This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use Measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

Flow measurement is one of the greatest challenges in order to calculate efficiency in hydropower. Most hydropower plants in Sweden use differential pressure methods for flow measurement. These methods are dependent on constant conditions in the waterways. A change in these conditions, like turbine improvements, prevents differential pressure methods to verify efficiency improvements. Since efficiency improvements can?t be verified by one measurement system, another method, which isn?t affected by changing conditions, can be used.

The purpose of this master?s thesis is to study resource allocation among district libraries within Stockholm?s City Library (SSB) on three different occasions ? 1996, 2001 and 2005 ? and to examine whether there exist any inconsistency between the state of the allocation of resources and what might be considered reasonable. During the course of the study, it became apparent that some Measurements are more relevant than others when determining whether the allocation of resources is reasonably fair. The most relevant ratio is the share of net cost per capita in relation to population and the population?s composition of children, youngsters and persons with foreign background as a result of relevant political governing documents giving priority to these three groups.

This thesis was performed at Vendig AB which is a company that develops and sells products such as belt scrapers for conveyor. The thesis is divided into two parts, one part where it´s investigated which tension force is required to tighten Vendig AB´s scraper Hampus against the belt in a correct way. The second part is called mechanical design and here a new and more compact tension device is developed.Field studies has been conducted at a couple of Vendig AB´s costumers to get a knowledge base about how Vendig AB´s products are used, how they function and the environment they operate in. During one of the field studies the force between the scraper and the belt was measured. The result from the Measurements, together with a report from LKAB [1], were evaluated and summarized in a table.

The idea with constructions made out of prefabricated elements is that it should be quick and easy to build as the demands for lower production costs, increased profitability and shorter production times are constantly increasing. High accuracy in Measurements and well-balanced tolerances is required to achieve this. The fact that the concrete-elements doesn?t fit and that damage occurs during assembly is a highly topical issue even though we now have methods and systems that make this high-intensity construction possible. Through this report we want to highlight the problems that cause the dimensional and tolerance problems and give suggestions on how to come to terms with these.

The purpose of this thesis is to examine how key performance indicators are being used as performance management tools within the production industry. Specifically the purpose is to investigate how the KPI:s within the telecommunications industry drives reusability regarding production test systems. This thesis will also highlight today?s cost models and suggest improvements of the KPI and what new ones could be introduced. A case study at Ericsson AB has been performed.

The purpose of this degree-project was to investigate the possibilities for primary air preheating into the two smallest waste incineration boilers of Halmstad Energy and Environment. The investigation is a pre-study which has the primary goal to evaluate technical and financial offers from companies that manufacture primary air preheater, and investigate if it is technically and financially profitable to do a purchase on primary air preheaters in the future.In the pre-study it is proposed that it is most efficient to have individual primary air preheater, one for each incineration boiler and the primary air are also proposed to be preheated by hot water in the pre-study. Further in the pre-study it is proposed that the heat-exchanger should have plain tubes instead of finned tubes, to avoid getting dirty fast. The space in the boiler-room is limited, and therefore the major problem was to fit in the primary air preheaters into the boiler-room. By comparing the different offers from the companies, the result in the pre-study shows that the offer from the company C.A.

The purpose of this degree-project was to investigate the possibilities for primary air preheating into the two smallest waste incineration boilers of Halmstad Energy and Environment. The investigation is a pre-study which has the primary goal to evaluate technical and financial offers from companies that manufacture primary air preheater, and investigate if it is technically and financially profitable to do a purchase on primary air preheaters in the future.In the pre-study it is proposed that it is most efficient to have individual primary air preheater, one for each incineration boiler and the primary air are also proposed to be preheated by hot water in the pre-study. Further in the pre-study it is proposed that the heat-exchanger should have plain tubes instead of finned tubes, to avoid getting dirty fast. The space in the boiler-room is limited, and therefore the major problem was to fit in the primary air preheaters into the boiler-room. By comparing the different offers from the companies, the result in the pre-study shows that the offer from the company C.A.

This paper has evaluated a new type of prosthetic foot, X-Balance, which aim was to facilitate the performance on uneven ground for the user. This study have performed gait analyzes with three prosthetic feet, the X-Balance, Flex-Foot and assure Ottobock9192 on flat and uneven surfaces using 3D analysis system QTM (Qualisys Track Manager) and associated force plates. During the project a prototype of a design that can perform a mechanical gait were manufactured. The prototype has then been used to fulfill the purpose and objective of this study which is to make different final sets that demonstrate differences between prosthetic feet. Gait analyses of individuals have also been performed to get an idea of what normal gait is.

