Arbetet har utförts på Saab Bofors Dynamics i Karlskoga och dess syfte var att undersöka om det är möjligt att använda modellbaserad prediktionsreglering, MPC, vid slutfasstyrning av en viss typ av robot. Som referensram används linjärkvadratisk reglering, LQ, eftersom denna reglermetod har undersökts tidigare och visat sig fungera bra vid slutfasstyrning, dock för en annan typ av robot. Anledningen till att man vill undersöka om det är möjligt att använda MPC är att styrlagen enkelt tar hand om begränsningar på systemet på ett direkt och intuitivt sätt.Styrlagarnas uppgift är att styra en robot i dess slutfas då det finns krav och önskemål på roboten som bör vara uppfyllda. Till exempel finns det begränsningar på styrsignalen samt önskemål om att träff ska ske i en viss träffpunkt och även med en viss träffvinkel. För att utvärdera resultaten undersöks och jämförs de två styrlagarnas prestanda och robusthet.För att kunna utvärdera styrlagarnas egenskaper och jämföra dem implementeras de båda i en befintlig detaljerad simuleringsmiljö, som har utvecklats på Saab Bofors Dynamics i Karlskoga.De prestanda och robusthetstester som har utförts uppvisar små skillnader på de två styrlagarna och slutsatsen blir därmed att det är möjligt att använda modellbaserad prediktionsreglering vid slutfasstyrning av en viss typ av robot eftersom det sedan tidigare är känt att linjärkvadratisk reglering är en bra styrlag att använda.

Arbetet har utförts på Saab Bofors Dynamics i Karlskoga och dess syfte var att undersöka om det är möjligt att använda modellbaserad prediktionsreglering, MPC, vid slutfasstyrning av en viss typ av robot. Som referensram används linjärkvadratisk reglering, LQ, eftersom denna reglermetod har undersökts tidigare och visat sig fungera bra vid slutfasstyrning, dock för en annan typ av robot. Anledningen till att man vill undersöka om det är möjligt att använda MPC är att styrlagen enkelt tar hand om begränsningar på systemet på ett direkt och intuitivt sätt.Styrlagarnas uppgift är att styra en robot i dess slutfas då det finns krav och önskemål på roboten som bör vara uppfyllda. Till exempel finns det begränsningar på styrsignalen samt önskemål om att träff ska ske i en viss träffpunkt och även med en viss träffvinkel. För att utvärdera resultaten undersöks och jämförs de två styrlagarnas prestanda och robusthet.För att kunna utvärdera styrlagarnas egenskaper och jämföra dem implementeras de båda i en befintlig detaljerad simuleringsmiljö, som har utvecklats på Saab Bofors Dynamics i Karlskoga.De prestanda och robusthetstester som har utförts uppvisar små skillnader på de två styrlagarna och slutsatsen blir därmed att det är möjligt att använda modellbaserad prediktionsreglering vid slutfasstyrning av en viss typ av robot eftersom det sedan tidigare är känt att linjärkvadratisk reglering är en bra styrlag att använda.

ENGLISH SUMMARYTitle:The ambiguous scorePresenting romantic piano pieces from simplified scoresIn this essay, I have investigated if different types of simplified scores ? scores whose musical structure are clearer compared to the original ? can stimulate a more artistic interpretation as well as a more linear understanding of the piece. My analysis also investigates what kind of impact these kinds of scores have on memorization.The music is derived from the romantic piano repertoire and the subjects are six university-level music students. Half of them were placed in a reference group, and only received the original scores, while the others also received the altered versions. I used both reduced scores where notes were removed in order to emphasize the linear structure and scores where the pitch notation was the same as in the original , but the notes were grouped differently.The result indicates that those having access to multiple versions had a positive impact on the musical interpretation.

This thesis was conducted at Linköping University and SAAB Aerostructures, Linköping, and focuses on the automation of flexible fixturing in machining applications. At Linköping University a project called "Koofix" is conducted with support from Strategiska stiftelsen and several manufacturing industries including SAAB Aerostructures. The purpose of this project is to develop a more cost-effective, flexible, technique for fixation of workpieces during processing and assembly.Fixtures are an important part during the machining process, especially if you process the parts with high accuracy. Today a large number of fixtures are used at SAAB and they would prefer to reduce the number of fixtures by using flexible fixtures instead. SAAB uses one fixture for each article and this result in a high fixture cost and it also takes time to design and construct a new fixture.There are several advantages with using a flexible fixture such as that you can process workpieces with different length, height and thickness in the same fixture.

