In this report a system for Rapid Control Prototyping, RCP, is evaluated through animplementation of the motor control methods Field Oriented Control, FOC, and Space VectorPulse Width Modulation, SVPWM. The evaluation emphasizes on time-consumption andresource utilization on the used hardware and on usability for of software.A new mechatronic laboratory is under development at ABB Corporate Research in Västerås. Itwill be used for both mechanical and motion control design using existing and new hardware.The control structure in a traditional robot system will be interfaced to a rapid prototypingsystem which should allow easy changes to algorithms at different levels in the system.The system designated for this project comes from National Instruments and constitutesLabVIEW Real-time and FPGA module as the software tools. The hardware is a NI Single-Board RIO (Reconfigurable Input Output), sbRIO, development board including a Field-Programmable Gate Array, FPGA, from Xilinx and a microprocessor from FreescaleSemiconductor. Graphical programming is performed in the LabVIEW environment, andthrough Xilinx tools the LabVIEW FPGA code is compiled to VHDL code.A pre-study was carried out to clarify the concept of RCP and investigate different systems forRCP and their traits.

Lantmäteriet (the Swedish mapping, cadastral and land registration authority) has been laser scanning Sweden since 2009. From the laser scanned data a digital elevation model (DEM) in grid format, with a resolution of 2 m, is produced. This DEM is called GSD-Höjddata, grid 2+ and from its data and the laser point cloud itself (in the form of a las-file) contour lines can be extracted. Lantmäteriet has not yet done this, but plans to update the contour lines in their cartographic products exist. If this is to be done in a satisfactory way an evaluation of different methods for it is needed.

Introduction: Our lifestyle habits affect our health and unhealthy habits are a contributing factor to disease. Health care is an arena that should work with health promotion. MI (motivational interviewing) is a method used in various forms of care to work with lifestyle. Aim: To map methods with intention to be used in Swedish primary care, to work with the lifestyle habits diet, physical activity, alcohol and tobacco. Method: This is a literature based study.

In this thesis the methane gas potential of three different substrates, two algaes Saccharina latissima and Laminaria digitata and biosludge mixed with paper fiber was studied. This was done by batch experiments in a laboratory environment to examine the gas production and composition of the produced gas.Biogas production is a complex anaerobic digestion process in which various microorganisms decompose the substrate in steps and at the end produce biogas and a residue. Many factors affect the production of gas, for example the substrate content, temperature and pH in the digester.The analysis of methane potential were divided into two experiments. In experiment 1 substrates were digested along with inoculum from Växjö waste water treatment plant in a temperature of about 37 ?C.

The environment has become an important part in people´s lives, and in today´s society stakeholders demands have increased upon companies when it comes to sustainability reports. How these sustainability reports are designed depends on whom it?s for, laws and regulations, and the companies own norms and values. The purpose of sustainability reports is to measure, monitor and compare a company´s enviromental impact. It?s not only about integrating economics, but also enviromental and social standards together to get both financial and competitive advantages.Sustainable Value method is a new model and is the first real method that can be used to evaluate a company´s resources, both financial, social and enviromental to a sustainable value.This model is used to compare the resource efficiency between companies.In this thesis, a documentary study with an experimental approach has been made.Sustainability reports from six selected companies (in the engineering and forestry sector) have been investigated with respect to their accounting for carbon dioxide, and an experiment using the method ?Sustainable Value Approach? was subsequently performed.

GE Healthcare wants to investigate whether additive manufacturing would be an alternative method in their workshops in the Umea? plant. Additive manufacturing is called 3D printing in everyday language and manufactures details by building them up layer by layer in an automated machine. The purpose of this work is therefore to investigate how mature additive manufacturing methods are and how they could be used at GE.The work has been divided into three parts. The first section investigates how additive manufacturing would work in the production workshop at GE.

This thesis studies the negative impact that control signal saturation may have on a controlled system. Different methods that are used to compensate for this problem are also studied and evaluated. Both sensitivity to disturbances and the effect the method has on the systems'ability to follow a reference signal will be examined. Stability will be discussed, but no conclusions whether the systems are stabilized or not can be drawn. Control signal saturation will lead to a slower behavior in general.

Oxygen consumption and carbon dioxide production are usual measurements within the sports and training physiology. The same measurements are also common when it comes to establish the amount of energy that is used during work and to establish the intensity of work. The volume of oxygen that is consumed contra the volume of carbon dioxide that is produced can be used to calculate the metabolic rate within the human body. This calculation shows the percent relationship between carbohydrates and fat in the metabolism. The first accurate method to measure the breathing gases for use in metabolic calculation was established in the early twenty century when the Douglas bag method was introduced.

