Dagens robotindustri har som mål att bygga billigare och lättare robotar, vilket ger allt vekare robotar. Denna rapport studerar identifiering och reglering med en extra armsensor ? accelerometer ? på en flexibel industrirobot. Studien har skett både simulerat och experimentellt på en industrirobot.Vid identifiering med accelerometer befinner sig accelerometern i ett roterande koordinatsystem. Denna rapport presenterar en kompenseringsalgoritm för att transformera signalerna från det roterande koordinatsystemet till ett rumsfast koordinatsystem.I denna rapport presenteras regulatorstrukturerna I-PID, II^2-PID och LQG, vilka alla återkopplar motorvinkel och armvinkelacceleration.

Problem: The Swedish wage-setting has changed since the time for the breakthrough of the industrialism until today. Before that, wages often consisted of perquisites or goods that could be exchanged against other goods. Rural people were often self-sufficient. In some cases the farmer owned the land, in other cases they where tenants. At the time for the breakthrough of industrialism the demand for similar labour were increased.

Glulam is a product that was engineered to make use of timber in a more efficient way. Bychoosing timber of similar quality and discarding natural defects during production, thedevelopment of a stronger cross-section is achieved.Carbon fiber is a relatively new material with a high tension capacity. This feature is used toexamine how the bending capacity of the beams improve by adhering carbon fiber laminateson the lower edge of the beamsThe strength of the material is tested with three experiments: carbon fiber on the bottom of thebeam (a), carbon fiber attached to the lower sides of the beam (b) and carbon fiber in thebeam, covered with a layer of wood (c)The results show that the first case, where the carbon fiber is attached to the bottom of thebeam, gave the best result with an increase in capacity of 59 % compared to the nonreinforcedcontrol. The other two cases also show an improvement in capacity, beam-type 3had a capacity increase of 47% and beam-type 4 increased with 25 %Tests were also made with glulam beams reinforced with fiberglass, but these tests were notanalyzed in depth because the purpose was to compare the capacity to carbon fiber. Thisbeam improved its capacity by 40.3%.The tests show that carbon fiber as a reinforcement material for glulam is a good choice whenthere is a requirement for stronger cross-sections in both new production and renovation ofold buildings.

Questions concerning the Cultural Heritage must be integrated in social planning.Therefore there is a need for adequate methods for cultural environmental analysis, toreceive knowledge that is relevant in an integrated conservation. The thesis is a review ofmethods for cultural environmental analysis and discusses the qualifications necessary fora method in order to receive adequate information as well as it discusses what kind ofinformation to be considered relevant. The thesis also analyzes a specific method forcultural environmental analysis in order to exam if it has got the qualifications concludedas necessary if it is to be used in an integrated conservation. The conclusion is that amethod for cultural environmental analysis should collect information about the entireenvironment (integrated information about nature and culture, in a historical perspectiveand how it is today), about social structures, physical remains (buildings etc) and what thecollected information tell about the history of the studied area, as well as what is importantin the landscape of today. Information about how the environment should be treated in thefuture is also of importance.

Undersökningen handlade om stress, coping och utbrändhet bland anställda inom den kommunala hemtjänsten. Syftet med undersökningen var dels att undersöka sambanden mellan upplevd stress och tre dimensioner av utbrändhet (emotionell utmattning, cynism och prestationsförmåga), dels att undersöka vilka copingstrategier som är associerade med dessa utbrändhetsdimensioner. Ytterliggare ett syfte var att undersöka om de anställda kunde karaktä-riseras som utbrända. Ett frågeformulär distribuerades till 100 anställda inom den kommunala hemtjänsten i Malmö svarsfrekvensen var 41 %. Stress mättes med Perceived Stress Scale (PSS), coping har mättes med Brief COPE och utbrändhet mättes med Maslachs Burnout Inventory (MBI).

Kisa Courthouse in the south of ?sterg?tland is a house built in the early 19th century with a typical neoclassical style. With clearly regular symmetrical wooden facade scheme with a central main entrance. The main entrance is a wooden double door with richly decorated portico. the crown moulding above the door consists of a band of dentils with a cornice moulding at the top.

It is sixty years since Sweden's first star-shaped housing estate was built in Gröndal, a suburb of Stockholm. Olle Engkvist, the building contractor, was the driving force behind the residential area and it was designed by architects Sven Backström and Leif Reinius. The estate comprises detached star-shaped houses suited to a more hilly terrain and terraced star-shaped houses on the flat land. The eight gardens of the terraced houses form the shape of a hexagon. It is these gardens, designed by Sven Hermelin and Per Friberg, which are the main focus of this thesis. The buildings on the estate have recently been renovated and it is now time for the gardens to be restored.

