The aim of the Master?s Thesis work is to study and develop algorithms for autonomous travel of a UGV (Unmanned Ground Vehicle). A vehicle for the mounting of sensors has been constructed in order to perform the work. Since the UGV is to be used outdoor in urban areas, GPS can be used. To improve precision and robustness, inertial navigation is used in addition to GPS, since GPS reception is likely to be diminished in such areas.

Detta kandidatexamensarbete handlar om en konstruktion av ett säkerhetsystem för tåg med fokus på programmering av systemet. Programmeringen görs genom att använda realtidsoperativsystemet ?C/OS-II som idag är en av världens mest kända och använda för mikrokontrollers. Programmet laddas sedan ner till en mikrokontroll för att testas. Användningen av ?C/OS-II blir också syftet av detta arbete då jag vill visa hur användbar den är.Rapporten börjar med att beskriva de olika komponenter som ingår i tågsystemet och fortsätter genom att ta upp det programmeringskod som är det viktiga i detta arbete.

This paper is written in the field of Educational Science, and it focuses on literature that pupils read. Literature has the power to shape readers beliefs, that is why this paper aims to examine, and compare two novels that are used in Swedish schools in class settings. Both novels deal with the issue of psychiatric disorder from a woman´s perspective. Research done in the field of psychiatric disorder shows that it is an important subject that should be addressed in schools. Research done from the perspective of gender studies points out the need of representation of female perspective in literature that pupils are working with.

The master thesis, conducted at Metrima AB, concerns the development of a non-intrusivedistribution meter as a basis for individual tap water billing in apartments.The project is conducted in response to the market interest in individual tap water billing inapartments as an answer to environmental concerns regarding water consumption. Due to thehigh installation cost of traditional water meters, a new method of determining waterconsumption, without having to cut water pipes, is proposed.The proposed method distributes the total water consumption for an apartment complex toindividual apartments according to distribution meters, measuring water run-time, in eachapartment. The water run-time is estimated by measuring the water pipe?s outward vibrationsand temperature changes.A test environment was established and a prototype built, using a tilt- and vibration sensor forvibration sensing and a precision temperature sensor to measure temperature changes. As bothsensors work well in the test environment, further testing was done in 3 apartments for aduration of 5 days.

ABSTRACTThe discussions about energy use have increased year by year everywhere in the society, and so also in the healthcare sector. But what is actually energy use in a hospital facility, and what affects it?The typical way today to express the energy use is in kWh/m2. The problem with a key performance indicator that is expressed as energy use in relation to a specific area is that it does not take into account the activity in the building. Even though the activity to a very high extent affects the energy use.

Introduktion: Majoriteten av tester inom ishockeyn utförs off-ice vilket kan begränsa testresultatets applicerbarhet till on-ice prestation, på grund av brist på sportspecificitet. Ishockey har karaktäriserats som en intermittent kontaktsport, med högintensiv skridskoåkning som förutsätter snabb acceleration, förändringar i hastighet och riktningsförändringar. Syfte: Syftet med denna studie var att undersöka om ett bra resultat på det löpningsbaserade Coopertestet (CT) överensstämmer med ett bra resultat på det mer idrottsspecifika 30-15 Intermittent Ice Test (30-15IIT) hos manliga juniorishockeyspelare. Metod: Manliga juniorspelare i olika åldrar som går på ett certifierat elithockeygymnasium deltog i studien. Resultaten från ett CT och ett 30-15IIT samlades in.

The aim of this master's thesis is to investigate how adults and especially children's librarians and intermediate level teachers experience children's literature. The aim is also to examine how children at the age of nine to twelve experience the literature that is written for them, according to a few master's theses written at Bibliotekshögskolan in Boras. Which criteria in children's books do the different groups consider as the most important, that the children can learn something when reading or is it the experience of the literature itself that is the most important? To fulfil the aim of this master's thesis I have interviewed three intermediate level teachers and three children's librarians and the result has been analysed using a model created by Maria Nikolajeva that shows four ways to get close to children's literature. My study is too small to be counted as a general result but it shows that both the children's librarians and the intermediate level teachers mainly ends up in the field that concerns the reading experience one can have when reading fiction.

Detta kandidatexamensarbete handlar om en konstruktion av ett säkerhetsystem för tåg med fokus på programmering av systemet. Programmeringen görs genom att använda realtidsoperativsystemet ?C/OS-II som idag är en av världens mest kända och använda för mikrokontrollers. Programmet laddas sedan ner till en mikrokontroll för att testas. Användningen av ?C/OS-II blir också syftet av detta arbete då jag vill visa hur användbar den är.Rapporten börjar med att beskriva de olika komponenter som ingår i tågsystemet och fortsätter genom att ta upp det programmeringskod som är det viktiga i detta arbete.

The aim of this bachelor?s thesis is to gain deeper knowledge about how librarians in public libraries in Sweden view theirprofessional role with regard to the last decades of change in the library field. Especially concerning the technical evolution and towards a higher user orientation and market mindset, and in which ways this has influenced the librarians everyday working tasks. A particular focus has been placed towards the reference transaction, the use of computers and e-media, and the stock development. We believe that there currently is a changeover, from the libraries traditional line of function, towards them as more of service institutions.The method used in this study for answering the research questions and to gather empirical information is semi-structuredinterviews.

