In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

Due to increasing regulations regarding new diesel vehicles particulate matteremissions the new Scania truck, Scania Euro 6, has been equipped with a particulatefilter. This component effectively stores the particles in the exhaust gas but must becleaned in order to prevent itself from clogging. The filter is cleaned through aprocess named regeneration which is a thermodynamic process in which thetemperature of the filter is raised through fuel supplied to the exhaust gas.The purpose of this thesis is to contribute to the development of improved controlstrategies of the temperature during the regeneration process through thedevelopment of model-based controllers. These controllers are designed in order tohave good performance in stationary as well as automatic regeneration.In order to develop these model-based controllers a model of the system isconstructed. The model is described as a linear thermodynamic grey-box model withflow varying parameters, showing good results in validation.The model provides a simulation environment during the controller design, which isfocused around the development of linear regulators with the exhaust gas mass flowas a scheduling variable whose size determines controllers? mode of operation.

Billions of children, women and men lack access to safe water supplies, whichputs the affected in both social as well as economic despair. This paper willpresent some of the conclusions leading Non Governmental Organisations suchas the UN has presented recently concerning the terms of sustainability. Much ofit is true and important, but nothing can be done without extended cooperationbetween nations worldwide to find arguments that prevent short-term thinkingand economic wealth on the behalf of future sustainability.With a growing population and an increased competition for fresh water, theworld will soon face a severe shortage of good quality water for irrigation. This isbecause the distributions rarely match the demand, neither in Australia nor inAfrica. Important to notice is the major factor that the degradation of theenvironment is not one country?s problem to solve.

Due to increasing regulations regarding new diesel vehicles particulate matteremissions the new Scania truck, Scania Euro 6, has been equipped with a particulatefilter. This component effectively stores the particles in the exhaust gas but must becleaned in order to prevent itself from clogging. The filter is cleaned through aprocess named regeneration which is a thermodynamic process in which thetemperature of the filter is raised through fuel supplied to the exhaust gas.The purpose of this thesis is to contribute to the development of improved controlstrategies of the temperature during the regeneration process through thedevelopment of model-based controllers. These controllers are designed in order tohave good performance in stationary as well as automatic regeneration.In order to develop these model-based controllers a model of the system isconstructed. The model is described as a linear thermodynamic grey-box model withflow varying parameters, showing good results in validation.The model provides a simulation environment during the controller design, which isfocused around the development of linear regulators with the exhaust gas mass flowas a scheduling variable whose size determines controllers? mode of operation.

Hemp has been used for textiles for a long time in history until it became illegal to grow in many countries in the 1930s. It is interesting from an environmental point of view because it doesn?t need any pesticides and in most locations it doesn?t need any irrigation either, compared to cotton, which normally requires big amounts of both pesticides and water for irrigation. Hemp is a bast fiber, which means that the fibers are located on the bast of the stem (on the outer layer of the stem). Therefore they cannot be spun directly, they have to be removed from the stem first.