This essay presents an investigation of the ruins of an assembly of crofts in a rural area in the south of Sweden, outside the town Falk?ping. Using literary sources and intangible sources, and then combine them with the information found by investigation of the physical remains of the crofts, the essay attempts to capture the life and the living conditions of the crofters. The investigation is focusing on the period between the nighteenth century and the first decades of the twentieth century, and looks into the the living conditions according to, for example, the buildings, the orientation in the landscape, demografical changes, the transformation of the area over years and how the crofters were affected by powerty. The investigation shows that the crofters in many ways were in vulnerable and exposed positions, powerty summarized as a lack of freedom ? concerning economical, political and social dimensions.

The aim of this thesis is to study and analyze a village in the southern of Sweden called Gnosjö, which is famous for a special spirit of industrial success and entrepreneurship. Gnosjö has been successful and famous for many years but is now standing in front of several threats, like a growing number of out moving inhabitants, a low standard of education and difficulties for women to make carrier. Trying to reduce the threat of young inhabitants moving out, a new education program started three years ago with the purpose to make young students to be more interested in the technical development of the industry and make them stay in the district and hopefully be entrepreneurs.The research questions are; which consequences does ?Entekprogrammet? and the background of the students have on the students view on the spirit of Gnosjö, carrier in the local industries and wish of staying or moving from Gnosjö. Furthermore, I want to see if there are any differences between the girls and the boys, does sex have an influence on the view at the future? The study is made by qualitative and quantitative method.

Sweden is considered to have one of the world's highest animal welfare standards in agriculture. Despite this, there are shortcomings in animal husbandry. One example is overcrowding, which is a way to increase stock size without making costly investments in the buildings. It can be carried out systematically to increase profitability or due to, for example uneven calving during the year. The European Commission criticizes the fact that stocking density is not controlled under Swedish welfare inspections.

The purpose of this paper is to clarify and understand the difference between Brunius?, Zettervall's and Graebe's valueing of a historical building, the cathedral of Lund. Between 1833 and 1963 the cathedral of Lund went through three larger restorations. The character of the restorations however differs a lot between the three church architects, Brunius, Zettervall and Graebe. In a time of low interest for the Middle Ages and of many demolitions of churches in the countryside, Brunius stood out as a researcher and an enthusiast of that special time.

The Swedish potential of electricity production from roof mounted solar panels has been determined in three steps: accessing the existing roof top areas, simulating the amount of electricity solar panels can produce on these areas and finally analyzing how large the necessary economical change is to make the solar cells profitable.The total existing amount of roof top areas are 319 square kilometers and the area distribution follows the distribution of people. This leads to an installed power of 47,9 GW which are expected to produce 49,0 TWh electricity per year. If the quality of the electricity is prioritized the highest the power is reduced to 3,7 GW, generating 3,8 TWh yearly, but if the hosting capacity is calculated from Sweden?s total electricity need, the capacity is 42 TWh per year.Today, solar panels are not profitable in Sweden for houses, even though there is a subsidy of 35 % of the investment costs, discounted in 25 years. The profitability is calculated with a cost of capital of 5 %, a price on electricity of 1 SEK/kWh and an investment cost of 20 SEK/Wp.

In this bachelor thesis, diagnostic methods for one of Siemens stem inlet control valves have been developed. The work has taken place during ten weeks at Siemens Industrial Turbomachinery AB in Finspång. The company produce steam- and gas turbines and also provides service and maintenance. The purpose with this project has been to develop diagnostic methods that oversee the health of the control valves. By using the developed methods you will know when it?s time for maintenance.

Sweden is considered to have one of the world's highest animal welfare standards in agriculture. Despite this, there are shortcomings in animal husbandry. One example is overcrowding, which is a way to increase stock size without making costly investments in the buildings. It can be carried out systematically to increase profitability or due to, for example uneven calving during the year. The European Commission criticizes the fact that stocking density is not controlled under Swedish welfare inspections.

The use of energy is an important question in today´s society, and a substantial part of the energy that is used today is used in our homes. To lower this usage is vital, and there are regulations in place both on the national and the local level, that say that new apartment blocks must be built to consume less energy, which in the end will lower the impact on the climate.One way to make the housing sector more environmentally sustainable, is to produce energy issions that are bad for the environment, for example to build wind turbines close to or even on the buildings, so called urban wind power. The scope for this report is to see if urban wind power could be a sustainable alternative for the residential area that Svenska Bostäder plans to build in Albano in Stockholm.There are extensive scientific theories regarding wind and wind power, and a literature study is made to investigate past knowledge in the area. Efforts have been made to find earlier trials with urban wind power and, both scientific research and trials where urban wind power actually has been installed. The theory chapter deals both with the wind itself and how electricity can be generated from wind.