AbstractThe aim of the study was to examine how a school team works with formative assessment in compulsory school for pupils with intellectual disabilities. The study had a particular focus on formative assessment in relation to pupils with moderate and severe intellectual disabilities. Since there is a lack of research within the field of formative assessment and pupils with moderate and severe disabilities this study may contribute to new knowledge in this field. A sociocultural perspective has been used as a theoretical framework. A central concept in the sociocultural perspective is that people develop knowledge in interaction with other people and that communication and language is important.  The methodical framework was inspired by an ethnographic approach and the empirical material was concocted by participatory observations and by interviews.

Studien avser att studera effekterna av arbetsplatsförlagd fysisk träning 2 x 60 minuter/vecka i 7 veckor hos personer med stillasittande arbete påVO2max, rörlighet, uthållighetsstyrka och kroppssammansättning. Vi använder oss av en kvantitativ metod som består av datainsamling genom tester före och efter träningsperioden för både interventionsgruppen (n=25) och kontrollgruppen (n=11). Resultaten visar på signifikanta skillnader hos interventionsgruppen på variablerna VO2max (p=0), visceralt fett (p=0,001), fettmassa (p=0,001), vikt (p=0.006), Body Mass Index, BMI (p=0,005), uthållighetsstyrka enligt Sörensens isometriska uthållighetstest (SIU) (p=0) och Trunk Curl Static Endurance test (TCST) (p=0,045), rörlighet i halsrygg (p=0,010) och rörlighet i hamstringsmuskulatur via Sit and reach test (p=0).  Inga skillnader ses i blodtryck och, skelettmuskelmassa i armar, bål och ben. Inga signifikanta skillnader ses hos kontrollgruppen oavsett variabel. Slutsatser av studien är att man kan se effekter genom denna typ av intervention på flera olika variabler och förslag till framtida forskning är att försöka utesluta samverkan av andra faktorer för att ge en mer exakt bild av den fysiska träningens effekter på arbetsplatsförlagd träning..

The use of vision applications are growing and the demand for integration and connectivity with other industrial automation control devices is increasing. Some businesses that are using vision technology follow US Food and Drugs Administration (FDA) regulation concerning audit trail. This thesis investigates the possibility to use vision technology for counting objects, achieving connectivity and to follow FDAs audit trail regulation. A market survey has been used to select suitable hardware and software to be used in the design of an application that is able to count objects and that uses standard industrial network connection i.e. OPC data access and Microsoft?s .NET components over Ethernet.

Aim: The aim of this study was to compare how patients with diabetes type 2 self-estimate their self-consciousness, problem identification, stress management and the willingness to change before and after a daycare week. The aim was also to compare if the value on HbA1c have changed after the daycare week compared to before.Method: A total of 60 patients who recived offer to participate in a daycare week at a clinic on a university hospital in Sweden. Patients replied a form (SWE-DES-SF-10) before (n=60) and three months after (n=35) the daycare week. They also left a blood sample for HbA1c before (n=60) and three months after (n=42) the daycare week. The forms and HbA1c-values were analyzed using wilcoxon´s signed-rank test and paired t-test. Results: After the daycare week estimated the participating patiens their self-consciousness and problem identification higher than before the daycare week.

En stor del av befolkningen har en hörselnedsättning men långt ifrån alla som skulle kunna dra nytta av hörselhjälpmedel söker vård i tid. Det finns ett behov av att kunna göra ett snabbt och enkelt screening-test hemifrån och i flera andra europeiska länder har det för det ändamålet tagits fram telefon- och Internetbaserade hörseltest av tresiffertyp. Dessa tester spelar upp tre inlästa siffror samtidigt som ett störande brus-ljud och en adaptiv metod används för att automatiskt uppskatta testpersonens genomsnittliga, uppfattbara signal-brus-förhållande. Studier har visat att förmågan att urskilja tal i brus försämras för personer med hörselnedsättning och att den absoluta uppspelningsvolymen inte spelar väsentlig roll så länge ljudet är klart hörbart. Ett svenskt talmaterial för ett sådant test har tagits fram inom EU-projektet HearCom. Syftet med examensarbetet var att implementera och validera en funktionell och prisvärd lösning i samarbete med en aktör inom telekommunikationsbranschen. Efter en upphandlingsprocess valdes ett Linux-baserat system med den öppna telefonserver-programvaran Asterisk. En normalstudie genomfördes där resultaten pekar på att det utvecklade testet är jämförbart med liknande test i andra länder.

This thesis has focused on the possibility to use a satellite image method developed by Metria Mijöanalys to identify stands that are wrongly registered in Holmen Skogs database. The method is only intended for identifying stand with poor descriptions in Holmen?s database that needs to be updated and not for updating the stand information. The study area is located several km west of Hudiksvall on the borderline between Gävleborgs- och Västernorrlands län. The area is covered by a SPOT image from 2005. By which Metria Miljöanalys has made estimates of forest parameters for all stands in the area, and compared them with corresponding estimates according to the stand database.