The focus of this project was to characterize the occurrence of ESBL-­?producing bacteria in two irrigation water ponds in Southern Sweden. Samples were taken from two ponds nearby each other, from which analyses were made based on levels of community and individual isolates. Community samples were used for attempts for characterization of resistance patterns in irrigation water using the Omnilog PM-­?plate system. The growth of community microbiota in the presence of the following antibiotic substances was assessed; amikacin, gentamicin, kanamycin, penicillin G, ampicillin, piperacillin, trimethoprim, potassium tellurite and ciprofloxacin. Isolates were pure cultured using semi-­?selective media: LB, Rainbow Agar, mEnterococcus, 0.1 TSA and VRBD. A total of 177 isolates were isolated randomly. Each isolate was identified using the Omnilog GENIII-­?system of biochemical characterization. Further, the isolates were tested on Brilliance ESBL-­?agar for their ability to grow. Out of the total number of isolates, 30 were selected, preferably Enterobacteriaceae or Pseudomonas spp., based on their high similarity to library strain during the identification in the Omnilog-­?system. These were further characterized using Etest-­?sticks. Three selected strains were picked for further analyses using exogenous isolation for attempts to simulate horizontal gene transfer, and Omnilog PM-­?panels containing various antibiotics of interest. Selections of samples were chosen for molecular tests targeting plasmid-­?borne resistance genes CTX-­?M1, CTX-­?M2 and SHV. The method for assessing community-­?resistance patterns showed ambiguous data that was difficult to interpret; further optimization is recommended. For all tested PM-­?plates, generally greatest differences between substances were found among wells with the strongest concentration of antibiotic substance. A total of 175 isolates displayed ability to grow on ESBL-­?agar. Etests confirmed ability of isolates to resist many ?-­?lactam antibiotics and many were clinically resistant to certain substances. No plasmids were transferred during exogenous isolation. During molecular tests, a few matches were found for the CTX-­?M1 gene. Isolates analyzed with Omnilog PM-­?plates showed resistance to most compounds tested. The isolates showed greatest resistance toward penicillin G, ampicillin, amikacin, kanamycin and trimethoprim. In the study, it was established that resistance among bacteria was frequently occurring in the irrigation water, and ?-­?lactamase producing bacteria was very common. Extended studies are needed to assess the frequency-­? and occurrence of horizontal gene transfer (HGF) in this environment. Although some potential corresponding data is found, it is at this point not possible to determine whether the resistances are due to antibiotics used in veterinary medicine, human medicine or one additional reason is travel and trade. in irrigation water using the Omnilog PM-­?plate system. The growth of community microbiota in the presence of the following antibiotic substances was assessed; amikacin, gentamicin, kanamycin, penicillin G, ampicillin, piperacillin, trimethoprim, potassium tellurite and ciprofloxacin. Isolates were pure cultured using semi-­?selective media: LB, Rainbow Agar, mEnterococcus, 0.1 TSA and VRBD. A total of 177 isolates were isolated randomly. Each isolate was identified using the Omnilog GENIII-­?system of biochemical characterization. Further, the isolates were tested on Brilliance ESBL-­?agar for their ability to grow. Out of the total number of isolates, 30 were selected, preferably Enterobacteriaceae or Pseudomonas spp., based on their high similarity to library strain during the identification in the Omnilog-­?system. These were further characterized using Etest-­?sticks. Three selected strains were picked for further analyses using exogenous isolation for attempts to simulate horizontal gene transfer, and Omnilog PM-­?panels containing various antibiotics of interest. Selections of samples were chosen for molecular tests targeting plasmid-­?borne resistance genes CTX-­?M1, CTX-­?M2 and SHV. The method for assessing community-­?resistance patterns showed ambiguous data that was difficult to interpret; further optimization is recommended. For all tested PM-­?plates, generally greatest differences between substances were found among wells with the strongest concentration of antibiotic substance. A total of 175 isolates displayed ability to grow on ESBL-­?agar. Etests confirmed ability of isolates to resist many ?-­?lactam antibiotics and many were clinically resistant to certain substances. No plasmids were transferred during exogenous isolation. During molecular tests, a few matches were found for the CTX-­?M1 gene. Isolates analyzed with Omnilog PM-­?plates showed resistance to most compounds tested. The isolates showed greatest resistance toward penicillin G, ampicillin, amikacin, kanamycin and trimethoprim. In the study, it was established that resistance among bacteria was frequently occurring in the irrigation water, and ?-­?lactamase producing bacteria was very common. Extended studies are needed to assess the frequency-­? and occurrence of horizontal gene transfer (HGF) in this environment. Although some potential corresponding data is found, it is at this point not possible to determine whether the resistances are due to antibiotics used in veterinary medicine, human medicine or one additional reason is travel and trade..

The trend towards increasingly large farming units raises questions regarding how to better monitor production. Larger units make the impact from possible errors more severe, which increases the pressure on management supervision. To cope with management issues, prevent errors and handle increased demands on traceability and documentation, the Real Time Location Systems (RTLS) concept is making its way into various parts of agriculture. In sectors outside agriculture, RTLS are already being used successfully to track and locate items through nodes at different levels of accuracy, such as room level or the relative or absolute position. Empirical data can be received in real time from the nodes.

This report documents the development of a software system for automaticscheduling called Hazel. This system is comprised of a server where an automaticscheduler has been implemented, as well as a web and mobile applicationthat allows users to interact with the system. The scheduler hasbeen developed with the functional programming language Haskell and usesa SAT-solver.Manual scheduling has long been the bane of managers everywhere, asmatching the needs of the employer with those of the employee is often adifficult and time-consuming task. There already exists several automaticschedulers that attempt to solve this problem. The issue with said schedulersis that thay tend to be expensive, or developed to only fulfill the needsof a particular organisation.

