In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

I Finspång tillverkas gas och ångturbiner. Verksamheten går under namnet Siemens Industrial Turbomachinery AB, som förutom att bygga upp turbiner som separata leveranser även projekterar kompletta kraftanläggningar, där turbinerna ingår, för att producera elektricitet, ånga och värme.Till de gasturbin kraftverk som levereras av Siemens Industrial Turbomachinery AB används ett Simatic PCS-7 styrsystem för att kontrollera turbinerna. För PCS-7 styrsystemet kan mjukvaran Simatic PDM (Process Device Manager) användas för diagnostisk analys av automations komponenter och intelligenta fältenheter. Målet med examensarbetet är att kunna varna tidigare för fel på automations komponenter och fältenheter så att man kan förebygga stillestånds tider som kan uppstå i en anläggning. Examensarbetet visar vad för slags funktioner Simatic PDM har och hur programmet kan utnyttjas i en anläggning.Examensarbetet innehåller en beskrivning av programmet Simatic PDM och PCS 7-styrsystemet.

Bakgrund: Det finns ingen enhetlig definition av komplementa?r alternativ medicin (KAM). Det visar sig att anva?ndandet av KAM o?kar hos befolkningen i va?rlden. Det finns ett stort informationsutbud pa? internet vilket kan leda till risker fo?r patienter vid felaktig information.

Syftet med denna studie är att rapportera prospektivt om handfunktion och aktivitetsutförande efter PIP- leds pyrocarbonprotes med efterföljande rehabiliteringsprogram. I studien används objektiva och subjektiva utvärderingsinstrument. Studien inkluderar 21 patienter i ett program som följer patienterna minst ett år (12-36 mån.). För objektiv utvärdering användes rörelseomfång (ROM) och greppstyrka och för subjektiv utvärdering användes validitetsreliabla instrumenten COPM och DASH. Smärta mättes med visual analogue scale (VAS).I studien har fyra av 21 patienter blivit reopererade pga smärta, infektion och inskränkt rörlighet.

A group of companies that only recently has caught the attention of Swedish designers, enterprises and media are the so -called "furniture pirates". In Sweden it?s mainly two companies that have ended up in the spotlight. The online stores Ikon M and Designers Revolt are two companies which currently sell replicas of famous Swedish and foreign designers. Although the designs sold are copyright protected in Sweden, and most other European countries, the right holders can only stand by and watch as more or less exact copies are sold for a fraction of the price of the originals.The business model - to exploit the EU?s free movement of goods and the UK's short term of copyright protection in matter of mass-produced art (industrial design) - has proven successful for the companies that practice it.

A group of companies that only recently has caught the attention of Swedish designers, enterprises and media are the so -called "furniture pirates". In Sweden it?s mainly two companies that have ended up in the spotlight. The online stores Ikon M and Designers Revolt are two companies which currently sell replicas of famous Swedish and foreign designers. Although the designs sold are copyright protected in Sweden, and most other European countries, the right holders can only stand by and watch as more or less exact copies are sold for a fraction of the price of the originals.The business model - to exploit the EU?s free movement of goods and the UK's short term of copyright protection in matter of mass-produced art (industrial design) - has proven successful for the companies that practice it.

During the period 1952-2008, real prices of wood before taxes and charges declined. However, the actual net income has not changed by the same percentage as the price list, because taxation, driving costs and the ability to make deductions has changed. This report considers the inflation by using the Swedish consumer price index. Net income refers to the remaining income when relevant costs, taxes and fees have been paid.The purpose of this study was to examine how the private forest owner's real net income has evolved over the period 1952-2008 for three categories of forest owners. These three categories are1.

The purpose of this study has been to make an inventory of combustible waste in the region around Norrköping and to investigate the composition of domestic waste, industrial waste and two different types of sludge. The work was performed at the request of Norrköping Miljö & Energi, due to the planning of an incineration plant. The inventory of the waste was performed through inspection of environmental impact reports, from waste disposal plants in a number of local government areas in the region. The quantities were also compared to another inventory, carried out in a different way. The characterisation of the wastes was compared to the fuel specification determined by Norrköping Miljö & Energi.

Cardiac troponin I (cTnI) is considered a specific and a sensitive biomarker of cardiac disease, and due to a high inter-species sequence homology; human cTnI assays can often be used in veterinary medicine. The main aim of this study was to perform an initial evaluation of a human cTnI test, the Meritas Troponin I test, for measurement of equine plasma cTnI, in order to investigate whether the test could be a possible subject for a more comprehensive validation. The hypothesis was that the test could measure equine cTnI, as there is a good homology between equine cTnI and human cTnI. The evaluation included a dilution parallelism, an intra-assay precision study and measurement of plasma cTnI healthy horses. In the dilution parallelism and the intra-assay precision study, equine plasma with previously established high cTnI concentration, according to another cTnI assay, was used. In addition, cTnI concentration was measured in plasma, collected from 19 horses, without signs of disease at physical and ECG examinations. The obtained curve in the dilution parallelism was linear, indicating that the Meritas Troponin I test can be used to measure different concentrations of equine cTnI in plasma.

