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.

The report aims to investigate how well a certain type of affordable embedded single board computer can hold up against today's more expensive computers in a computer system by doing various tests on a system with the specified requirements. The system has a Raspberry Pi as the single board computer which task is to control a camera based on coordinates obtained from a server as well as capture and stream a video signal on a network.The researches were conducted to check how much network traffic a single-chip computer sent in different video formats and how much CPU utilization was required. Studies were also made to ensure the accuracy of the camera control. The researches have been experimental, where several tests have been performed and analyzed.The results show that a sufficiently good accuracy can be obtained from the camera steering unit, in which two different servos have been investigated. When the video format MJPEG and H.264 are used, the single-chip computer is able to transmit a video signal up to 1280x720 at 15 fps.

As break downs of production transformers are costly and often result in long outages it is essential for reliability of operation that the transformers are manufactured to be robust. The aim of this M.Sc. thesis is to investigate if deviations should be made from the standard IEC 60076 ? Power Transformers in order to describe a robust large power transformer for procurement.The investigation has been conducted in three stages. In the first stage a definition of the term robust was developed in consultation with the client Vattenfall Vattenkraft.

Att skydda sin IT-miljö mot olika typer av intrång och attacker som till exempel trojaner,skadliga Java applets eller DoS attacker med hjälp av brandväggar och antivirusprogramär två viktiga lager i skalskyddet.I den här uppsatsen undersöks hur väl ett Intrusion Prevention System skulle kunna fungera som ett ytterligare lager i skalskyddet. Fokus ligger på hur väl IPS-systemet klarar av att avvärja attacker, hur mycket tid som går åt till konfigurering och drift för att få ett fungerande IPS samt hur prestandan i nätverket påverkas av implementationen. För att mäta hur väl IPS systemet klarar av att upptäcka och blockera attacker utförs två experiment där ett mindre nätverk attackeras på olika sätt. I det första experimentet skyddas infrastrukturen av en brandvägg och klienterna är utrustade med antivirusprogram. I det andra experimentet genomförs samma attacker igen fast med ett Snort IPS implementerat i nätverket.Resultatet av de genomförda experimenten visar att en IPS klarar att blockera ca 87% av attackerna, men nätverksprestandan påverkas negativt.

Saab Bofors Dynamics AB is looking for ways to let the employees work wireless in the future. The security in Wireless Local Area Networks (WLAN) has not been considered very reliable, but new standards and protocols have been developed to enhance the security in WLAN. Since most wireless components soon will have built in support for wireless communication, it is important to have a model to deal with secure wireless communication ready. This is necessary because it is important to protect the company?s information related systems, ensure contingency in the daily work and maintaining the trust of the market and the authorities.

The purpose of this thesis is to examine Skogsstyrelsens event Skogens Dag as an information channel by looking at information use and information behaviour during the communication process of the event. This is done by examining the aims of Skogsstyrelsens information distribution during the event in relation to its outcomes. The evaluation is focused on long term effects on the target group and it is restricted to Skogens Dag in Borås 2005. The question this thesis intends to answer is: How does the event Skogens Dag function as a tool for information distribution? The theoretical background gives an account of the communication process as well as the relevant aspects of marketing, social marketing, campaigns and public relations, as these are communication attempts that can use an event as a medium.

Denna studie belyser svårigheten för teknik och virtuell geografi att nå ut till mottagaren genom en kartläggning av e-postens geografi. För att skapa förståelse och fånga den osynliga processen bakom e-postens geografi  utgår uppsatsen dels från teorin Actor Network Theory (ANT) och dels från intervjuer.Under studiens gång uppstod ny förståelse för e-postens komplexitet och ledde fram till en reviderad syn. I början av uppsatsarbetet betraktades e-posten enbart utifrån sin funktion som aktant och intermediarie men i takt med att undersökningen fortgick framkom att den samtidigt, utöver dessa funktioner, fungerar e-posten som ett heterogent nätverk med betydelsefulla komponenter såsom aktörer och aktanter. Enligt uppsatsens konklusioner är e-postens trajektoria beroende av den strategi som producenten använder under skapandet av elektroniska meddelanden. Ett kontinuerligt arbete mellan producent och konsument krävs för att e-postens trajektoria ska upprätthållas och leda fram till att det elektroniska meddelande som löper igenom det virtuella nätverket når sitt syfte..

The aim of this thesis is to analyze how small and medium-sized management consulting firms in Sweden work with human resource management during digital transformation. By interviewing companies, this study explores their approach to attracting, recruiting, and developing competence. The results showed that management consulting firms have good access to candidates, made possible by having a strong corporate culture and attractive working conditions - Crucial parts for attracting talent. Social media and networking are frequently used for marketing and attracting interesting candidates. Digital tools and social media showed to be useful during the recruitment process, but personal contacts and networking still play a central role.