The contribution of biofuels to the total consumption of energy in Sweden must increase to 49 % in order to meet the goals for the year 2020 set by the European Union. In order to do so, improved information systems are needed to support the business processes within delivery scheduling between customers and suppliers.Enterprise Architecture (EA) is a concept to enable the alignment of Business processes and Information Systems. EA is the framework for the architectures of business, information and applications. With a comprehensive view of the architectures, an Information System aligned with the Business processes can be enabled. The first step in the development of an Information System is documenting the business processes.The goal of this study is to clarify a generic sequence of activities performed within the delivery scheduling process and the information needed to perform the activities.Data for the study was collected through qualitative interviews, first through a meeting with the respondent and after that a following telephone interview with in total 5 suppliers and 6 customers of biofuels.

This final project is an investigation about the responsibility in rooms where the walls and floors are exposed or partly exposed to irrigation of water, as a bathroom, laundry room and WC. The cost for all water damage is valued for 5 000 000 000 SEK each year. How is this possible with all information about the problem and good materials? Who is responsible? Incites had been made in the subject throw reading reports and participation in courses about how to make a room mention above. Discussions have been made with workers in the trade of making the walls waterproof.The conclusion in the rapport is about who´s responsible for the damages and will pay the cost of the renovation. The responsibility is discussed between the contractor and the insurance company.

Guazuigua is a small village in Bolivia, which has had too small water resources, especially for irrigation. A project started after some studies were made, to create a canal to provide the village with water from a nearby town. To make the canal work it had to cross a dried out river. There have been several attempts to cross these dried out rivers, but with poor results. The purpose of the report is to provide a solution for this problem.

The 1st of January 2009 a new goal was set for the emergency care in Stockholms läns landsting. This new goal stated that 70 per cent of the patients shall not spend more than four hours in the hospital when requesting emergency care. The processes in the emergency room at Södersjukhuset do not cope with this new goal. The authors studied the reasons for this and made suggestions based on the findings. The conclusions were that the emergency room should place doctors much earlier in the emergency care process or implement a system where specialists act as tutors to non-specialized doctors.

This study is primarily an account of my examination work in archival science which took place in the archive of Margareta Böttiger, the state epidemiologist at the Swedish Institute for Communicable Disease Control Stockholm. The records are from Böttigers period of work, mainly divided into three parts, polio, HIVS/AIDS and vaccination. Of these I have focused on polio with was the area she got renowned for. Moreover, owing to the uniqueness of the material this study has focused on the properties of the archive as a working-life archive which I propose as a special type of personal archive with unique attributes. To summarize, a working-life archive has in comparison with other personal archives a more fluid process of archiving where the profession is important, not the personal production of records.

Efterföljs handbokens riktlinjer vid kateterspolning? En observationsstudie om följsamheten kring Handbokens riktlinjer och hygienrutiner vid kateterspolning. Patienter med urinkatetrar är frekvent förekommande inom stora delar av vården och är därför något som vårdpersonalen kommer i kontakt med. Momentet då katetern spolas är förenat med komplikationer och därför har en jämförande kvalitativ studie här genomförts utifrån Handbokens riktlinjer för hälso- och sjukvårdspersonal gällande hygien, material och tillvägagångssätt för att säkerställa en god och säker omvårdnad. Föreliggande studie syftar till att beskriva överensstämmelsen mellan hur kateterspolningar genomförs i praktiken och de riktlinjer som ges i Handboken avseende kateterspolning. Observationerna genomfördes på en vårdavdelning och deltagarna i studien bestod av undersköterskor samt patienter som bar kvarliggande katetrar.

This pilot study examined whether treatment with Vortex Process Technology (VPT) of the irrigation water used on tomato (Solanum lycopersicum) plants had any effect on plant growth. In a block experiment, with two blocks comprising 12 vases containing 1 L water and two tomato plantlets, treatment in which, nutrient solution was based on Vortex-treated water was compared with an control using untreated water. All vases were kept in a static aerated culture system in a daylight chamber for four weeks. The results showed that the effect of the two blocks exceeded the effect of vortex treatment in terms of leaf area and weight of fresh and dry matter. Plant height, stem width and internodal length were significantly different in tomato plants grown in Vortex-processed water compared with the untreated control.