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.

Background: BreastFeeding frequency decrease in Sweden and infants born preterm is a particularly vulnerable group to not be breastfed according to current recommendations. Mothers of preterm infants have an extra need of support from the health care system. Mothers' self-efficacy in breastfeeding affects the outcome of breastfeeding. Health professionals' attitudes to breastfeeding have an impact on the breast feeding support they provide to the mothers.Aim: To investigate whether an intervention could strengthen self-efficacy in breastfeeding among mothers of premature babies. A further aim was to investigate whether the intervention influenced health professionals' attitudes to breastfeeding.Method/Design: An experimental study with quantitative approach in the form of questionnaire survey was conducted.

It becomes more important to consider different behaviour traits in the selection for dairy cows to be suitable in the production systems of today. The purpose of this investigation was to study the genetic background to behavioural traits and the heritabilities for temperament, rank order, aggressiveness, feeding behaviour and for learning behaviour. Moreover, the genetic correlations to other traits were studied. To be included in a breeding programme a trait needs to have enough genetic variation, a moderate to high heritability or to be correlated to another measurable trait. Behaviour is a quantitative trait affected by many genes and the environment.

Svansbitning är ett stort problem i slaktsvinsproduktionen ur såväl djurvälfärdsmässig som ekonomisk synvinkel. Etiologin bakom problemet anses vara multifaktoriell och är ej helt utredd. Man kan dela in faktorerna i interna riskfaktorer och externa riskfaktorer. De interna riskfaktorerna avser genetiska egenskaper med avseende på ras och härstamning, beteende, rangordning, kön, exteriör, vikt, ålder och allmän hälsostatus. De externa riskfaktorerna avser faktorer i miljön, som beläggningsgrad, möjlighet att böka, berikning i miljön, strömaterial, temperatur, ventilation, ljus, säsong på året, boxens utformning, utfodringssystem och fodrets sammansättning. Detta är en retrospektiv studie där prevalensen svansbitningar i en slaktsvinsbesättning har jämförts före och efter en ändring i utfodringsrutiner.

Modern forestry requires a high degree of machine traffic for clear felling and scarification operations. The machines most frequently used are big and the traffic often results in tracks on the forest ground. There are many small streams running through a forest, in connection to logging operations, machines might cross these frequently. These crossings could result in the erosion of fine particulate inorganic matter, which ends up in the stream. The aim of this thesis was to give a general description of small forest streams of order-one in the county of Värmland and to determine the frequency of machine tracks in small streams.

Today automatic milking systems (AMS) are growing in popularity. In these systems the cows are loose and have to get to the robot and the feed on their own. The cows ranking in this system affect their welfare. In this study data from seven years in an AMS was used and analysed. The aim was to investigate how ranking could affect the behaviour of the cows at milking and at feeding.

Tail-biting in pigs is an animal welfare issue and in Sweden during 2002 the producers lost tree million Swedish crowns because of tail biting. This economic loss depends on the pigs which are discarded at slaughter because of tail biting. Tail biting can be separated into two stages, "pre-injury" and "injury". The aim of this study is to investigate if tail biting depends on environment or genetic background.A lot of research on the environments effects on the behaviour of pigs but not so much on the genetic effects has been performed. The frequency of tail biting in pig farms influence among others of environment enrichment, ventilation, gender and breed of the pig.

The aim was to explore how the first page of a student newspaper has been changed over time since it was founded in the 1960´s.This thesis explores how the front page of the student newspaper Lösnummer has been changed since it was founded in 1966. It concerns the location and frequency of elements and it is based on theories of layout, the first page and visual communicationIn addition, the thesis develops a new kind of method for determining the location of elements on the type area. The method is based on the hexadecimal number system. It is formed as a grid which is placed on the first page to determine the location of the elements.It concludes that the frequency of elements had its peak during the 1970´s and has ever since decreased gradually. Image placement has gone from being scattered all over the front page to be centered and increase in size. .

