The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

Knäskador inom fotbollen är tre till fem gånger vanligare hos flickor än pojkar i ung ålder. Genom att träna balans, benstyrka, bålstabilitet och koordination kan knäkontrollen öka. Svenska fotbollsförbundet har utvecklat ett träningsprogram i syfte att förebygga skador, ?Knäkontroll, förebygg skador ? prestera bättre?. Det finns olika sätt att utvärdera knäkontroll, ?Hop for distance?, ?Square hop? och ?Side hop? är hopptester som kan användas.

The forest industry is one of the most important industry branches in Sweden. Since the demand of high precision wood deliveries has increased, the demand on a well constructed forest road net also has increased. A good road net gives the wood-supplier competition advantages and also increases its service level towards its customers, lumber-mills and pulp-mills. In some parts of Norrbotten, the road net is still insufficient and not yet built out enough, and that is why it is important to know how to act and where to improve the road net in these areas. The purpose of this thesis was to create a work-model for long term road planning in areas with no road net or a not yet complete road net. The model has been created in an ArcGis environment, where a long chain of tools has been tied together with the program ?Model builder?.

The work place is becoming more flexible and an increasing number of employees report to a leader in another location or country. The borders between different countries, work places and cultures are diminished to a greater extent than before. Working from a distance means new opportunities in terms of competence development, flexibility in working hours, tasks and resources, a larger platform for various career opportunities and an expanded network. The purpose with this study is to examine how leaders can create a successful virtual team and motivate remotely. The qualitative study is carried out through interviews with leaders and employees within Nielsen Nordic.

Our time is characterized by the development of new technologies that facilitate communication between people. The need for Video Mediated Communication (VMC) is increasing because people move to other locations due to migration and global mobility. VMC provides the opportunity for millions of people around the world to ?hang out? and see each other despite the distance in between. The world is "shrinking" because of the Internet and our perception of distance is changing.VMC is becoming increasingly available, in the form of applications like Skype and MSN for mobile phones and computers, and in addition, it?s practically free.The purpose of this thesis is to render a picture of the way in which people use Skype in the private sphere.

The company System Andersson is developing systems for controlling materials and production in industries. They want to add a new service, where parts of those systems are accessible through cell phones.In this paper we are investigating which technology are best suited for this kind of application. And then we describe how we are developing a prototype fort this application, based upon that technology. After investigating technologies such as Java ME, Microsoft Silverlight, and web applications we settled upon building the system as a web application, customized for a mobile environment.To build a web page which is readable by many different cell phones we use the markup-languages which are developed for cell phones. We put much effort in reading about the standards and recommendations for the mobile web, produced by the organizations W3C and OMA.

The global Positioning System (GPS) provides location and time information as long as there are unobstructed lines of sight to four or more GPS satellites. However, when this is not the case the signal may be inaccurate or sometimes even completely blocked. In these situations the Inertial Navigation System (INS) is an appropriate choice for positioning.  An INS has already been proposed in a previous thesis by Erik Andersson and the objective of this thesis is to fuse the GPS with the INS in a proper way. A part of this project is to decide the reliability of the GPS.Three methods for GPS reliability detection have been proposed. One method based on the statistical properties of each of the separate systems, and two methods based on the statistical properties of the residuals between the GPS and INS.

The division of Engineering Materials at Linköping University, department of Management and Engineering, conducted a research project concerning Fatigue life of thermal barrier coatings during 2009. During this project equipment to provoke these fatigue failure by rapidly heating and cooling test subjects in cycles, was ordered.Design and manufacturing of the equipment was handled internally at LIU.The equipment was built using a furnace that is lowered and raised over the table where the test subject is placed. To keep the temperature of the furnace a lid slides in place to close the downward facing opening of the furnace when it is in the raised position. On this door there is nozzle that is used to cooling of the test subject by air.To make sure that the equipment can work independently you need an automation controller that can evaluate if movement can occur without danger of collisions. The control system also needs to monitor that all elements are performed according to plan.This degree project is based on a modular system from OPTO 22 and includes the configuration of a PLC that will be supplied with logic and a user interface.The degree project resulted in a graphic interface in which a user can set desired values for different parameters and get information about current values for them.

The distance between home and work has increased in recent decades. By the development of infrastructure and public transport, jobs farther from home have become more accessible and this development has in turn increased commuting. Commuting travellers often pass over administrative boundaries which often serve as borders for public transport pricing. Also the market control prices. Research shows that travel times and costs significantly affect commuting choice.

The work related illness has increased and instead of focusing on what?s causing it more and more efforts are put on trying to find the health factors within and outside the work environment. During the past years the term ?long-term health? has arisen; instead of focusing on the number of employees on the sick-list, the focus should be put on the number of employees that has a record of long-term health within an organization, i.e. health-presence.

Denna uppsats handlar om ledarskap och hur ledarskap bedrivs på distans.Studien fokuserar på det ledarskap som sker i bemanningsbranschen där konsultchefen leder bemanningskonsulter på distans. I det ledarskap som utövas finns även en påverkan utav en tredje part som går att finna i det kundföretag som hyr in konsulterna. Syftet med uppsatsen är att öka förståelsen för det ledarskap som uppkommer och utövas i bemanningsbranschen och att identifiera de problem som kan uppstå när ledarskapet sker på distans. Vi jämför också distansledarskapet med ett traditionellt ledarskap för att förstå på vilket sätt de skiljer sig i ledarskapets utövande. Slutligen är vårt syfte att få en inblick i hur ett distansledarskap i bemanningsbranschen påverkas när det även är en tredje part involverad..

In recent years, the Swedish railway track system has been neglected in terms of capacity and maintenance. To adapt the existing system to current traffic load there is a great need for extensive improvement and maintenance. Shortcomings are especially occurring on older embankments running over soft subgrades. To select the most suitable method for reinforcement of the embankment, it is important to evaluate different solutions from a life cycle cost perspective. In long-term perspective, it is often shown that a method with low investment cost causes a higher maintenance cost and a shorter technical lifetime.

This essay aims to create an understanding of how leadership can be arranged in a company that embraces new technology and telework, and how it can be experienced from the employees' perspective. In order to make it possible to investigate this purpose are three questions formed; ?How is the leadership perceived??, ?How does telework into motivation?? and ?How does telework into communication??. A presentation of previous research is given, focusing mainly within different types of leadership, distance, and telework. Based on this, three interviews was made in which respondents? experience of telework was in focus.

The term ?Object Shift? means that a weak object pronoun has been raised to a position to the left of a sentence adverbial. Primarily, there are two positions to which a weak object pronoun can be raised; one of them is called Long Object Shift.In this paper, I primarily deal with finite verb frequencies in sentences with Long Object Shift in Swedish. Also, in order to further define the verbs in these sentences I discuss verb semantic and syntactic valence in relation to the shifted object. Furthermore, I discuss the search methods which have generated sentences with Long Object Shift in written sources in Swedish; an equivalent study has never been done before.

The objective of this research was to study how two newspapers in Sweden, Aftonbladet and Expressen are creating an image of the Stockholm suburb Rinkeby. The method used to do the study was qualitative content analysis. Ten articles were chosen, five off either newspaper and were found on the internet homepages of the newspapers on 15 November of 2013 and 27 January of 2014. Several theories were used in the study. Agenda setting theory, a media theory that explains the power of media, Figuration theory developed by Norbert Elias that deals with power struggles between different groups in society.