The purpose of this project was to further develop and complete a quadcopter that had been built in an earlier course at KTH, so that it could be used for demonstration and education at the school. The quadcopter was at the beginning of the project completed when it came to hardware, and there was some software functionality implemented but no system for automatic stabilization. The main goal of the project was to implement such a system, and to combine it with the previous functionality to make the quadcopter operable and able to fly. To create a functioning and stable ground multiple basic software features has been implemented, and on top of that additional software to improve the safety, stability and functionality. The most important part is the control system that is responsible for converting sensor and control signals to suitable motor values.

Today the individual ventilated cage system (IVC-system) is a commonly used housing system for mice in research facilities. IVC systems have HEPA- filters and are designed to control both supply and exhausted air at cage level, as well as temperature and relative humidity in the cages. This creates an optimal environment for the mouse and at the same time a protection against the risk of cross-infection between cages and the outside environment. The aim of this study was to evaluate the health and welfare of breeding females and pups of two different strains of laboratory mice (NMRI nude mice and C57BL/6N) in three different kinds of IVC-systems; Arrowmight, Allentown and Tecniplast. The NMRI nude (Nu) females gave birth to 18 litters in Allentown, 16 litters in Arrowmight and 15 litters in Tecniplast.

The task was to design and manufacture a submersible displacement pump working with the wobble plate principle. The main task for the Wobble plate pump is to be used as a sewage pump for smaller households or dewatering pump in environments where small flows and high pressures are acquired. For these purposes ITT Flygt sell a screw pump, PC-Grinder 3068. The hydraulic part of the PC-Grinder is manufactured by a subcontractor. Therefore ITT Flygt wants to evaluate an alternative to their screwpump PC-Grinder, which can be entirely manufactured by them self.

AbstractThis thesis is the final part of the Innovation and Design Engineering Programme (180 ECTS credits)at the Faculty of Health, Nature and Engineering Science at Karlstad University. The extent of thisthesis is 22.5 ECTS credits and has been performed independently by Hannes Jernberg during thespring of 2013. Metso Paper Karlstad AB is the task maker of this project, and Arvid Johansson is thecompany Representative. Metso Paper Karlstad AB is one of the world leading developer andmanufacturer of tissue paper machines.In the current situation, the company has developed and patented a power management systembased on a Cross Flow Turbine. The current construction is limited to a paper width of 2.9 meters.The company wants to take advantage of all the opportunities provided by the patents, to develop aturbine solution paper machine with a paper width that is wider than 5.5 meters, and give the abilityto manufacture paper for lower energy consumption which is an important part of the production asit is very energy intensive.Problems arise with the increasing length of the turbine, ultimately resulting in that the deflectionbecomes too big and that the momentums, due to the increased torque the turbine blades breaks.By applying the design process, this work has resulted in a number of potential solutions to theproblem.

Environmental problems are accelerating with energy consumption and the release of greenhouse gases as the major issues. This affects landscape planning mostly through environmentally hazardous transportation and heating of buildings. In environmental work, the term "Sustainable development" is often used. This term was coined in the Bruntland report in 1987. A number of frameworks have been developed to clarify the term and to remind the user about relevant aspects of sustainability.

This report describes a thesis done at the Jönköping University of Technology. The aim of this thesis was to create conditions to optimize an existing automatic electrostatic coating system by changing the technology for dispensing lacquer. To select the technology, a study of different dispensing techniques carried out which concluded that the piezoelectric membrane and electrostatic atomization are the most interesting techniques.In order to perform tests with dispensing techniques a demonstrator has been optimized. The controller and PC software of the demonstrator has been programmed to be able to send out PWM signals that control the dispensers. An adapter card was designed to control the piezoelectric membrane and a steering link to the electrostatic atomization has been developed for PWM signals up to 500V.The work has laid ground for a demonstrator where further testing of the dispensing technologies can be performed..

Global catch fishery is said to been oppressed to its limit (Boyd & Schmittou, 1999), further implying aquaculture might be the only solution to the world demand for fishery products. The applied term aquaculture in this paper refers to the one used by NOAA (2008); breeding, rearing, and harvesting of plants and animals in all kind of water environments, including but not limited to ponds, rivers, lakes, and the ocean. According to Shamshak & Anderson (2008, p. 74) aquaculture has over the past 20 years been the fastest growing food sector with an average annual growth rate of 8.7%. It further represents approximately 37 % (Shamshak & Anderson, 2008, p.

