IRB 340, Flexpicker is an industrial robot used for sorting, packaging and the handling of details up to two kg. The Flexpicker is a delta robot, meaning that it with three arms controls a triangular plate, swivel, in a work area shaped like a cylinder. Joints using plain bearings connect the arms.The plain bearing in use today consists of a plastic ring which slides against a hard anodized joint ball. Despite the fact that the plastic contain friction-lowering additives, the bearing needs to be lubricated to prevent noise. Because the robot is used in food and drug handling environments, where the demands on hygiene are set very high, the robot is often washed.

The loss of habitat is one of the greatest threats to global biodiversity today. Consequences to a species inhabiting fragmented habitats include: group size changes, altered diets and altered foraging behaviours. In my study I observed Colobus anlgolensis palliatus troops living in the forests of Diani, a highly developed area on the Kenyan coast. I looked for differences in behaviours between three troops inhabiting pristine forest patches and three troops inhabiting highly degraded forest areas. I used focal animal sampling with instantaneous sample points.

The study aims to reduce energy consumption in apartment buildings where individual metering and charging of heat is applied. The aim is to develop planning and design for individual metering and charging in apartment buildings.The study is based on literature review, interviews and case study that include analysis of existing documents. Interviews were carried out with the property developer and the involved consultants who planned the apartment building Yasuragi. To investigate the differences the condominium association has noted in heat consumption between flats, the debit values of the heat were used to discern which houses that were furthest from the average consumption. On these flats there were temperature measurements and thermal photo shoots made for discriminating behavior and possible construction techniques which could be the explanation for the heat spread.Boverket shows that the consumption of heat can be reduced by 10-20% after insertion of individual metering and charging in an apartment block.

From embankment dams is something that has long been noticed and given rise to different questions. The most serious question is if the sludge is a result of inner erosion through the dam, and thus consists of material transported from the dam. Concerns have also been raised whether the sludge could interfere with the systems drainage capacity and thereby lead to high pore pressure in the dam, or if the measurement of seepage is disturbed, as the measuring is usually made via Thomson weirs, which could risk being blocked. The result of this investigation shows that the sludge is a result of the oxidation of iron by iron bacteria, and to the greater part consists of these oxides as well as the bacteria?s own structures. The iron oxidizing bacteria, FeOB, oxides ferrous iron to ferric as a part of their metabolism, and thereby create large quantities of iron(oxy)hydroxides.

Today the individual ventilated cage system (IVC-system) is the most commonly used system when housing rodents. IVC systems are designed to control both supply and exhausted air at cage level, as well as temperature and relative humidity in the cages. This creates an optimal environment for the mouse and at the same time a protection against the risk of cross-infection between cages and the outside environment. The aim of this study was to evaluate the health and welfare for two different strains of laboratory mice (NMRI nude mice and C57BL/6NCrl mice) in three different kinds of IVC-systems; Arrowmight, Allentown and Tecniplast. 108 mouse pups from each strain (in total 216 mice) were selected after weaning at an age of three weeks and tested during 5 weeks.

Sweden has long had access to low electricity prices due to the wide availability of hydro and nuclear power. This has now changed because of today's rising electricity rates resulting in increasing heating costs for properties, especially in the properties with electric heating systems."Ankaret" is a parish for "Svenska Alliansmissionen", which is located at "Gullbrannagården".The parish has installed electrical radiators and an exhaust ventilation system that makes the energy demand high due to the large ventilation flows. The building was built as the price of electricity was still low and would reduce energy use today by combining its heating system with an air/air heat pump. The heat pump delivers more heat into the room than the electrical energy that it uses. This lowers the electricity needs.

Bakgrund: De flesta inomhusbadanläggningar är idag 30-60 år gamla och många anläggningar har stora problem med skador på både byggnader och bassänger. Skadorna är ofta så pass allvarliga att det inte längre är lönsamt att renovera utan på många platser planerar man att bygga nya bad. För att undvika framtida problem är det viktigt att dra lärdom av vilka skador och problem som har inträffat samt hur man vid nybyggnation och renovering ska kunna undvika dem. Vid byggande av dagens inomhusbadanläggningar tillämpas främst tidigare branscherfarenheter. Det faktum att så stora brister och omfattande problem förekommer, tyder på att kunskapen är otillräcklig.

The aim with this thesis is to make a comparison between forcing tulips in a hydroponic system and the forcing off tulips that have been planted in soil. The results are mostly based on interviews with six Dutch and one Swedish tulip forcer and the managing director at the Horticultural Research Centre, Proeftuin Zwaagdijke, in the Netherlands. There are benefits and disadvantages with both methods. Tulip bulbs planted in soil seem to get a brighter colour after forcing, compared with those forced ?in water?.

