AbstractDelta Terminal owns an outdated industrial building which they now rent out to businesses. This property currently has a high energy con-sumption and therfore it is desirable to improve the efficiency. In ordet to reduce the energy consumption within the industrial building enve-lope, the heating systems and lighting are being investegated. A good building envelope emits less heat and thus reduces the energy consump-tion. An energy audit is a tool used to determine the energy loss.

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.

In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

During the last years commercial Wind Power Turbines (WPT) has become larger regardingto the generator sizes and hub heights. Available hub heights around 100 meters is nowcommon, which has led to profitability for WPT located in forests where there normally are tolow wind speeds. The current knowledgement regarding turbulence and the variation in thewind profile for the outcome of the power production for the WPT in forests is limited.In this Master of Science thesis an investigation concerning forest located wind power plantshas been made. The purpose has been to investigate if plants located in forest perform lesscompared to wind power turbines located at more common locations.The analyses are based on statically material for determining the availability,production/generator size, production/hub height, production/swept area and how thetopography affect the production results.The analyses show that the variation in production result for WPT located in forest comparedto turbines located at other locations is small. The availability is high and the productionresults are good..

This essay is an enquiry about how companies as participated in a Lean pro¬duction education use this education. The essay describes also how one works with the implementation of Lean production and how they believe that they will work. The enquiry tries to create an advisory material for other companies that are in the beginning of implementing their own Lean production systems. There these companies? gets a picture of how other companies have done during their try to create a functioning Lean production system.

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.

This survey deals with textile production and how it was carried out during the late Iron Age,with main focus on a central place, Uppåkra. A comparison has been carried out betweenUppåkra and two agrarian settlements, Fosie and V. Karaby, from the nearby landscape toinvestigate whether any variation in production can be detected. The value of textiles has alsobeen investigated to determine whether a potential specialization in production may have ledto a surplus.An analytical and comparative method has been used with focus on the context of thematerial.The results show that the textile production vary at the different sites, and that a need fordifferent types of textiles has existed. At Uppåkra, the possibility to produce fine threads andtextiles existed as demonstated by the findings of small and lightweighted spindle whorls.This suggests that the production may have included both fine and coarse textiles.

This study is done together with Sydved AB in the summer of 2012. The purpose of the study is to analyse how different quantity of assortments influence the production for forwarders and harvesters with multiple tree handling aggregate in thinning, by different tree volumes. To make this analyse a time study was performed where three entrepreneurs work has been analysed. Beside the analyse, of different quantity of assortments, has also been analysed how the tree volume and a forest fuel assortment effect the production. The result of this study shows that the quantities of assortments have a significant meaning for the production. The biggest differences are most distinct between one and three assortments in the smaller tree volumes where production goes down if the quantity of assortments increase.

Background: The situation for Swedish agricultural production today is characterized by an increased competition, particularly after the country joined the European Union. Swedish agricultural production laws guarantee safe, high quality foodstuffs. However, due to these strict laws, Swedish farmers face higher production costs than their competitors. Meanwhile, cheaper imported goods compete freely on the Swedish market. Swedish agricultural production must find new ways to survive in the increasing competition.

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..

In our everyday life we are faced with many choices that have consequences on the environment. One of these is the food we choose to eat since food production has a big impact on the environment. In organic production the aim is to have a natural production process, where environmental impacts are minimized. By choosing organic food it is therefore possible to contribute to a better environment. A large number of meals are served every day in the public sector, which makes it an important player in the consumer sector that could make a major difference for the environment..

Palm oil has been used in processed food commodities since the 19th century. An increasing demand for regulating and ensuring a more sustainable palm oil production has resulted in various initiatives. However, these initiatives have received critique due to lack of compliance and insufficient revisions of palm oil plantations. The initiatives for creating an ethical, social and environmentally sustainable production are not sufficient for the Swedish industrial users of palm oil. As a result, stakeholders such as Swedish food processing companies, commit to ethical sourcing codes of conduct that go beyond the international palm oil initiatives.

A decade ago the organic egg production in Sweden was nearly nonexistent (Föreningen för ekologisk fjäderfäproduktion, 2008). A rising demand for these products in the beginning of year 2000 made the organic egg production the most increasing production of all organic provisions. The Swedish consumers value provision production that have a reduced impact on the environment and further protects the wellness of animals and plants (Jordbruksverket, 2010). Today, the organic egg production composes roughly 6 % of the total egg production in Sweden. This indicates that the ambition of Jordbruksverket, which has an organic egg production goal of 10 % of the total production, is not yet achieved.The consumer demand on the market is the driving force for these new products, and the higher prices contribute to an essential portion of the additional costs of organic egg production (Jordbruksverket, 2004).

Atlas Copco Tools develops and manufactures handheld industrial tools. Heat and surface treatments are used to provide the tools with certain properties. There are no routines for the choice of treatment or for how to specify treatment on drawings. Production documents that are sent for production abroad may not be clear enough. Some treatments are known as trademarks and there are no instructions for how to specify these on drawings and in CAD-models.The purpose of this master thesis work is to create recommendations for the procedure of choosing heat and surface treatment.

Lean is a production philosophy which is about increased resource use while meeting customer requirements. The foundation of lean comes from Toyota and their production philosophy The Toyota Way. Professor Jeffrey k. Liker has worked with Toyota's production philosophy and Lean for a long time and has created a 4 P model and 14 principles that characterize the Toyota production system (TPS), which many sources refer to.The aim of my work is to study the working procedure of asphalt projects from sales to the laid asphalt with a focus on planning and production management. The goal is to examine how the lean philosophy can be applied in planning and production to simplify the flow of asphalt projects based on Likers model and principles.