This thesis examines history of the subject of mechatronics and innovation. The main reason tostudy mechatronics from a historical point of view is that it has never been done to a greater extent before. An overview is justified because various definitions have been used over the decades, but nowadays the subject has become more established. Focus in this thesis is mainly on development of the subject of mechatronics at Royal Institute of Technology in Stockholm. Innovation is the other aspect of this thesis.

Denna uppsats är en fallstudie av företaget Svenskt Rekonstruktionskapital AB (SRK). Uppsatsens syfte är att försöka klargöra hur företaget SRK går tillväga vid en företagsrekonstruktion och belysa hur avkastningen på investerat kapital kan förändras med en ändrad kapitalstruktur. Fallstudien består av en metodtriangulering där en intervju genomfördes med företagets VD samt att årsredovisningar och informationsmaterial granskades. För att kunna uppfylla syftet med uppsatsen formulerades en frågeställning och för att kunna besvara frågeställningen togs en teoretisk grund fram där element som företagsvärdering, kapitalstruktur samt juridiska aspekter behandlas. Uppsatsens kom fram till att en ökad belåningsgrad är nödvändig om SRK vill öka avkastningen på eget kapital.

This project is part of the course MF10YX, introductory mechatronics. The purpose of theproject is to integrate modules from the group members previous specializations into amechatronic system in the form of a self-balancing robot. The prototype ?Charlie? should be ableto race along a 10 - 30 m line. It should be able to start manually and autonomously detect andstop after the finishing line.

To conclude this year?s introductory course in Mechatronics the students, in groups of 6,constructed a prototype based on the technical requirements established by the course teachers.This year they consisted of the following: two wheels only, active balancing, remote controlledand able to stop when crossing a pre-determined marker on the ground. The project lasted for 7weeks and the result is a working prototype and this report.The report reviews the chosen solution, subsystems and the finished prototype as well assuggestions for improvements, discussion and analysis.The prototype constructed embodied most of the group?s earlier individual technical specialtiesand consists of the following: a flywheel for balancing, ultrasound for angle measurement, areflective photomicrosensor to detect the marker and Bluetooth for the hand control..

During spring 2012, six students at the Royal Institute of Technology in Stockholm carried out agroup project in the field of mechatronics as part of the thesis for the bachelor degree. The resultwas a robot with active balancing and the purpose of this report is to describe the development,manufacturing and problems that arose during the project. The finished robot has two wheelsmounted in line with each other, like a bicycle. Measurement data from an accelerometer and agyroscope are used together in a complementary filter for determining the angle from the verticalplane. For balancing, a PID controller was used to control the rotation of a reaction wheel, whenaccelerating causes a straightening torque.