The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

In this master?s thesis the problem of simulating conditional Bernoulli distributed stochastic variables, given the sum, is considered. Three simulation methods are considered, namely the acceptance/rejection technique, Bondesson?s method and the Markov chain Monte Carlo method.To compare the three methods the bias and the standard deviations of the simulated variables are evaluated. The results of the simulation study shows that the Markov chain Monte Carlo method is not the best method for this type of simulation.

Operators and Internet service providers invest in broadband to be able to deliver new services that require higher data transmission rate. A way to make this possible is to use ADSL, Asymmetric Digital Subscriber Line, as the access technology. To be able to handle this technology, the service providers should do a pre-qualification. Methods and tools are needed to analyze the local copper lines and decide if these qualify for ADSL with respect to service availability and possible bandwidth through the lines. This report brings up some methods for pre-qualification of ADSL, the important quality parameters and how to gather them from the available services today.

This thesis shows the result from investigations of methods that use distance vectors when matching pictures. The distance vectors are available in a distance map made by the Euclidean Distance Transform. The investigated methods use the two characteristic features of the distance vector when matching pictures, length and direction. The length of the vector is used to calculate a value of how good a match is and the direction of the vector is used to predict a transformation to get a better match. The results shows that the number of calculation steps that are used during a search can be reduced compared to matching methods that only uses the distance during the matching..

Introduction: The caesarean section rate has increased significantly in the last twenty years. The fact that a woman has delivered by caesarean section once does not automatically mean that she will again. Some women want a repeat caesarean section while others want a vaginal birth. Objective: The aim of this study was to describe women?s thoughts, expectations and desires in the presence of their delivery after a previous caesarean section.

If you have access to wood, a wood burning boiler is a cheap way to heat your home, but it is certainly not the most convenient option. Wood requires many operations and management, which takes time. One way to reduce this workload is to have a modern boiler with automatic ignition. Enertech/CTC has a desire to create an accessory with automatic ignition to a modern wood burning boiler. Today there is no boiler on the market that can ignite firewood automatically without the introduction of paper and sticks.

The building industry are currently going through a huge alteration. The introduction of BIM (Building Information Modeling). Which also implements a lot of new ways of solving problems that building modeling can cause. This report is written for Uppsala University in cooperation with Temagruppen in Uppsala. However, it contains a comparison between two different systems that checks building models.

AbstractThe aim of this examination paper is to get an overview on the ?no-maintenance? windowsthat exist on the Swedish market, like plastic and aluminium windows.By way of introduction the reader gets knowledge in the background and problemformulatethat this subject has. This introduction explains why it has become so popular to changeyour windows into plastic- and aluminium windows and there is an existing scepticismagainst PVC and aluminium as construction material for windows.The main part of this report is constructed by segments of interviews where bothproducers of windows and stakeholders gets to answer questions about their viewing onno-maintenance windows from a material and construction point of view and where theproduction is headed to in the future. This is followed by an evaluation of a questionnaireon how pleased the house owners that changed their old windows to no-maintenancewindows are, followed by an inspection of windows made up from wood and an aluminiumclothing, windows made from only aluminium and PVC-based windows. It ends with atheory part about the materials PVC and metal based upon facts included in literature.By reading this report you can draw the conclusion that no window can be entirely nonmaintenancebut that the materials PVC and aluminium still are good substitutes for woodto lessen the maintenance..

Mould is a common contamination in cereals. The growth of mould can stimulate mycotoxins production andsome of which at critical concentrations cause health problems in humans and animals. Fusarium is one of thefungus species that has been found in crops and can cause major problems for farmers such as reduced harvestand economic losses. A group of Fusarium species, Fusarium avenaceum, Fusarium poae and Fusariumtricinctum express a mycotoxin, enniatin. The limited information available today about enniatin-forming fungiis that they grow out on fields of wheat in colder climates.

This thesis studies the customer relationships and customer accounting methods used by a Swedish fashion company. The aim is to test the empirical applicability of the relationship based framework developed by Lind and Strömsten and to explain potential differences between empirical observations and theory. The framework is based on the categorization of four customer relationship groups and the appropriate customer accounting methods to be used for each relationship. The fashion company, that recently assessed the profitability of its customer base in an aim to implement a new customer strategy, is the object of the qualitative case study. The case study reveals that all customer relationships are to be found at Whyred, except the connective customer relationship.

Total organic carbon (TOC) and chemical oxygen demand (COD) are two methods used for measuring organic pollutants in wastewater. Both methods are widely used but the COD method results in production of hazardous wastes, including mercury.The purpose of this study was to validate the method TOC that will replace COD and find a factor to convert TOC to COD. In this study 26 samples were analyzed from four sewage treatment plant in the municipality of Enköping.The results show that the COD method could be replaced by the TOC method.The factor for COD/TOC was between 3.1 - 3.3. Both methods will be used in parallel until 2013 when it will be forbidden to use the COD analysis..

AbstractThe aim of this thesis is to investigate an experimental work in the region of Kronoberg and to study, from the actors? point of view, what possibilities there are for cooperation when it comes to hastening the introduction for newly arrived immigrants on the labour market, and also what possibilities the cooperation entails for the newly arrived immigrants to integrate on the labour market. The thesis employs the following research questions to answer the purpose:How do the actors in the project work to fasten the introduction to the Swedish labour market?Which opportunities and obstacles do the actors experience for cooperation in the project?Which consequences do the actors experience that cooperation in the project bring for the newly arrived immigrants? opportunity to integrate on the labour market?In order to answer the questions, ten actors involved in the project have been interviewed. Also written documents have been used.The conclusion of the study is that explicit goal and explicit division of the responsibilities in the project have made the cooperation easier.

In our essay we examine the different introduction models that are practiced in preschool. The central question is if the different models have any importance (or consequences) for the children?s connection in preschool. In the two different cases we will present, one based upon preparatory training that was applied during the 1990s and another that is currently used today.The purpose with this essay was to get a deeper understanding for the child?s attachment to preschool and for how we, as educators should act during the preparatory training to create a secure foundation for the child.

Abstract People who have problems with the written language will face serious difficulties in todays society. Our social structur is based on the criterium that every individual has to be able to read and write, and for this reason it is important that pupils with learning difficulties receive help. The purpose of my investigation is to examine how children with reading- and writing difficulties can benefit throught creative methods. Children with reading- and writing difficulties are in need of these creative methods that exist today. Amongst all of our public healht issues, dyslexia is one of the biggest problem we have today and children are therefor in need of these creative methods. Through  qualitative interviews with two educationalists there has been established thad the creative way of working benefits children in many ways if it is preformed correctly.

How does IT-consultants reason in their consulting process regarding the development of a clients IT-based internal recruitment system? The purpose with this paper is to investigate how an IT-consultant is reasoning in a consulting process and investigate whether consultants are using established models and methods in their work. We have chosen to work with a qualitative examination to attain our purpose. In our work gathering the empirical facts we have been working with a case study, an observation and a simulation exercise. The combination of these has made it possible to carry out the paper and produce the most correct data possible. Conclusion: We state that IT-consultants do not use any theory-based methods, they use process methods created by themselves and their company.