During spring 2012, six students at the Royal Institute of Technology in Stockholm carried out agroup project in the field of mechatronics as part of the thesis for the bachelor degree. The resultwas a robot with active balancing and the purpose of this report is to describe the development,manufacturing and problems that arose during the project. The finished robot has two wheelsmounted in line with each other, like a bicycle. Measurement data from an accelerometer and agyroscope are used together in a complementary filter for determining the angle from the verticalplane. For balancing, a PID controller was used to control the rotation of a reaction wheel, whenaccelerating causes a straightening torque.

Fuel produced from renewable resources is of big interest. In this project the difference between a few different renewable materials are compared on the matter of environmental load when ethanol is produced. The renewable materials that are compared are Salix, straw and reed canary-grass (rörflen). The cellulose in the material is cut down to small pieces and then hydrolysed so that the sugar from the cellulose can be fermented into ethanol. Tha amount of ethanols that is studied in this work is the smount of ethanol needed to cultivate 1000 ha. The functional unit in the report is 1000 ha.

Staden Sulaymaniyah ligger i den kurdiska delen av Irak och har på senare år utvecklats då många valt att flytta från landsbygden till den centrala delen av staden. Nybyggandet sker under tidspress och långsiktigt hållbara lösningar prioriteras inte. Målet är att ta fram ett hus som är anpassat för majoriteten av befolkningen och samtidigt få ett bra och energieffektivt inomhusklimat. En faktainsamling genomfördes för att ge bakgrundsinformation till projektet. Vidare gjordes en planlösning till huset i AutoCAD vilken har använts som grund till utformningen av huset och smarta lösningar.

Examensarbetet undersöker om det är möjligt att utföra en nivåmätning där underlaget är ojämnt med en begränsad budget och ändå få ett tillförlitligt resultat.För att kunna testa det så används tre stycken ultraljud sensorer i ett skåp som simulerar en container. Varje sensor utför mätningen och sedan filtreras värdena. Hela systemet filtreras sedan med ytterligare ett filter och då blir noggrannheten ca 4 cm från den riktiga fyllnaden. Miljöpåverkan skulle bli mindre om det framtagna systemet installerades i alla containrar vid de miljöstationer som finns i Sverige. Lastbilarna som ska tömma innehållet behöver aldrig köra till en ha lvtom container vilket även drar ner kostnaderna för miljöstationerna.

Staden Sulaymaniyah ligger i den kurdiska delen av Irak och har på senare år utvecklats då många valt att flytta från landsbygden till den centrala delen av staden. Nybyggandet sker under tidspress och långsiktigt hållbara lösningar prioriteras inte. Målet är att ta fram ett hus som är anpassat för majoriteten av befolkningen och samtidigt få ett bra och energieffektivt inomhusklimat. En faktainsamling genomfördes för att ge bakgrundsinformation till projektet. Vidare gjordes en planlösning till huset i AutoCAD vilken har använts som grund till utformningen av huset och smarta lösningar.

This is a qualitative case study of young womens? experiences of blogging about One Direction on the social media/microblogging platform Tumblr. The aim of this study was to find out what fan blogging is and why fans blog. We did this by creating an account on Tumblr where we invited young women between the ages of 16?29, who had active fan blogs dedicated to One Direction, to answer an open-ended questionnaire.

This is a qualitative case study of young womens? experiences of blogging about One Direction on the social media/microblogging platform Tumblr. The aim of this study was to find out what fan blogging is and why fans blog. We did this by creating an account on Tumblr where we invited young women between the ages of 16?29, who had active fan blogs dedicated to One Direction, to answer an open-ended questionnaire.

This is a qualitative case study of young womens? experiences of blogging about One Direction on the social media/microblogging platform Tumblr. The aim of this study was to find out what fan blogging is and why fans blog. We did this by creating an account on Tumblr where we invited young women between the ages of 16?29, who had active fan blogs dedicated to One Direction, to answer an open-ended questionnaire.

This is a qualitative case study of young womens? experiences of blogging about One Direction on the social media/microblogging platform Tumblr. The aim of this study was to find out what fan blogging is and why fans blog. We did this by creating an account on Tumblr where we invited young women between the ages of 16?29, who had active fan blogs dedicated to One Direction, to answer an open-ended questionnaire.

The purpose of this thesis is to collect knowledge of techniques and materials for planning roofgardens. Gardens built on top of buildings is not a new phenomenon, already in the beginning of the century architects were experimenting with roofgardens. During the Modern Era roofgardens appeared as a part of the design and worked well together with flat roofs and the ideas of light, air and greenery. Today the most common kind of roofgarden is on a ground-level joist that hides parking or other underground functions. The most important difference between planning a roofgarden and a garden on the ground is the limitation of the load of the roofgarden. Plants, paving-material and equipment must be chosen with this in mind. A light and thin layer of soil demands plants with small needs for water and nutrition.

This is a qualitative case study of young womens? experiences of blogging about One Direction on the social media/microblogging platform Tumblr. The aim of this study was to find out what fan blogging is and why fans blog. We did this by creating an account on Tumblr where we invited young women between the ages of 16?29, who had active fan blogs dedicated to One Direction, to answer an open-ended questionnaire.

Changes in the climate and the environment are largely consequences of human influences. Resources are given to teach adults about the environment. However, there are problems in focusing on adults because it is difficult to influence people when they already have created a lifestyle. We have instead chosen to focus on teaching children about changes in the climate and the consequences of this.Many of the toys available on the market today encourage children to consume. Luxury cars and dolls with hundreds of accessories are often made of materials that has have a negative effect on the environment.Another problem we often encountered during the year is the declining interest in technology and science.

This thesis has been conducted at Saab Bofors Dynamics AB. The purpose was to investigate if a non-linear missile model could be stabilized when the optimal control signal is computed considering constraints on the control input. This is particularly interesting because the missile is controlled with rudders that have physical bounds. This strategy is called Model Predictive Control. Simulations are conducted to compare this strategy with others; firstly simulations with step responses and secondly simulations when the missile is supposed to hit a moving target.

This our bachelor thesis of 15 p ECTS. Our subject is What makes a good park? ? And how to make it better. The purpose of our bachelor thesis is to provide an overall direction for instrinsic qualities, resource (areas and materials) maintenance, visitor use, visitor experience and a basic foundation for decision-making for the maintenance and enhancement of the parks in Danderyd municipality.

Multiplikatorer används ofta som ett byggblock vid konstruktion av kretsar som digitala filter, FFT-processorer och aritmetiska enheter. Olika trädstrukturer används i"höghastighet"applikationer för multiplikatorer. En typ av träd,"overturned-stairs"(OS) som är ett adderarträd av första ordningen har uppvisat lika optimal prestanda med avseende på hastighet som Wallace-träd, vid 18 eller färre ingångar. I moderna integrerade kretsar, ger ledningar och kopplingar upphov till fördröjningar och parasitiska laster. I en jämförelse mellan Wallace-träd, och OS1-träd har det sistnämda kortare och mindre komplicerad ledningsdragningar och är därför mer ändamålsenlig för VLSI implementationer..