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.

The aim with this report is to investigate what influence the way playgrounds are used throw the case study in Vänersborg, and also to find methods for municipalities to collect information about how playgrounds are used. The methods were observations, interviews with parents and children, a questionary with questions about what playgrounds they used, how often and why they used them and what the children used to do there. There was also a demographic investigation and documentary research. The most popular playground, Skräcklan, gets visitors from all parts of the municipality. It is located in a park with a view over the lake Vänern, there is a parking place and a café and it has furthermore a large area and many play equipments. Many of the families make shorter trips and picnics to this place. In exception of this playground, the families almost always go to the playground in their neighborhood and their part of the town.

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.

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.

Nordic Marine Sauna AB has, since 2005, designed, manufactured and sold floating saunas. Theproduct are characterised by a well thought thru and appealing design and its high quality. Thecompany is now intending to open a new business area by starting a subsidiary, NordicSubmarine Sauna AB, which will design submerged saunas. The expected customers are leisureand conference centres as well as customers that seek an experience out of the ordinary.Due to the products technical complexity a master thesis was adverted. The task was to do aninvestigation whether such a product is technically viable.The job involved research of existing products and constructions material as well as designingthe product with CAD and FEM-programs.

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.

During the past few years an increased attention has been paid to environmental issues in the construction and property sector in Sweden. In order to simplify the work with these issues a Swedish environmental certification system for buildings called Miljöbyggnad has been developed. This thesis aims to investigate the opinion of a selected number of selected property owners of Miljöbyggnad. From that basis recommendations and actions for the future work with the system will be presented.The investigation has been conducted through personal interviews with five property owners. The main issues that the interviews have been based on are their purpose, experiences, perceived complications and future prospects in terms of certification using Miljöbyggnad.The system intends to be cost-effective, simple and to offer a relevant environmental assessment of buildings and the result from the report indicates that this is largely fulfilled.

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.

When different type of programs are developed one wants to make these adjustable to future changes and requirements. It must be done a good design of the program from the beginning to make it possible to continue development of it without having to redo big parts of it to high costs. In the area of object orientation there are design pattern, which can be used to design systems that can be adjusted to new changes in an easier way. I have in this thesis chosen to take a closer look at how to design a program that sends SMS to cell phones through a system of an operator. One requirement on the program is that it has to be possible to change what operator to send though in an easy way.

BarnOPAC is a Swedish library interface for children. It was launched in public libraries in Sweden in 2001 and has now become a part of library software equipment in several public libraries. The purpose of the thesis is to investigate the interface BarnOPAC on the basis of the childrens perspective. The questions raised consider: how children experience and handle this interface, how library staff experience it and what viewpoints librarians have on childrens use of it. For this purpose we implemented a user study including eight children using the interface in a school library.