Infektion med hjärtmask (Dirofilaria immitis) är endemisk bland hund och katt i stora delar av världen, bland annat södra Europa och de flesta delstater i USA. I Sverige anses det i nuläget inte finnas risk för inhemsk smitta. Faktorer som klimatförändringar och förflyttning av sällskapsdjur inom Europa kan öka risken för spridning till tidigare fria områden. Denna litteraturstudie ger en översikt över hur smittspridning av Dirofilaria immitis sker samt hur dess förutsättningar ser ut i Sverige. För att smittspridning av Dirofilaria immitis ska kunna ske krävs närvaro av mikrofilaremiska hundar, myggor som fungerar som mellanvärdar och vektorer, samt ett klimat som tillåter utveckling av mikrofilarier till det infektiösa stadiet L3 i mellanvärden.

All over the world the waste from human society is causing problems. In developing countries, large cities are polluted through huge amounts of wastes and people are forced to live very close to open deposits. Lima, capital of Peru, is no exception. The countryside in Peru has also a great challenge to face concerning the waste issue. Children and adults suffer from infectious diseases and contamination of the nature occurs as well. One solution to handle organic waste is to compost, which means a controlled decomposition of organic waste under aerobic conditions at certain temperatures.

Studie av koldioxidgradienter i havets ytskiktSofia SöderholmDenna studie bygger på ett nyligen utvecklat instrument som har mätt koldioxidkoncentrationer på tre olika djup i vattnet samt en nivå i luften. Då detta instrument var oprövat i vatten har en utvärdering av mätmetodens lämplighet för vattenmätningar utförts. Syftet med mätningarna var att undersöka ytvattnets vertikala koldioxidgradient för att med hjälp av denna kunna beskriva flödet av koldioxid mellan hav och atmosfär bättre. Detta flöde är en viktig del av den globala kolcykeln och en djupare förståelse för koldioxidflödets beteende kan i framtiden bidra till mer noggranna klimatprognoser. Hur de beräknade flödena från profilinstrumentet påverkas av temperaturgradienterna i vattnets ytskikt har även det studerats.

The biogas plant Kungsängens gård, owned by Uppsala Vatten och Avfall AB, produces biogas and biomanure from organic household waste, food processing waste and slaughterhouse waste. In year 2012, 4.4 million Nm3 of biogas were produced from 25 200 tons of waste. Before digestion all substrate is sanitized by pasteurization at 70°C in order to kill pathogens. Another method, integrated thermophilic sanitation (ITS), is of interest in order to decrease the energy demand. The method implies that the substrate is sanitized during ten hours in the digestion chamber, where the temperature is 52°C.

In order to facilitate testing of anesthesia machines a patient simulator has been required by Maquet Critical Care AB. A patient simulator has been developed to reduce expensive and time consuming animal experiments and temporary lab arrangements. The patient simulator has been developed and designed to simulate human lungs with regards to anesthetic uptake, production of carbon dioxide and heating and moisturizing exhaled air.The system comprises a container and a test lung to simulate the volume and the dynamic of the human lung. The simulation of uptake of anesthetics has been implemented by pumping a fraction of the gas from the container through a bypass circuit with an active charcoal filter that adsorbs volatile anesthetics. The flow through the bypass circuit is generated by a pump and is controlled by a linear valve.The resulting performance of the patient simulator has fulfilled the requirements.

The nitrogen cycle in freshwater bodies is complex and consists of many separate processes affected by a number of important factors for example oxygen concentration in the water, temperature and circulation. Knowledge of the different components of the nitrogen cycle exists; however, a complete and comprehensive picture is difficult conceptually as well as theoretically. The available literature illustrates that the research on nitrogen and the related freshwater processes is still associated with high uncertainty of how much of the supplied nitrogen from the catchment is transported with the water versus and how much is lost due to denitrification, sedimentation or uptake by plants. This report is an interdisciplinary survey of Nitrogen discharge permitting. The research focuses in particular on the decision-making process, the levels of scientific standard and the administrative framework.Application for Nitrogen discharge permits are decided by the Environmental Court with council from their own experts as well as relevant government authorities and organisations.

The purpose of this study has been to investigate advantages and problems with distributionsystem metering in substations. This report is a study in cooperation with Göteborg Energi.The analyses in this report are made for GENAB, a subsidiary company of Göteborg Energi.To analyse advantages and problems in advance is interesting information for GENAB. Theresult of the report could be based upon whether installation of metering in distributionsubstations will be implemented and in that case which kind of measurement that is relevant.The most relevant and strategic place to implement measurement is at the distributionsubstations on the secondary side (400V), this is due to the placement of the currenttransformers. The measurements in this study involve current, voltage, power, power factor,temperature, energy and power quality.Measuring instruments that are relevant to implement are intended to measure current,voltage, power, power factor, energy and, possibly, power quality in the same measuring unit.It is desirable to have a measuring instrument that measures both energy and power qualitybut since it is most often a cost question, it can be established that energy meters have a lowercost.Metering in distribution substations gives a better illustration of the power network. Thisresults in many advantages for GENAB.