In order to drive innovation and growth in a nation is it important to have innovative companies. Many of those innovative companies are smaller companies, which are in need of capital injections for expansion of its operations or to be able to produce a commercial product. In many cases the banks will not lend because they believe there is too great a risk that they will not get their money back. It is in this situation venture capital becomes interesting. Venture capitalists? see the potential the product and/or entrepreneur possesses and are therefore more willing to take the risk in investing in these companies.

Utifrån rapporter från bl.a. Riksidrottsförbundet (2007) går det att fastställa att aktivitetsytor som planeras för barn och unga idag inte används jämlikt. Dagens planering tenderar att gynna killar i högre utsträckning än tjejer. Examensarbetet Breaking the Habitual ? Ett gestaltningsförslag för Hagebys nya aktivitetscentrum ställer sig kritiskt till detta och strävar efter att bryta denna planeringsstruktur.

The title of the final thesis is Filmic landscapes ? film as representation, tool and practice in landscape architecture. The aim of the final thesis is to investigate how film as a medium can be used to describe, interpret and manipulate the understanding of a place and its design. What kind of aspects of landscape architecture can film as a medium in a design-process emphasize or create? How can filming, as a self-standing act, contribute to the understanding of the landscape and a landscape-related design-process? The thesis is divided into two parts, one theoretical part that consists of an essay, and one practical part that consists of a 11minute long filmic reflection of the ?Glass-houses?in Kosta, Sweden, created by the Swedish designer and architect Bruno Mathsson.

Webexhibits is a growing but unexplored, cultural phenomenon that indicates a new use of the Internet for cultural communication. In the essay two quantitative methods, logganalysis and websurveys, have been used to study the visitors in 5hus.nu. The purpose is to generate knowledge about webexhibits as a cultural manifestation and medium by studying the experience and actions of its visitors. To achieve the aim the paper explores the methodological questions of how to study webusers. Theories about the exhibition as a medium and the web as a virtual area of exhibits have been used to understand and interpret the results.

This report explains the need to develop a configuration manager that handles transmission equipment which exists in the Swedish Defence telecommunications network. The configuration module will display the configurations and compatibility among the equipment and their software which are all part of the network.Also included in this report are tools, methods and results for the development of a prototype for the configuration manager. The prototype consists fundamentally of a database assisted by a user friendly website.The transmission equipment handles a lot of important transmission of information and is in the hands of a department of SAAB, OFGCA, by orders from the Swedish Defence Materiel Administration (FMV). Within the work included in this order exists a continuous update of both software and hardware which the equipment consists of. Therefore it?s highly important that there is a monitoring of which of the software and hardware is compatible with one another, ensuring that the functions of the system work properly.The consistent updating has resulted in compatibility issues between components and because of this, a need for a configuration manager has arisen..

Den här uppsatsen försöker besvara frågan om hur man kan förmedla känslor, tankar och stämningar till människor med trädgården som medium. Uppsatsen söker även svar på om man specifikt kan designa gröna miljöer som riktar sig till människor som går igenom ett sorgearbete. Här ges exempel på flera olika designteorier och olika sätt att tänka kring hur man skapar meningsfulla landskap. Därefter presenteras forskning kring hur människor tar sig igenom ett sorgearbete och bemöter känslor av sorg. Uppsatsen tar även upp Appelton?s teorier kring habitat och prospect/refuge och hur människan förhåller sig till rummet. Vad som avgör vår känsla av trygghet och de underliggande mönstren i hur vi läser av vår omgivning. I den avslutande delen av litteraturstudien går jag närmare in på hur man kan skapa helande miljöer för människor som genomgår ett sorgearbete. I uppsatsen ingår även två utformningsförslag som är baserade på den tidigare genomgångna litteraturen kring hur man skapar trygga och helande miljöer.

The community Vessigebro, in Falkenberg and its surrounding areas housing one percent of all dairy cattle and two percent of all pigs in Sweden. This means that there is a large amount of manure as a basis for producing biogas in the area. A number of farmers have therefore formed a cooperative named Vessigebro biogas and started the project Green Vessigebro, with the goal of creating the conditions for a more profitable and more sustainable agriculture production.The study deals with the conditions and sale opportunities of the feasibility study Green Vessigebro. The study has looked at the work that was previously carried out for the biogas that could be produced on the farms in Vessigebro, The main pipeline for natural gas on the Swedish west coast and its operators, the Swedish Competition Act , Electricity Act , Natural Gas Act, the District Heating Act , Sustainability Act , previously proposed measures, municipality interest in biogas from Vessigebro , possible collaborations, possible sale opportunities and perform calculations with data from the municipality Ljungby for a suggested transportation of biogas between Vessigebro and Ljungby.The study shows that there are several interesting sale opportunities for biogas from Vessigebro. The production and use of biogas in Sweden is increasing and the trend seems set to continue.