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.

In this master?s thesis the problem of simulating conditional Bernoulli distributed stochastic variables, given the sum, is considered. Three simulation methods are considered, namely the acceptance/rejection technique, Bondesson?s method and the Markov chain Monte Carlo method.To compare the three methods the bias and the standard deviations of the simulated variables are evaluated. The results of the simulation study shows that the Markov chain Monte Carlo method is not the best method for this type of simulation.

Purpose of the thesis is to construct a tool for car wheel change. Car wheels can be heavy and hard to handle and therefore the company Movomech intends to develop a tool that makes wheel change easier. Movomech does not have any similar product and because of this the work was condition less.The intended users of the product is tire workshops and there for the work began with investigation of these. The reason of the investigation was to see how wheel change is done and how tire workshops are planed. The tire workshops? crew?s opinions were also considered and above all one important conclusion was made.

The subject of this Master?s thesis is the process of change in a public library context, the implementation of the Stockholm City Library?s homepage Biblioteket.se. The aim is to examine the factors that influence this particular change and how they affect the process and extent of change in practice. The study designed as a qualitative case study is based primarily on document analysis, and supplemented by an interview. DiMaggio?s and Powell?s three mechanisms of change; coercive, mimetic and normative isomorphism, is applied.

Operators and Internet service providers invest in broadband to be able to deliver new services that require higher data transmission rate. A way to make this possible is to use ADSL, Asymmetric Digital Subscriber Line, as the access technology. To be able to handle this technology, the service providers should do a pre-qualification. Methods and tools are needed to analyze the local copper lines and decide if these qualify for ADSL with respect to service availability and possible bandwidth through the lines. This report brings up some methods for pre-qualification of ADSL, the important quality parameters and how to gather them from the available services today.

This thesis shows the result from investigations of methods that use distance vectors when matching pictures. The distance vectors are available in a distance map made by the Euclidean Distance Transform. The investigated methods use the two characteristic features of the distance vector when matching pictures, length and direction. The length of the vector is used to calculate a value of how good a match is and the direction of the vector is used to predict a transformation to get a better match. The results shows that the number of calculation steps that are used during a search can be reduced compared to matching methods that only uses the distance during the matching..

ABSTRACTClimate Change in the Daily PressAn Analysis of the Representation Swedish Daily Papers Convey Through Their Editorials About the Climate ChangeThe purpose of this essay is partly to present how swedish daily papers describe the climate change through their editorials and partly to examine if their politcal affiliation effect their point of view about the climate change. The search incluedes editorials from 6 daily papers (Aftonbladet, Dagens Nyheter, Expressen, Göteborgstidningen, Nerikes Allehanda and Svenska Dagbladet) from the year 1997 to the year 2003. Three discourses and the order between them, found by a former analysis (Adger and others, 2001) of the international politics of climate change, are used as types of ideal in a form of an analysis of idea.The analysis reveals that the swedish daily papers don?t give the problem any major attention. Only a total of 65 editorials about the climate change could be found even though the papers produces several thousands during the period.

This master thesis was carried out at Scania in Södertälje, Sweden. It investigates the possibility of changing a connector interface that is used when there is a need for splicing the wheel speed sensor and thereby determine the consequences.The problems that exist with the current connector interface occur during assembly, as more time is required to complete a connection in a reliable manner. A complete connection requires joining the male and female connector, insert the connection into a protective retainer and then strap a cable tie on each end of the retainer. This process makes it more time consuming and it requires 20-30 seconds to complete the connection. Solving this problem would save time and enable easier assembly, therefore resulting in economical benefits.This thesis was accomplished through discussions with different sections at Scania, studying available documentations, observations during assembly, writing a requirement specification and contacting suppliers.The aforementioned methods resulted in four connector suggestions, the DT and DTMH connector from Deutsch, MCON connector from TE connectivity and MLK connector from Kostal, each of them compliant with the set demands of the surrounding environment.

