The aim of the Master?s Thesis work is to study and develop algorithms for autonomous travel of a UGV (Unmanned Ground Vehicle). A vehicle for the mounting of sensors has been constructed in order to perform the work. Since the UGV is to be used outdoor in urban areas, GPS can be used. To improve precision and robustness, inertial navigation is used in addition to GPS, since GPS reception is likely to be diminished in such areas.

This degree project aims to evaluate alternative methods to the unanaesthetized castration of piglets. Castration of piglets is performed to prevent the development of boar taint. Boar taint can cause great financial losses for the pig manufacturer. Unanaesthetized castration of piglets is not regarded to be satisfactory from an animal welfare perspective and the procedure will for that reason be outlawed in the near future.Several alternative methods are used in countries all over the world with promising result. The purpose of this study is to evaluate if this methods could be applied in Swedish pig production.A literature study has been combined with interviews; field studies, questionnaires and a small study on male pig production.To be applicable to and applied in Swedish pig production the alternative method must be financially accepted by the manufacturers but also accepted from an animal welfare perspective.Castration is the only way to guarantee a meat free of boar taint.

Voltage sag indices are a way of quantifying the performance of the power supply, as far as voltage sags are concerned. Indices can be defined for individual events, for individual sites, and for a whole system. A standard method for single-event methods is part of IEC standard 61000-4-30.This thesis emphasizes the importance of voltage sag indices and different methods for calculating three-phase voltage sag characteristics. Three-phase events measured in a medium network voltage over period of one month were analyzed, results examined and statistically evaluated. An algorithm for calculating voltage sag characteristics and indices was created in Matlab.

One of the essential needs of human beings is to be involved in a social context. The intention of this study was to see if the opportunity to have an iPod Touch, could make it possible for students with literacy difficulties to participate in the regular classes and if the implementation of iPod Touch in the school setting would result in informal learning outside the school. In this case study two pupils with literacy difficulties have been using an iPod Touch in their daily school activity. The pupils as well as their teachers have been interviewed about their experiences of implementing iPod Touch as a tool in the regular classroom teatching. The results indicate that iPod Touch can help students to be in inclusive education and that they use the iPod Touch outside school.

Composers? and choreographers? world of ideas. Aspects of the art process. This inquiry is about the artistic process when composing contemporary music and choreographing modern dance. I have studied three composers? and three choreographers? thoughts about the artistic process and the work that leads to a piece of music or a dance.

The work as a personal assistant is sometimes associated with certain problems. Studies have shown that personal assistants often experience indistinct rules and roles concerning what should or should not be included in their duties. This study was undertaken to evaluate problems associated with the profession as a personal assistant, how widespread they are and how they are dealt with. Specifically, the study evaluates if the personal assistants have to do duties that they consider they are not assigned to do. Different roles (formal as informal) are also discussed which may be of current interest in this study, but also how we see people on basis of ethics and moral.

This paper is about finding a set of unwritten rules pertaining to the teaching of history in an exclusively Swedish college. I want to know if truancy among immigrants has anything to do with SO teachers? choice of content or their teaching methods. Unwritten rules are a complex phenomenon but by applying different perspectives and teaching methods a pattern will emerge. It is possible to discover different influences in the way the teacher chooses their material and work plan.

The purpose of this study is to first investigate how a group of Syriac women participating in the Syriac/Aramaic Academics Association (SAAF ? Syrianska/Arameiska Akademikerförbundet) at a Swedish university perceive their ethnic identity, and maintain it in the mainstream Swedish society. Furthermore, it considers whether SAAF as an ethnic institution provides an arena for the reproduction of social capital in interaction with the women's families. This study is based on previous research and theories of ethnic identity and its role in the building of social capital within so-called ethnic groups. The method used for this study involves qualitative interviews, to achieve its aims.

Women ledaers and profitability, is there a correlation? Earlier research show different outcome on the correlation between women leaders and profitability. A Swedish consultant firm, Caran has a belief that more women leaders would create more financial profit, we ask us if that is the true situation. Using two different IC measurement methods we have shown the difficulties in calculate intagible resources, which methods that can/ can not be used and if women leders create financial value. We found the women leaders in Caran to add more value per dollar spent on the woman leaders than the value added per dollar spent on men leaders.

In this report female farmers use of technical equipment is investigated. There is little research made on this subject in Sweden, therefore this report can be seen as an explorative study. Research makes it clear that machinery, throughout history and even today, has been seen as a male area. Heavy machines are often associated with the same attributes as masculinity. Force, power, efficiency and control are some examples.

The aim with this study is to prepare for a larger study, by gathering information about hunting enrichment, discuss which enrichment Parken Zoo in Eskilstuna have that are suitable to use in the larger study and report which observation methods that are used in other articles. In the larger study, the focus will lie on evaluation methods and measurable results. They have, during several years at Parken Zoo in Eskilstuna, developed different types of hunting enrichments for their carnivores, because hunting is a natural behavior that is hard to accommodate in captivity. The bigger project will integrate other zoos so that they can do a study on a larger group of animals, and because a lot of other studies in the same field only capture the results of few individuals. In this literature study you will read about the goals of enrichment, research that have been done on enrichment for felids and review several specific articles about hunting enrichment for felids..

Over the next few years, major investments in healthcare buildings is to be performed. Most surgical theaters are in need of technological upgrades as the technology is outdated. In most cases not only a refurbishment is performed but also an expansion. The basis for expansion, is due to a large increased number of patients, but also to the complexity of the refitment. Partly it's because evacuations are difficult to implement and the disturbance that occurs in conjunction with the refitment.Löwenströmska hospital undergoing a technical upgrad.

With numerous applications in both military and civilian life, the demand for accurate 3D models of real world environments increases rapidly. Using an airborne laser scanner for the raw data acquisition and robust methods for data processing, the researchers at the Swedish Defence Research Agency (FOI) in Linköping hope to fully automate the modeling process.The work of this thesis has mainly been focused on three areas: ground estimation, image segmentation and classification. Procedures have in each of these areas been developed, leading to a new algorithm for ground estimation, a number of segmentation methods as well as a full comparison of various decision values for an object based classification. The ground estimation algorithm developed has yielded good results compared to the method based on active contours previously elaborated at FOI. The computational effort needed by the new method has been greatly reduced compared to the former, as performance, particularly in urban areas, has been improved.

Hemoglobin is an oxygen binding protein in erythrocytes. Hemoglobin is composed of four polypeptide chains. During the fetal stage the type of hemoglobin called fetal hemoglobin (HbF) dominates. After birth HbF is replaced by adult hemoglobin (HbA). HbF persists in concentrations less than 1%.

This master thesis reviews advances in detection and diagnosis of static friction (stiction) in control valves. Control valves suffering from stiction results in oscillating control loops which in turn decreases both the process stability and reliability. Perstorp AB sees a necessity to automatically detect stiction in valves before the effects of the malfunctioning valves have become too severe. This thesis presents an introduction to maintenance, control loops and how stiction in valves can affect performance of control loops.A selection of methods presented in the literature are introduced and examined using normal operating data from the site in Perstorp. Common for all selected methods is their intuitive ideas and that they are based on normal operating data and minimum amount of process knowledge.