steinholtz och Löhman, 2003) There have been many trends regarding what accountability includes and how financial accounting can be complimented in a useful and reliable way. Some trends have come to stay whilst others have shown to be less successful or the world has not been ready for them. (Larsson, a, 2002) Purpose: The purpose with this paper is to look at the historical development towards accounting for sustainability and to investigate what factors that might have hade an impact on this development.