Stereotypic pacing is frequently observed in captive carnivores, however the underlying causes of this behaviour remain somewhat unclear. One of these possible causes are unpredictable feeding signals, which may give rise to frustration and subsequent pacing. Animal keepers at Nordens Ark had noticed that their Amur leopards had shown stereotypic pacing in connection to the passing of ATVs (All Terrain Vehicles) used by animal keepers primarly when feeding the animals in the park. The aim of this study was to investigate whether the stereotypic pacing of the two Amur leopards at Nordens Ark were affected by the introduction of a signal associated with feeding. The leopards were trained by classical conditioning to associate the sound of a siren with the delivery of food by an animal keeper.

Vaccination of fish can be assumed to cause pain. This study was designed to see if we can minimize the suffering of fish following vaccination. Fishes are cold-blooded animals and thus more primitive than warm-blooded animals. Despite this, many organs, e.g. the nervous system, have the same basic structure as that of other vertebrates. The fibre system for conducting pain is more diffuse than in humans.

This work is intended primarily for animal nurses/veterinary technicians and describe parts of the rabbits digestive tract, causes of gastrointestinal disease, symptoms, diagnosis, general care of rabbits with gastrointestinal disease and how to prevent that gastrointestinal illness occur. The work is largely based on literature studies but also on a questionnaire sent out to rabbit owners to get answers on how they generally hold and care of rabbits, which gastrointestinal diseases that are most common, how owners care for their animals at home during illness and to examine if the owners think that the knowledge of this subject is good at his veterinarian/clinic.The purpose of this work is to improve the skills of animal nurses but also to improve the skills of owners through competent advice from animal nurses.The result show that gastrointestinal disease often is caused due to improper feeding and care of rabbits and therefore is advices from animal nurses an important part of preventive care. Animal nurses are also an important part of treatment of rabbits with gastrointestinal disease when supportive care as fluid therapy, supportive feeding and supply of a stress free environment is important for the animals to recover..

Today, pigs are moved on farm, between farms, between countries and to abattoirs. This movement of live pigs requires handling practices that are designed for the purpose. The objective of this study was to research the use of paddle in moving pigs, to investigate if there were different methods of paddle practice, explore the time efficiency of different kinds of paddle use and if there were any time variations in methods that varied in intensity of touch. This study was done on two Swedish abattoirs for a total of five weeks. A total of 22 transporters working at two different abattoirs where studied during unloading of pigs at the abattoirs.

This paper describes a method for wireless energy transfer via near-field electromagnetic inductionthat is inexpensive, simple and can be applied to almost any type of system, regardless of size andenergy demands.The method uses a primary unit consisting of an oscillator, amplifier and inductive coil thattransfers energy to a secondary unit consisting of a coil, rectifier and voltage regulator. Two typesof oscillators and several amplifier designs were realized and evaluated together with a multitudeof flat coils of both monofilar and bifilar type.The results show that it is important to use an oscillator whose frequency is dependent on theinductance of the connected transmission coil, such as the Colpitts oscillator. This is preferable toan oscillator with a preset frequency, such as a Schmitt-trigger oscillator..

Good feeding practices are a basic aspect of good calf health. During the calf's first few months the calf is fed with purchased milk replacer or raw milk straight from the cow. On all farms, it will be a surplus of milk that may not be delivered to the dairy for various reasons. Milk that may not be supplied to the dairy includes colostrum and milk with unnormal properties, including milk from cows suffering from mastitis. This study investigated the possibility of improving the milk by pasteurization in order to secure its use as feed for calves and thereby obtain an improved calf health.

This work is intended primarily for animal nurses/veterinary technicians and describe parts of the rabbits digestive tract, causes of gastrointestinal disease, symptoms, diagnosis, general care of rabbits with gastrointestinal disease and how to prevent that gastrointestinal illness occur. The work is largely based on literature studies but also on a questionnaire sent out to rabbit owners to get answers on how they generally hold and care of rabbits, which gastrointestinal diseases that are most common, how owners care for their animals at home during illness and to examine if the owners think that the knowledge of this subject is good at his veterinarian/clinic.The purpose of this work is to improve the skills of animal nurses but also to improve the skills of owners through competent advice from animal nurses.The result show that gastrointestinal disease often is caused due to improper feeding and care of rabbits and therefore is advices from animal nurses an important part of preventive care. Animal nurses are also an important part of treatment of rabbits with gastrointestinal disease when supportive care as fluid therapy, supportive feeding and supply of a stress free environment is important for the animals to recover..