Tappningsstrategin för Vänern ändrades i ett beslut från Länsstyrelsen i Västra Götalands län och Vattenfall AB, på uppdrag av regeringen år 2008. Detta gjordes för att minska risken för översvämningar i Vänern.  Åtgärden var föreslagen av Klimat- och sårbarhetsutredningen, som försökt utreda konsekvenser av klimatförändringar för Vänern i ett framtida förändrat klimat. I utredningen används en metod för att mäta kostnader. Metoden är en kostnads-nytto-analys (Cost-Benefit-Analysis; CBA) som användes för att utvärdera bland annat Vänern med omnejd. Enligt denna uppsats saknas det värdering för naturmiljö och sociala faktorer i denna utredning.

This work has been made in cooperation with the municipality of Eslöv and the inventory area is a part of the deepening of the municipality plan of east Eslöv. The aim of the work is to test the principle of balance in the overall planning. Later in the detailed planning process a more detailed calculation is made and a suggestion of suitable measures for compensation is made. Then the method with green area factors can be used. The goal is to balance the negative influence on the environment from the planned impacts to gain a sustainable development of the city. The principle of balance means that the one responsible for the development also has to compensate for the negative impacts on nature and landscape that comes with the development.

This report describes the manufacture and control of a flying platform. The report describes the basic and fundamental theories required to get the platform flying. It touches on subjects such as A/D-conversion. PWM-control and PID-control. The sensors used in the platform are a gyro and an accelerometer.

The purpose of this Master?s thesis is to describe the library development in Sandviken, during a period from 1865 to 1945. I will mainly focus this examination on the two most significant libraries of the period; on one hand the library facilitated by the ironworks company, and on the other hand the library of the Workers? Educational Association (ABF). This study is carried out within a theoretical framework consisting of the two concepts paternalism and the formative moment, as formulated by Lars Magnusson and Bo Rothstein, respectively.

Aquatic organisms are usually not exposed to single substances but rather to mixtures of toxicants in streams located in agricultural areas. The transport of pesticides used in the agricultural area in Sweden is monitored with continuous environmental supervision every year. During 2002-2008 an average of 10 pesticides were found in each sample and 40% of the samples contained substances with concentrations higher than the Water Quality Standards. Chemical risk management is normally based on single-test evaluations. A problem when assessing mixture toxicities is that the constituents and concentrations of pollutants in the environment vary greatly.

Today most ice rinks in Sweden use secondary refrigeration systems with a solution of calcium chloride and water as secondary refrigerant. Due to the large amount of energy such a system uses more efficient systems would be desired.An earlier study concluded in the possibilities of using carbon dioxide as secondary refrigerant with copper tubes as the loops in the ice rink. Since then 3 ice rink refrigeration systems has been built with carbon dioxide in copper tubes. Excluding the ones being direct involved in those projects there is still very little knowledge about how these system works. This study has been made primarily with the aim of adding to the knowledge concerning availability and cost and secondary to look at possibilities for improvement.A comparison between systems with carbon dioxide, calcium chloride respective ammonium solved in water has been made by using Decision Matrix.

Since the 1950s, the development of modern rotation forestry in boreal Fennoscandia has resulted in a severe reduction of older forests, and a high degree of fragmentation among the small patches that remains of old forest. In Sweden, when performing conservation value assessments in order to identify and preserve the remaining forest habitats, the government authorities use to a significant extent a set of indicator species that indicate habitats of high biological conservation value. One species considered to indicate high conservation values in pine-heath forests is the red-listed ectomycorrhizal (EM) macrofungi Sarcodon scabrosus (Fr.) P. Karst. In the present study, the validity of using S.

Previous research confirms that there is a major decline of pollinators worldwide. Investigations have mainly focused on pollination services in the agricultural landscapes and therefore, there is a lack of knowledge on the effects pollinators may have in urban environment. This paper examines the presence of honey bees in central parts of Stockholm, Sweden. The study presents what conditions, possibilities and motives there are behind the phenomenon of urban bee keeping. I found ten locations with beehives and a total of 18 hives within the delimited area. Nothing seems to indicate that conditions may limit the presence of honey bees.