This master thesis includes a description of how a number of sensors are put together in a sensor platform. It also gives a description of how localization and mapping has been performed with data collected from the sensor platform. Localization is a prerequisite for most of the tasks that can be requested from an autonomous mobile robot. In many situations the GPS signal is not available and hence an additional localization system is required. One approach is to apply localization based on Landmarks extracted from the robots surrounding.

The purpose of this study was to examine how the design of the wards, at Björnkulla nursing home, affects the residents? wayfinding ability and autonomy. Thus, the aim has been to make a design proposal that, trough color and design can increase the residents? chance to independent mobility. Since the study aimed to examine how the environment affect and can support people with dementia, qualitative methods were used.

Discussing light and lighting in the night-time environment of Tensta, a Stockholm suburb built between 1962 and 1970, this thesis suggests that lighting should be designed for the outdoor environment as a whole. The feeling of safety and human perception are important components in this thesis. Starting with some comments on visual perception and how we adapt our sight to an interval of the visual input we get, makes it possible to understand that more light sometimes hides, rather than reveals, things. Amongst the dispersed houses, in the green parks of Tensta, this turns the pedestrian roads, lit by pole-top-mounted fixtures, into light tunnels in a dark surrounding. Talking about the feeling of safety I am inspired by, amongst others K. Lynch, B. Hjort and J.

This thesis explores different ways of navigation in virtual environments. It also investigates how virtual environments can support human memory. Tests are done using a self made virtual model of Orkanen Library, Malmö högskolas school library. Among the different navigation tests that were done, a visual guidance in form of a line on the ground leading to the goal is showed superior when navigating a virtual environment but that people prefer legible Landmarks instead. Tests were also done which show that a 3D-model of a real location supports context based memory.

This paper intends to provide a better understanding of how to rebuild a crisis affected area and how to plan for the inhabitants of a wounded city. It will also examine the landscape architect's tasks in this work to provide a planning perspective. The discussion of reconstruction is significant because the insight and knowledge in the subject is needed in order to help nations after a disaster. Bosnia-Herzegovina's capital Sarajevo is a city recovering from a civil war where the city's situation was complicated by an ethnic conflict that has been segregating it. The restoration of the city's structure can free people from their tragedy and make them live again.

The purpose of this study is to shed light on and describe Kramfors travel centers function and relationship to the surrounding urban environment, and how this core is experienced by residents and visitors. To do this, the use of the travel center, its relationship to Kramfors city center and the perception of it, as well as possible improvement areas has been studied.This has been examined using a quantitative method by designing a questionnaire and the usage of a research strategy through the implementation of a small-scale survey. Within this a cluster sampling was applied.The result shows that Kramfors travel centers is primarily used for traveling and is used most frequently by the visitors within the study. It is also shown that residents 'primary reason for traveling from the travel center is friends and family, followed by shopping, and that the visitors' primary motive for traveling is friends and family as well, followed by work. The mode of transportation between the travel center and destinations are mainly walking, while the mode of transport between homes and the travel center proves to be the car.

Syftet med denna studie är att undersöka vilka stadsbyggnadsideal som har format Linköping under historiens gång samt att studera de ideal som präglar planering och utbyggnad av staden idag. Med hjälp av en litteraturgenomgång tas utgångspunkten i 1800-talets Europa och i de trender som däri-från format våra städer. Det empiriska material som ligger till grund för studierna av Linköpings stadsbyggnadsideal idag är i första hand hämtat från Linköpings kommuns egna hemsidor men det har också gjorts en kvalitativ intervju med ordförande i Linköpings stadsbyggnadsnämnd. För att få en bred bild av vilka ideal som förekommer har förutom Linköpings översiktliga planer också tre specifika projekt studerats. De tre projekten är Övre Vasastaden som är ett centrumnära ombygg-nadsprojekt, Djurgården som är en nybyggnation mer perifert och närmare naturen samt Linköpings-Bo2016 som är ett visionsfyllt projekt med slutpunkt i en bomässa 2016.Resultatet av litteraturgenomgången visar på att tre dominerande doktriner har präglat stadsbygg-nationen i Europa från 1800-talet till idag.

This thesis handles the problems regarding different value aspects which are applied during restoration and renovation of churches. The curator?s aspects along with the interests regarding change that exists today, is often integrated and is therefore affecting the final results. The thesis aims to discuss the different perspectives and to look at the different values the room possesses. Furthermore, the historical aspects are discussed along with possible strategies to increase a positive outcome of restorations and how to integrate churches to the modern standards in terms of use and allowing them to be a part of a living cultural heritage.Church buildings have historically speaking always had a significant meaning to people, independent of religious belief.

This diploma-work assess the public outdoor space. It has its starting point in, Ålidhem, a town district of Umeå. I have been studying public spaces in the outdoor environment. In this essay this refers to the spaces between the houses. What they are, what they contain, how they function and how they can improved.

Open pit mining creates huge amounts of tailings and waste rock deposits. Due to it's content of sulphide minerals, predominantly pyrite (FeS2), there is a risk of oxidation and formation of acid water containing heavy metals, known as Acid Rock Drainage (ARD). To prevent the process of oxidation, the tailings and waste rock have to be reclaimed. The most commonly used methods of reclamation are a coverage of water or soil. Mining also results in a large-scale interference in the landscape that will make an eternal change of its appearance.