Organizational change is hard to achieve, but if an organization doesn't change it might risk its own existence. Effective resource allocation and increased control of the internal production are examples of how organizations try to increase its competitive advantage. An ERP system (Enterprise Resource Planning) can help an organization to achieve this by providing management with direct access to a wealth of real-time operating information, streamlined dataflow, and making the company's business processes more effective. Like other IT-related projects, ERP investments are associated with large risks. Many projects failure during the implementation in one way or another.

Horses are made to eat mainly roughage and it is essential for optimal health to offer them an appropriate amount of roughage with good hygienic and nutritional qualities. To produce good hay at the right time and be able to keep the hygienic quality until next summer is a problem. This has the effect that horse owners today choose haylage and silage to a larger extent. Science in this area is scarce, i.e. if the change from hay to silage has any effect on the horse.

This essay deals with the ideas of social change in the Iron Gates Gorge site of Lepenski Vir during the Mesolithic. The change from a mainly fish-based subsistence strategy to a strategy that came to rely more on hunting and later domesticated animals could have been the onset of the social change that is noticeable in the material culture from the site. Theessay is divided in two main segments. The first consists of a case-study based on three themes that describes and searches for changes in the subsistence-, settlement- and burialpractises during the Mesolithic and beginning of the Neolithic phases, and the second part analyses the results from the case-study. It is primarily the idea of transformations and reproductions of traditions that will be dealt with in the analysis which is facilitated by a theoretic structure based on and inspired by the works of Emilé Durkheim and Anthony Giddens..

The Swedish wolf population is like continue to grow and this will eventually lead to an increase in the predation of livestock. In Sweden carnivore attacks happen most frequent on sheep farms and the majority of these attacks are performed by wolves. Because of this, the main focus in this study is on the sheep and wolf problematic. It is not only the direct killing of livestock that affects the animals and their owners in a negative way. It has also been shown that livestock that lives close to carnivores sometimes change their behaviour in a way that will affect their ability to reproduce and to forage efficiently.

Mould is a common contamination in cereals. The growth of mould can stimulate mycotoxins production andsome of which at critical concentrations cause health problems in humans and animals. Fusarium is one of thefungus species that has been found in crops and can cause major problems for farmers such as reduced harvestand economic losses. A group of Fusarium species, Fusarium avenaceum, Fusarium poae and Fusariumtricinctum express a mycotoxin, enniatin. The limited information available today about enniatin-forming fungiis that they grow out on fields of wheat in colder climates.

The securities market was to undergo a major change with the entry of MiFID I in November 2007. EU´s establishment if the directive sets high standards for investment firms to establish internal guidelines in accordance with MiFID I. As right now, the securities market is facing further change with the proposal for MiFID II.MiFID II seeks to overcome MiFID I´s shown deficiencies. The greatest need for change are the rules that secure investor protection, with specific focus on regulation on information service from investment firms to customers. This essay deals with the rules on information service enacted in MiFID I compared to the changes presented in MiFID II to investigate whether the changes could strengthen investor protection as desired.MiFID II is a more detailed framework than its precursor.

En förändring är ett tillstånd som vi upplever under hela vår livstid, både privat och i arbetslivet. Företag måste förändras för att kunna bevara sin konkurrens-kraft. Motstånd till förändring kan anses som det största enskilda hotet mot ett framgångsrikt införande av en strategi på ett företag. Ett sätt att hantera detta motstånd är att använda sig av den delaktiga förändringsmodellen samt stävja rädslor och osäkerhet. Syftet med detta examensarbete var att vi ville få en ökad förståelse för hur företag arbetar med produktionsförbättringar och om de känner av något motstånd vid dessa förändringar. De intervjuade företagen anger som sin absolut största förändring deras införande av ett eget produktionssystem med stort fokus på Kaizen ? Ständiga förbättringar. Under arbetets gång stötte vi på en psykologisk och vetenskaplig teori om Förändringens fyra rum som anses vara ett kraftfullt hjälpmedel vid alla förändringar..