Old hollow trees of oak contain a large amount of wood mould. Unfortunately, these trees have in the last century been greatly reduced in numbers. It has resulted in that species that depend on these habitats, saproxylic species, have become at risk to decrease in numbers or die out regionally. Previous studies have shown that the volume of wood mould is an important factor for occurrence and population size of saproxylic organisms. The aim of the present study was to examine how the volume of wood mould varies among ash (Fraxinus excelsior), lime (Tilia sp.), maple (Acer platanoides), aspen (Populus tremula) and oak (Quercus robur).

Completed durability testing of gearshift gaiters at Kongsberg Automotive in Mullsjö, is sometimes leading to discussions regarding whether or not a gaiter is supposed to be a pass or a fail. That is because the current pass/fail-criterion are a bit vague. A durability test takes around 4-5 weeks to complete which is a long time if the tested material does not pass the test and a new material has to be tested instead. Stricter pass/fail-criterions and a faster testing method for the materials are therefore desired.In order to develop a durable pass/fail criteria, seven already judged gaiters were chosen. Every one of the gaiters was put through detailed analysis, after which there were a new assessment of the gaiters.

The construction industry is often criticized to be an industry of narrowness and slow of change. The traditional construction process is considered to create gasps of inferior quality, delays and increase of disputes. Meanwhile, productivity is lower compared to other industries and the prices are increasing. In this debate, it has been assumed that the reported figures are monitoring a reflection of reality, but there might be an error in the statistics which suggests that the focus is at the wrong place. A study of the monitoring and the Measurements of the results are to consider, instead of spending time and resources on issues and actions The Last Planner System is an executive planning tool which creates a predictable workflow and creating value throughout all the different stages.

In todays high-technological society where the Internet plays a central role in our day-to-day life, many e-retailers are not able to attract customers to complete a transaction on their website. In order to succeed, many e-commerce sites must improve several safety aspects regarding online payment, in order to be perceived as a reliable and secured retailer. The purpose of this paper is to investigate if increment in various combinations and aspects in online payment will in fact improve the customer's perception of the e-retailer and result in completed transactions. In order to investigate this aspect, an experiment was conducted to be able to compare eight independent groups, that each had been exposed to a different security scenario on the online payment website of either a known or unknown retailer. Our results clearly prove that perceived security of the retailer's payment website increases willingness to purchase from the retailer.

The purpose of this degree-project was to investigate the possibilities for primary air preheating into the two smallest waste incineration boilers of Halmstad Energy and Environment. The investigation is a pre-study which has the primary goal to evaluate technical and financial offers from companies that manufacture primary air preheater, and investigate if it is technically and financially profitable to do a purchase on primary air preheaters in the future.In the pre-study it is proposed that it is most efficient to have individual primary air preheater, one for each incineration boiler and the primary air are also proposed to be preheated by hot water in the pre-study. Further in the pre-study it is proposed that the heat-exchanger should have plain tubes instead of finned tubes, to avoid getting dirty fast. The space in the boiler-room is limited, and therefore the major problem was to fit in the primary air preheaters into the boiler-room. By comparing the different offers from the companies, the result in the pre-study shows that the offer from the company C.A.

Introduction: Anxiety and depression are common among patients enrolled in psychiatric outpatient care. Ear Acupuncture is an alternative form of treatment that has been shown to relieve anxiety and depression in previous studies.Aim: To evaluate ear acupuncture as a group treatment for depression and anxietyMethod: A psychiatric outpatient clinic has been offering group treatments with ear acupuncture for anxiety and depression for 5 weeks. Participants of the study have answered self-rating scales Montgomery Åsberg Depression Rating Scale, Beck Anxiety Inventory and Sheehan Disability scale before and after the treatment period. Material was collected in the period 2008-2012 and has been analyzed in SPSS.Results: Data from 31 patients were included in the study. The results from the study showed a significant difference, between the Measurements before and after treatment, with a reduction of the average values in the three different scales.Summary: From this study, it is difficult to draw any conclusions about the effect of ear acupuncture.