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.

WesDyne TRC AB is a fully owned subsidiary of the global WestinghouseElectric Corporation. WesDyne is a world leader in non-invasive methods for theinspection of nuclear power plants. One of the inspection platforms used to scanfor defects in and around the welds in the reactor vessel is called the T-crawler.The T-crawler operates under water in a radioactive environment by stepping onthe vessel (reactor tank) inner wall using suction cups. The environment is harshand many traditional positioning sensors are not suitable for implementation. Thisthesis investigates the possibility to use a gyroscope and a pressure sensor tocreate an alternative and independent positioning system.

The eutrophication of inshore seas, lakes and watercourses is mainly due to leaching of nitrogen and phosphorus (P) from agriculture. Many efforts are made to reduce the lea-kage of phosphorus in Sweden and the Baltic Sea countries. Phosphorus is also a finite resource and the mining of good quality raw material gets more and more difficult. Se-dimentation dams in combination with filters is one relatively new method to separate P from run-off and drainage water from agricultural land. This study was a part of an IVL Swedish Environmental Research Institute?s project which tests the capacity and func-tion for separation of phosphorus in four phosphorus filters.

Syftet med denna utredning var att välja ut och utveckla kommunikationsövningar under det första stadiet av en gestaltningsprocess mellan landskapsarkitekt och brukare. Genom att undersöka olika metoder/övningar såsom att svara på en enkät och att se på bilder framkom det att övningarnas styrka låg i att de var flera och kombinerades på olika sätt.

Syftet med den här rapporten är att beskriva ett antal olika tillvägagångssätt man kan använda sig av då man har behov av att dela in ett lokalt nätverk i olika segment och med det även kunna reglera trafikflödet mellan segmenten. De lösningar som presenteras i arbetet är inriktade mot mikro- och småföretag.Anledningen till att vi har valt att arbeta med det här området är att vi anser att det är viktigt för organisationer att har en strukturerad och segmenterad design på sitt interna datornätverk.Vi har arbetat genom att i förväg samla in information om olika tekniker som kan tänkas lösa vårt problem, och därefter testat olika scenarion med dessa tekniker. Data har samlats in efter varje genomfört scenario och sammanställts i statistisk form för att kunna avgöra vilken metod som var att föredra.Vi har testat lösningar där man segmenterar nätverket i en lager 2-switch medan man möjliggör och förhindrar trafikflöde mellan segmenten i en router. Även lösningar där man använder en lager 3-switch har testats. På så sätt kan routningen ske direkt i switchen och det blir betydligt mindre belastning i routern.

Simulation of different systems can be done using a graphical model description of the system based on block diagrams. The simulation software Matlab/Simulink offers a lot of possibilities to describe a huge number of systems, which can be linear as well as nonlinear. The simulation using Matlab/Simulink is done by integration based on different kinds of numerical methods.When nonlinear Simulink-models are simulated, it is often interesting to apply a Kalman filter to handle the noise that may occur within the process as well as corrupting the measurement. However, application of such a filter leads to an extensive time-consumption despite using fast computers. The reason is that the existing Matlab functions are not constructed for time optimal evaluation.

The media landscape has exploded during the last decade, which has lead to a massive advertising clutter. Consumers defend themselves against this intrusive marketing by creating an advertising filter that sorts and blocks. These changing conditions have lead to new and tougher demands on creators and advertisers to create more efficient marketing communication that stands out in the clutter and penetrates the consumers? advertising filter. Many creators and researchers claim that creativity is the most efficient method to stand out in the clutter and generate sought communication effects.

This thesis gives the reader an understanding for newsletters within e-commerce, and how to work with them as a channel for marketing. Furthermore it explains the technical and graphical demands, and how to ensure that the newsletter reaches the intended receivers.A successful newsletter can entice people to shop, but can also help to strengthen a brand and the relationship between the customer and the company. During the writing of the thesis, it has emerged that the most important part of a newsletter (which also determine whether or not the receiver reads the letter) are the subject heading, sender, layout, headlines,images and the deregistration link.A part from working with the different parts of the letter, the sender should also be aware of the technical and graphical demands. Since the E-mail clients are looking out forimages, fonts that are not embedded in the computer, and for questionable words there?s a big risk for ending up in a spam filter when not considering the demands.

Title: Am I doing what I think I am doing when I am practicing? A self study in practicing. The purpose of this study is to determine whether I do what I think I do when I practice. The reason for this is to make myself a better teacher as well as a musician. By gaining knowledge about my own practicing I will be able to guide future students in their own practicing in a better way.

To be able to measure high-surge voltages and transients with short rise times youneed measuring instruments with a high sampling frequency and large Bandwidth.These surges and transients occur primarily at lightning but can also occur at forexample at connecting errors at an electrical switch-gear. This report describes thework with finding two solutions for measuring and log data from these surges andtransients. One temporary solution where a measurement program has beendeveloped. A second solution where different company solutions have been analyzedto decide which fits best. For these measurement solutions two solutions for bringingdown the voltage has been used.

The continuous process of urbanization results in demands on research and development for ecological and sustainable city development. Because of this, the current systems for wastewater treatment may have to be improved. In order to evaluate new technologies for municipal wastewater treatment, a development project has been initiated for the new district Hammarby Sjöstad in Stockholm. The project is lead by the company Stockholm Water. High environmental standards have been put up for the district, as it must be twice as good as an ordinary new district.

To be able to measure high-surge voltages and transients with short rise times youneed measuring instruments with a high sampling frequency and large Bandwidth.These surges and transients occur primarily at lightning but can also occur at forexample at connecting errors at an electrical switch-gear. This report describes thework with finding two solutions for measuring and log data from these surges andtransients. One temporary solution where a measurement program has beendeveloped. A second solution where different company solutions have been analyzedto decide which fits best. For these measurement solutions two solutions for bringingdown the voltage has been used.

Dynamisk binär översättning är en teknik för att köra program kompilerade för en plattform på en annan inkompatibel plattform. Tekniken finns bland annat implementerad i många konsolemulatorer, men det finns även andra exempel där tekniken använts, t.ex. vid arkitekturskiften. Nära besläktade områden är dynamisk kompilering och dynamisk optimering. För att undersöka tekniken (dynamisk översättning) närmare implementerades den i en, redan färdig, interpretativ (switch-baserad) Chip-8 emulator.

Vårt magisterarbete är en 3D-animation som ska simulera en bergochdalbana. Vår uppgift har varit att ta reda på hur man genom illusioner kan lura människans hjärna att se djup även då bilden är helt platt. Vårt främsta verktyg vi använt oss av är glasögon med röd- och cyanfärgade filter. Till vår produktion har vi anlitat andra studenter för att komponera musik och mixa 5.1-ljud. Allt för att öka upplevelsen ännu mer..

To be able to measure high-surge voltages and transients with short rise times youneed measuring instruments with a high sampling frequency and large Bandwidth.These surges and transients occur primarily at lightning but can also occur at forexample at connecting errors at an electrical switch-gear. This report describes thework with finding two solutions for measuring and log data from these surges andtransients. One temporary solution where a measurement program has beendeveloped. A second solution where different company solutions have been analyzedto decide which fits best. For these measurement solutions two solutions for bringingdown the voltage has been used.