Want to help making the world a better place? Do it with HypOCycle!HypOCycle is a bachelor thesis that started in September 2007. The project is owned byLars-Johan Hjertz and Erik Westerlund.HypOCycle is probably the only bike in the world that has a linear pedal movement. Themovement comes from a new engine technique that hasn?t even been brought to themarket yet.

The purpose of this project is to get a fully functional, automatic steering system and a variable breaking system with an emergency breaking function to an off road vehicle. This off road vehicle is supposed to work as an aid in military situations. A team of two, Sebastian Attervall and Nichlas Gustafsson, got an order from Jonas Nyårds and the PreeRunners Project to construct a steering system that could manoeuvre an off road vehicle without any human involvement. To make this possible the vehicle would be guided by onboard sensors, cameras and computers. The team where also assigned to construct an automatic breaking system, there also no human would be involved.

The study - Hur skapas en journalist? - examines why so many people choose to turn tothe journalist profession when the conditions for a secure position on the labor market ispoor. The study also highlights how recently graduated journalist perceives their temporary and insecure position on the labor market.The study was performed trough ten biographical interviews with recently graduated journalists. Via the interviews I examined what has formed the individuals to perceive journalism as a rational or pragmatic choice for a career. The study shows that journalists, who come from families with high cultural capital, have been shaped by a particular culture of education, which focuses on education as a step towards selfrealization.

In a time when economic crises relieving one another, it is especially interesting to study how companies choose to finance their operations. Since there is a lack of studies that include banks, and their capital structures, with the rest of the finance market, it is uncertain whether the theories of capital structure are applicable. Therefore, this essay aims to study whether there is any correlation between the two variables debt-equity ratio and return on equity (ROE) for Swedish corporations on the finance market.In accordance with the theorems that the professors Modigliani and Miller filed, in 1958 and 1961, which describes a clear link between debts, increase corporate value through the tax shield and indirectly increased yields. Although these theorems are the foundation of the modern research they focus on perfect markets. Therefore, this paper has also chosen to place great emphasis on theories such as Trade-off and Pecking-order.

In this essay I analyze the way my collection of poetry relates to the concept cyclic. What is cyclic and what different interpretations are there concerning the concept? Which other related concepts are there regarding things that seem to reoccur regularly? How does the cyclical, the circular, relate to the linear in regard, for example, to the perception of time? Life often creates the sense that different phenomena and experiences repeat themselves. Different processes are conducted according to regular or irregular cyclical phases, situations seem familiar and events can be relived.         Starting from my writing project Sinnligt kviller, a collection of poems, I discuss these questions in themselves and the impact they have had on my collection. I describe the phenomenon cyclic as a result of the emotions and moods this term creates in a more or less decisive way.         The intention with this paper is to show how Sinnligt kviller offers different perspectives of and reflections upon the various feelings provoked by the cyclic in our lives, feelings that are given my own voice in the literary text under study..

Control of a diesel engine equipped with Variable Geometry Turbine (VGT) and Exhaust Gas Recirculation (EGR) requires a multivariable control method. One problem is that the engine system is non-linear. Furthermore there are strong cross-connections between inputs and outputs and the inputs have alsoboundaries. To be able to manage these control problems, MPC has been used that is a multivariable method. The MPC-controller consists of an optimization problem and therefore MPC can find the optimum control signals in an easy way.

How do we perceive literature? In our times computer games and Internet have made us grow more comfortable to the usage of non linear storylines. But how does this apply to printed literature?In this essay, called ?From a to b through d h and o. Non linear storytelling in our time? I have focused on nonlinear literature from different time periods and I have studied novels such as James Joyce?s Ulysses as well as works by William S.

What role does the state play in economic development? This thesis seeks to investigate the relationship between a strong state and economic development. To define the concept of a strong state I focus on the relationship between the scope of state functions and the efficiency of which these functions are implemented. The concept of a strong state is in this thesis defined as the efficiency of the state functions. By using a database constructed by three economists; David Kaufman, Aart Kraay and Massimo Mastruzzi as a measurement of a strong state I test the relationship with economic development empirically.

How do we perceive literature? In our times computer games and Internet have made us grow more comfortable to the usage of non linear storylines. But how does this apply to printed literature?In this essay, called ?From a to b through d h and o. Non linear storytelling in our time? I have focused on nonlinear literature from different time periods and I have studied novels such as James Joyce?s Ulysses as well as works by William S.

In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

The study examined what NHL-teams should improve. This has been done by studying the significant statistics of NHL-seasons, and with linear regression identifying what NHL-teams should do to win many points and thereby get a good placement in the final table. The most interesting result of the study is that the statistics on faceoffs and shots on goal and power play efficiency most seasons where irrelevant for the outcome of a season..