AbstractDelta Terminal owns an outdated industrial building which they now rent out to businesses.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..

This thesis has been carried out in collaboration with two students at the Department of Dental Medicine at Karolinska Institutet in Stockholm, Sweden. The aim of this project was to construct a computerized decision support system to facilitate diagnosis of changes in the Oral Mucosa using information collected by the above mentioned students. A program which poses specic questions to the user was constructed with the Java programming language. Depending on how these questions were answered, one or more possible diagnoses were presented by the program. In order to conclude whether or not this program was of any use in terms of time savings, a series of tests were run and timed both when using the program and when not.

The workplace is a good arena for healthy activities because of its ability to reach big target groups. A preventive health care program prevents ill-health and since 2001 Centralsjukhuset Kristianstad has a health care program, ?Främja hälsan?. Leadership is important in the health promotion work when to get the collaborators motivated and involved in the health care program. The aim of the cross-sectional study was to investigate the collaborators opinion about the managers? pedagogical role in the health promotion work at Centralsjukhuset Kristianstad.

Secondary schools have for decades debated whether they promote social reproduction which is considered to generate the homogeneous student compositions. The gap between the academic programs and vocational education programs is considered to increase. What in recent years has appeared in research is that the gap is increasing most tend to be in the specific academic program, particularly in science. This paper's intention is to describe the science program at a local level and the pupils who were admitted to the science program autumn 2009 on the basis of an educational sociological perspective. The survey consisted of a census in which all students were given the opportunity to answer a questionnaire.

This report describes the procedure in which we accomplished our task, which was to implement a present algorithm. This was made using C++. The algorithm is developed by Sasan Gooran, who is our examiner in this project. The algorithm uses an iterative method to produce the halftoned images. The reason for this project is to speed up the existing program which is made in Matlab.

Abstract The purpose of this project is to develop a modular processor card which is intended to work as a platform for Kitron Development Karlskoga. The modular processor card is meant to be used as a control system in development projects, mainly in medical and industrial products. The processor card will consist of a central unit with the basic functions for a control system. Furthermore there will be complete modules with machine commodity and programming, to pick exactly the necessary functions for a specific application. With consideration to the specification of the development and the main unit, I chose an adequate microprocessor (AT90CAN32) as core and interface circuits to stated border areas. The construction is first completed in the program MultiSim and then remade in the program OrCAD Capture. The programming language C was used in the software model.

This thesis deals with the supranational organization of European trade unions. The European trade union movement is, via its umbrella organization the ETUC, an institutionalized social partner within the European Union. The ETUC is a very diverse organization with great potential of conflicting interest among its members. This thesis therefore seeks to explore the dynamics and interest heterogeneity of the ETUC. Drawing on previous research and literature it formulates a number of hypothesises to test what variables that influence the member organizations policy preferences (i.e.

The aim of this essay is to describe the historical development of the intercultural teacher training program at Södertörn University in Stockholm. I have also examined how the intercultural teacher training program was started, how and why it became intercultural and how the people in charge of the development of the teacher training program discussed intercultural science. The teacher training program has been an active part of Södertörn University since 1998, but it became intercultural in 2002. I have studied these questions through documents from the Södertörn University archives and literature by the funders of the education. The study shows that the university profile, ambitions and motives have been a key factor in the decision to make the teacher training program at Södertörn a multi-cultural one..

Addressing increasing global environmental problems requires greater resource efficiency, and one way of working towards this is through industrial symbiosis. Industrial symbiosis means that companies collaborate through sharing of resources for collective benefits. The documented benefits of working with industrial symbiosis indicate that there is potential for companies to operate commercially with facilitation of industrial symbiosis. An interesting company to study within this context is Econova. Econova operates within the recycling and gardening industry and has been identified as a possible catalyst for industrial symbiosis.

The token economy program, which is a method for behaviour modification, has been used worldwide for different groups within different settings in order to vhange behaviour.Research has found the token economy program to be effective. However, research is limited to quantitative and experimental studies, and Swedish research in this field is brief. Nevertheless, the program is used in several institutions n Sweden. A qualitative study in Swedish settings could therefore be useful. The purpose of this paper is to examine the experiences of a token economy program using qualitative interviews.

In order to measure the quality of the logs, one can with help of Fast Fourier Transform technique get the signals resonance peaks. With help of these peaks you can see whether the quality of a tree is good or bad. This report contains the work of a where a program has been developed to be able to process a vibration created by an automatic hammer hitting on a log of wood. From the processed signal the program should be able to show both the raw wavesignal and the processed measured data from the resonance peaks. Beyond the raw wavesignal and resonance peaks the program should also be able to control the automatic hammer.

In order to measure the quality of the logs, one can with help of Fast Fourier Transform technique get the signals resonance peaks. With help of these peaks you can see whether the quality of a tree is good or bad. This report contains the work of a where a program has been developed to be able to process a vibration created by an automatic hammer hitting on a log of wood. From the processed signal the program should be able to show both the raw wavesignal and the processed measured data from the resonance peaks. Beyond the raw wavesignal and resonance peaks the program should also be able to control the automatic hammer.

In order to measure the quality of the logs, one can with help of Fast Fourier Transform technique get the signals resonance peaks. With help of these peaks you can see whether the quality of a tree is good or bad. This report contains the work of a where a program has been developed to be able to process a vibration created by an automatic hammer hitting on a log of wood. From the processed signal the program should be able to show both the raw wavesignal and the processed measured data from the resonance peaks. Beyond the raw wavesignal and resonance peaks the program should also be able to control the automatic hammer.