Abandoned and unused railway structures often possess great potential if they are reclaimed and reused for new purposes. The thesis focuses on the global trend of restoring and revitalizing these areas, converting them into park areas, rail trails and green corridors in the city landscape, while preserving their ecological, social, esthetic and historic values. These rail areas were often abandoned when industries moved out from the cities, either to industrial areas or abroad. The use of railways for transporting industrial goods was also replaced to a large extent my motorized road vehicles in the mid 20th century, leaving the rails under-utilized. Because of their location and intrinsic values, they can be reused for important functions, such as green areas in the city environment, providing space for recreational activities and exercise and social meetings and interactions. I have closely investigated the three park areas High Line in New York, Promenade Plantée in Paris and Schöneberger Südgelände in Berlin, which have all gone through this transformation in recent years. I have summarized my conclusions in three key concepts to consider: design for social values, preserve the architectural history, and leave room for future evolution. The final part of my work is a design program for an abandoned railways area in Stockholm: Eriksdal railway area.

Effects of climate change, urbanization and global homogenization are resulted in the degradation of land and losses of natural habitats. Ecological design integrates nature into urban environment by respecting natural ecological principles and processes and creating resilient urban biotopes which also can be used by local urban communities. The aim of the thesis is to answer the research questions: How ecological design principles can be applied for re-design of Toledo Riverfront (with requirements of the design competition)? and What is the ecological design in landscape architecture? I participated in the USA design competition with the aim to create a vision and redesign of Toledo Riverfront in Ohio State, USA. The site is located in the south point of Lake Erie. As a result of a long industrial activity, riverfront of Toledo had been transformed into inaccessible and abandoned brownfields. In my proposal I applied ecological design principles on three scales: the city of Toledo by reinforcing of ecological connection and creating green corridors along the river; the intermediate scale by suggesting public parks along the river front and on the fine level by proposing detailed design including remediation of the site and use of dredged material.

The primary focus of this Master thesis is to study how industrial house building can be implemented during production of rental flats under the terms of public procurement. In order to determine a suitable working process as well as presenting a possible architectonic result of the process, a case study is carried through.A housing projekt is designed on a site i Malmö, where the commisioner is MKB Fastighets AB and the contractor is NCC Komponent with the industrial building system NCC Komplett. The focus of the design is to accomplish high quality apartments to a resonable price, as well as solving the overall scheme for the site.The housing projekt, Kv. Flaggskepparen, built on the consept of a single house model, used to handle the entire site, shows that the building system is well suited to accomodate the commisioners demands.In order to reach the best possible architectonic result with the building system, cooperation initiatded in an early stage of the process is neccesary.A model is proposed to handle the situation under the terms of public procurement. The model suggest that the geometrical design is mainly carried out after inquiry and that architectonic qualities should mainly be defined in a non geometrial way for inquiry..

This cross-sectional study investigated the use of health benefits in relation to the self-rated health of employees at two medium-sized industrial enterprises in Hälsingland. The method used to investigate this was through a self-designed questionnaire consisting 19 questions about health, lifestyle and health benefits at the workplace. A total of 100 questionnaires were distributed in the two companies, hence 50 surveys at each workplace. The response rate was measured to 88 % and 74 %, which means a loss of 6 persons and 13 persons. The results showed that Company nr 1 offers its employees a health benefits consisting of free access to gym in the company premises after working hours and financial contributions to training-cards.

A group of companies that only recently has caught the attention of Swedish designers, enterprises and media are the so -called "furniture pirates". In Sweden it?s mainly two companies that have ended up in the spotlight. The online stores Ikon M and Designers Revolt are two companies which currently sell replicas of famous Swedish and foreign designers. Although the designs sold are copyright protected in Sweden, and most other European countries, the right holders can only stand by and watch as more or less exact copies are sold for a fraction of the price of the originals.The business model - to exploit the EU?s free movement of goods and the UK's short term of copyright protection in matter of mass-produced art (industrial design) - has proven successful for the companies that practice it.

BackgroundNumber of patients treated with medicine that has an anticoagulation character is constantly increasing. Chronic atrial fibrillation is the most common diagnosis being treated, but other diagnoses such as venous thrombosis), pulmonary embolism, stroke, coronary stent thrombosis and arterial thrombosis treated. There are a variety of anticoagulant drugs. In Sweden Warfarin is used as standard medicine for oral anticoagulation therapy.PurposeThe purpose of this study is to examine and reflect nurses' experiences of working on anticoagulation clinic, and if he / she claims to have access to the necessary skills and resources to carry out a safe care.DesignThe study has a qualitative design with semi-structured interviews which were analyzed with an inductive approach. The interviews included six respondents.FindingsThe results showed that nurses who worked at anticoagulation Clinics had no specific training to operate these clinics.