Investment costs for eight different type housing systems for dairy cows has been calculated in order to compare the building costs as a function of herd size, shelter type and automatization. A commercial calculation programme for building was used and complemented with prices of equipments specific for dairy cow building. Herd sizes were 120, 250 and 400 cows. The milking equipments were automatic milking system (AMS), parallel parlour with 32 stalls (2x16) and rotary parlour with 24 stalls. Shelter was either insulated equipped with automatic cable driven scrapers on solid alleys, automatic feed wagon on rails, or uninsulated with manual manure handling and a tractor driven mobile mixer wagon on a drive-through feeding table. Building cost per cow or per kg milk was calculated using an average life time and 6 % interest rate and annual milk yield is 9 500 kg/cow and year. Structure effect 3-4 % higher for an insulated structure than in an uninsulated for 400 and 120 herd respectively. This is much lower compared to what is normally argued.

The purpose of this study was to evaluate the effect of bilateral repetitive transcranial magnetic stimulation (rTMS) on language ability in eight participants with aphasia. All participants underwent two periods of treatment and five periods of evaluation. During one treatment period high frequency stimulation was given to the left hemisphere and low frequency stimulation to the right and in one other period placebo stimulation was given. Boston Naming Test and Token Test were used to assess the effects of treatment on naming ability and language comprehension. Results showed that no significant effects were found on group level.

There is always a need for more effective ways to store energy in order to reduce the human impact on the environment. One step on the way can be the use of flywheels as kinetic energy storage devices. Low frictional losses are essential for a flywheel to be effective. To minimize these losses active magnetic bearings (AMB) can be used to keep the shaft centered instead of the more conventional ball-bearings. AMBs use actuators and a fast control system that needs correct and noise-free measurement data of the shaft position and the current in the actuators to work properly.This thesis explains the process of constructing power electronics and a current measurement system for active magnetic bearings (AMB).

In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

I have worked with patterns for textiles, and the goal of the project was to makethree patterns in one colorway. My wish was that the patterns would be relatedeither in motif or colorway, or both. I wanted the patterns to be seen as a minicollection. My aim was to make three patterns that would serve as home textiles.I decided to print the patterns digitally on fabric, but also to customize the designof the pattern repeats to be printed in rotary printing. I wanted to work within thelimits of what is possible to produce in terms of colors and repeat sizes.One of my goals with the project was to clarify for myself what the essence of mydesign is, and to create a collection that reflects me as a designer.

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.

Magnetiskresonanstomografi, MRI, är en användbar teknik inom flera områden, i denna uppsats ligger fokus på användning inom medicin. Fysiken som ligger bakom MRI presenteras, som t ex uppdelning av energinivåer och kärnmagnetiskresonans. Uppbyggnad och tekniken som ligger bakom MRI har även studeras. Sedan har det gjorts jämförelse mellan MRI, röntgen och datortomografi. Utöver litteraturstudierna har simulering gjorts. I denna del har en modell för hjärnan byggts i programmet Comsol Multiphysics.

In this work an assessment of the compressed air system in the facilities of Vattenfall Heat Uppsala has been conducted. The facilities constitutes, among others, a combined heat and power plant, and two waste incineration plants. The compressed air is supplied primarily by seven rotary screw compressors and yearly electric energy consumption in these has been determined. Furthermore, the usage of compressed air has been mapped in order to find processes with energy savings potential. Several suggestions how to reduce the usage of compressed air have been presented, resulting in decreased need of electric energy and reduced CO2-emissions.The results show that total need of electric energy in the compressors, during a standard production year, amounts to 5.83 GWh.

Uppsatsen är en biografisk och receptionshistorisk studie av en svensk nutida konstnär. Tidningarnas recensioner och artiklar, personliga samtal med Johan Thunberg och analys av Thunbergs målningar ger underlag till uppsatsen. Materialet har hämtats från bibliotekets mikrofilmsarkiv, tidningarnas internetarkiv och konstnärens hemsida på Internet med länkar till Konstnärslexikonet Amanda och Svenska konstnärer. Vid informationsinsamlandet av underlaget till uppsatsen har långsamt en ?bild? av Johan Thunbergs konstnärliga verksamhet vuxit fram som idag år 2011 kan ses som en mindre affärsrörelse. En intressant del i affärsrörelsen, förutom den konstnärliga kreativiteten att framställa originalmålningar, är marknadsföringen av enmansföretaget.

Various electromagnetic (EM) treatments has been investigated for their potential in improving crop productivity over the past century. There is today an increasing amount of scientists advocating EM treatments as an organically compatible method for improving plant growth and yield. However, failure to produce repeatable effects and defining causal mechanisms has made it a study of much controversy and debate. The subject requires indepth interdisciplinary knowledge, making it inaccessible for the majority of biologists, horticulturists and growers. In this combined literature review and pilot study, these issues are addressed by providing a comprehensive introductory review of the topic plant bioelectromagnetics and its potential horticultural usability.

This report describes a synchronous machine model with magnetic saturation in d-axis, neutralconnection and electrical exciter interface for the transient simulator PSCAD/EMTDC. It hasbeen designed and verified in comparison to the regular machine model in EMTDC.The performance of the model is very good when incorporating a linear as well as a saturatedmagnetising inductance. The dynamic deviation is only thousandths to ten thousandths perunit. By using a cubic interpolation of the saturation curve, the model gives a good representationof the saturation effect. The open source code implementation of the synchronousmachine model gives the possibility to easily adapt the model to specific requirements.The derived model makes it possible to simulate a synchronous machine with its excitationsystems, e.g.

Storing kinetic energy in a flywheel allows for more efficient driving of electricvehicles. Research in this area is in progress at Uppsala University, where a flywheelwith magnetic bearings encased in a vacuum chamber is being constructed. To makethis possible methods for measuring the current through the electromagnets in thebearings and temperatures in the flywheel need to be developed. This has been thepurpose of this report. The current measurement resulted in a resistive method, andthe implementation of eight measurement circuits in the system.

This report describes a synchronous machine model with magnetic saturation in d-axis, neutralconnection and electrical exciter interface for the transient simulator PSCAD/EMTDC. It hasbeen designed and verified in comparison to the regular machine model in EMTDC.The performance of the model is very good when incorporating a linear as well as a saturatedmagnetising inductance. The dynamic deviation is only thousandths to ten thousandths perunit. By using a cubic interpolation of the saturation curve, the model gives a good representationof the saturation effect. The open source code implementation of the synchronousmachine model gives the possibility to easily adapt the model to specific requirements.The derived model makes it possible to simulate a synchronous machine with its excitationsystems, e.g.

Developments in milk production are heading towards fewer but larger herds where the milking process is often fully automated. Automatic milking systems were launched in the 1990?s and in the year 2010 the Automatic Milking Rotary (AMR) was introduced. As a rule there are no supervision personnel present during the milking event in systems with automatic milking. This means that there is a risk that cows can be incompletely milked in one or more udder quarters, for example if the robots fail in attaching the milking cups or if the cow kicks off the milking unit.

In today?s society there is an increasing demand for renewable energy sources such as sun and wind power. These sources are intermittent, and energy storage is therefore needed to ensure a constant power supply. This report compares pumped hydro energy storage (PHES), compressed air energy storage (CAES), flywheels, batteries, super magnetic energy storage (SMES) and hydrogen energy storage.The opportunities for further development are limited for PHES and CAES in comparison with the other technologies. Lithium-ion batteries and hydrogen energy storage are considered to have the most potential in the future.