The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

The purpose of this report is to examine various roof structures that can operate in a warehouse with large spans. The building that is examined in the report is currently under construction, and the roof construction has already been selected. The selected roof system will therefore be compared with some other structures and materials that have been possible. The report will evaluate three different frame materials, two insulating barriers and two overlaying materials. Another important part in major construction projects is the roof safety.

Vid mixning i en hemmastudiomiljö finns det ofta stora akustiska problem, speciellt vid låga frekvenser. Vid just låga frekvenser orsakas problemen främst av stående vågor. För att reducera de stående vågorna används vanligen passiva absorbenter, men i en hemmastudiomiljö kan dessa av praktiska skäl ofta inte användas. I denna uppsats har något som kallas inversa filter undersökts som möjligt alternativ. Dessa skapas från ett uppmätt rumsimpulssvar och appliceras på signalen till högtalaren genom faltning.

Vid mixning i en hemmastudiomiljö finns det ofta stora akustiska problem, speciellt vid låga frekvenser. Vid just låga frekvenser orsakas problemen främst av stående vågor. För att reducera de stående vågorna används vanligen passiva absorbenter, men i en hemmastudiomiljö kan dessa av praktiska skäl ofta inte användas. I denna uppsats har något som kallas inversa filter undersökts som möjligt alternativ. Dessa skapas från ett uppmätt rumsimpulssvar och appliceras på signalen till högtalaren genom faltning.

Implementering av FIR filter kan göras på olika sätt. I detta examensarbete har två olika varianter beskrivits med hjälp av VHDL, syntetiserats, simulerats och sedan jämförts med avseende på effektförbrukning..

With a new digital world that runs parallel with our physical one, we are also facing a new type of architecture and new materials that this new architecture is built on. In this thesis I examine pixels and vectors, two of the digital materials used to create pictures. By approaching them as digital materials, I have mapped their different qualities, when and where one or the other is more or less applicable and the reason behind it. My main research question asked was the following: Are the (digital) materials challenged outside their primary fields of application, and in that case, in which way? With this question in mind, I carried out a semiotic picture analysis on four pictures, later on dividing them into four different categories, based on their different qualities and their ability to deliver information.

In this thesis we compare how different strategies in choosing attribute values affects junk mail filtering. We used two different variants of a naïve Bayesian junk mail filter. The first variant classified an e-mail by comparing it to a feature vector containing all attribute values that were found in junk mails in the part of the e-mail collection we used for training the filter. The second variant compared an e-mail to a feature vector that consisted of the attributes that was found in ten or more junk mails in the part of the e-mail collection we used for training the filter. We used an e-mail collection that consisted of 300 e-mails, 210 of these were junk mails and 90 were legitimate e-mails.

The purpose of this study is to examine two educational materials from different decades, to see if they have a conscious gender and equality perspective, and to see if they have followed the development society made regarding gender and equality. Even the curricula have a part in my study as I will relate them to the educational materials. Equality as a concept means briefly that women and men should have the same conditions, and gender depicts our notions of femininity and masculinity.I have chosen to do textual analyses, focusing on multimodal discourse because I analyze both text and image. I also use both quantitative and qualitative methods.My questions are: In which way do the curricula and the educational materials express equality?; In which way do the curricula and the educational materials express gender?; Do the educational materials express the fundamental values written about equality and gender in the curricula? And, if this is the case, does it mean that educational materials have followed the development of the Swedish society?The conclusion of this work is that equality and gender are presented as goals in both curricula, but the new curricula have developed that section more.

Discharge of untreated wastewater leads to unnaturally high levels of nitrogen and phosphorus in rivers, lakes and the sea, which results in unbalanced ecosystems with eutrophication and lack of oxygen. Part of the phosphorus in surface waters is coming from on-site wastewater treatment from scattered households with unsatisfactory purification. Blast furnace slag is a by-product from iron production, and has in laboratory trials showed good phosphorus binding capacity. To test blast furnace slag as a reactive filter media for phosphorus separation in a full scale experiment, a wastewater treatment plant has been built behind the picnic area at Ångersjön alongside the road E4 in central-eastern Sweden. The plant contains two parallel lines, one with blast furnaces slag and the other with Filtralite-P as phosphorus sorbent. Both filters have showed decreasing phosphorus purification effect with time in spite of a low wastewater load.

The main purpose of this paper is to examine librarian's opinion of computer filters, to bring order in the debate on these filters and also to encourage future debate on this subject. The main problem is whether librarians themselves think they have the right to limit the public access to information on the Internet by using computer filters. We will also see how many public libraries are using filters, why they have chosen to use or not to use them, what is the librarians' opinion of filters, what rules exist regarding the use of the Internet, and finally if it is legal to use filter programs in public libraries. We have also included a short report on what filters are and how they work. This paper deals only with Swedish conditions on a number of public libraries.

I detta exjobb har en trådlös enhet för vibrationsmätning på maskiner konstruerats. Arbetet har gällt både hårdvara ochmjukvara. I arbetet ingår bland annat implementering av olika digitala filter i den mikrokontroller som valts ochframtagning och implementering av ett kommunikationsprotokoll för trådlös kommunikation. Resultatet har blivit att enkomplett fungerande prototyp på en mätenhet med lovande egenskaper kunnat tas fram..

The following essay aims to determine what textbooks and teaching media educators in the county of Västerbotten use when teaching the relation between religion and science. Based on educational science theory and through analyzes of factual texts, the teaching materials was examined to determine how much focus they put on the thematic of religion and science. The result shows how the different teaching materials affect this thematic differently. The main conclusion is therefore that students in Sweden could, depending on the teaching materials used in their education, be taught by different standards to reach the same requirements..

Genom a?rhundraden har bilden varit en viktig del i va?rt samha?lle. Den har varit en ka?lla till underha?llning, sparande av minnen och a?ven ett sa?tt att kommunicera pa?. Bilder har anva?nts pa? ma?nga olika sa?tt och sedan 1800-talet har vi kunnat fa?nga bilder genom fotografier.

When implementing syncronous filters with global clock nets, a substantial amount of energy is consumed in the clock net. Hence, it is interesting to reduce the size of the clock net, which in turn will reduce the total energy consumption. One way to acheive this, is to create a SIC (Structured Interfacing of Computational elements) since such a structure can be created without a global clock net. Our results show that a fifth order wavedigital filter with a sample rate of at least 10M samples/sec may be achieved.

Östby waterworks in the community of Kramfors has since 2003 had problems of fast clogging of the slow sand filters. As the clogging appears more often, they must be cleaned more frequently which has made the drinking water preparation difficult. Wintertime it has sometimes been impossible to clean the filters which has led to their closing and this has influenced the water quality negatively.The waterworks is a surface waterworks which takes its raw water from the lake Sjöbysjön. The water is flocculated and filtered in a contact filter with the flocculent EKOFLOCK 91. Thereafter it is alkalinized before it reaches the outdoors placed slow sand filters.