Transdermal drug delivery, besides painfulinjections with syringes, has long been associatedwith small size particle pharmaceuticals, which candiffuse through the skin. This method of drugadministration has only been applicable on a smallnumber of drugs, where active molecules are smalland delivery time should or can be long.Other drug delivery options are oral administrationand injection with hypodermic needles (ordinaryhospital syringes). In oral administration thestomach and liver tend to dissolve the drug and theeffect becomes more difficult to anticipate, anddrug delivery rates difficult to control. Hypodermicneedles are used as a mean of drug injectiondirectly into the bloodstream. This method ispainful and risks infection due to tissue damageand skin penetration.One way to get a painless non-damaging techniquewith high delivery rate that still can delivery largemolecules is to manufacture an array of microscopichollow needles and equip them with a pumping unitthat delivers the correct amount of drugs.This thesis shows the technique and possibility ofmanufacture micromachined needles using low costtechniques of Ion Track Technology (radiation ofheavy ions creates porous materials), electrolessdeposition (non-current activated wet chemistrymethod of depositing metal) and electroplating.

Dogs have been held as pets for thousands of years. Dogs held today usually get some sort of training some time during their life. You can train dogs for many different reasons such as general obedience or you can train them for competition. When training a dog every behaviour is followed by a consequence. These consequences are positive reinforcement, positive punishment, negative punishment and negative reinforcement.

The purpose of this work is to design and construct a device able to measure the mechanical attrition of oxygen carrier particles. Those particles are used in chemical looping combustion and in the present situation there is a lack of knowledge in how the attrition process work and in which extension. To find already tested solutions trying to answering this problem a literature study wascarried out and the best solution found was the so called Grace-Davison Jet-Cup method. This method is supposed to emulate the attrition caused by a cyclone separator and its advantages are that it is possible to use small test amounts, 5-10 g, and a thirty minutes long test will be enough to acquire useable results. An device was designed based on the Jet-Cup method with some slight modifications.

A controversial party?s entry into parliament - a review of Expressen?s depiction of the Sweden Democrats (Sverigedemokraterna)The purpose of this essay was to study how Expressen presents the Sweden Democrats, as well as reasoning about the effects this depiction could have on the citizens? opinion. Using a quantitative method I studied 122 articles, and through a qualitative method four of these could be further analyzed to reach a deeper result. The theoretical perspective that was applied in this study was primary agenda-setting and framing theory, to illuminate the power of media. The result showed that a prominent theme was to present Sweden Democrats as racists.

This master thesis project at KTH is performed in the Mechanical and Aerospace Engineeringdepartment at University of Florida (UF). The thesis is a small part of a gas turbine researchproject where a vapour absorption refrigeration system (VARS) and a high pressure regenerativeturbine engine (HPRTE) are integrated together. The main objective is to build a computermodel of the VARS. The computer model is supposed to be used to analyse the off-designperformance of the VARS and should also be easy to integrate as a subroutine in a more complexsystem model. To model the VARS some knowledge of the absorbent/refrigerant mixture had tobe well known, in this case a mixture of ammonia and water.

Den här uppsatsen handlar om trafiksäkerhet och, mer specifikt, den mänskliga faktorns inverkan vid olyckor och incidenter. Arbetet är skrivet inom FICA- projeketet, vars målsättning är att förstå förarbeteende för att kunna utveckla aktiv säkerhetsteknologi för fordon. I första delen (kapitel 2?6) presenteras ett teoretiskt ramverk för att förstå förarbeteende i olika kontexter. I andra delen (kapitel 7?8) redovisas en metod för att analysera olycks- och incidentförlopp, kallad DREAM ? Driving Reliability and Error Analysis Method.

Collaboration is a form of organization on the rise in Sweden. For health care, it is ofinterest to collaborate with industry to ensure that needs for specialist education andtraining are met and that products developed meet the relevant requirements.Conversely, industry actors have an interest to have a close collaboration with healthcare in order to gain insight into customer needs, provide information about theirproducts and to test products in development.The starting point of this study is an agreement and regulatory framework for formsof collaboration between public health care in Sweden in general and thepharmaceutical industry, the medical device industry and the laboratory technologyindustry. The research questions concerns how this agreement has evolved and theprocess surrounding its emergence may contribute to knowledge about collaborationas a form of organization and the relationship to concepts such as legitimacy,corruption and institutional theory.By tracking the emergence of the current regulatory framework genealogicalthroughout history, the study uncovers how the agreements have played a role in andcontributed to the legitimization and institutionalization of collaboration practices andhow crises have changed the shape of the practices. A theoretical treatment ofrelevant concepts such as legitimacy, institutionalization of practices, corruption andstigmatization of organizations form the basis for an interpretation and analysis of theprocess.The conclusions of the examination of the historical process that led to the currentagreements contribute to empirical knowledge of how crises and stigma affect thelegitimacy of collaboration practices and how the repair of legitimacy can be donesuccessfully after a crisis. The treatment of the empirical material is also a historicalsource for the development of ethics agreements between public health care andpharmaceutical industry and the medical industry in Sweden..