In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

Syftet med uppsatsen är att belysa möjligheter och begränsningar med olika tekniska system för att identifiera kontakter på stridsfältet, främst med avseende på att minska risken för vådabekämpningar. Uppsatsen skall också belysa om införande av tekniska system för identifiering av kontakter är den enskilt bästa metoden för att undvika vådabekämpningar. Syftet är att läsaren skall uppnå en förståelse för vad olika typer av system för identifiering kan bidra med för att minska risken för vådabekämpningar. Utöver detta belyses andra nackdelar och fördelar med de olika tekniska systemen förutom just inom området identifiering.Uppsatsen beskriver olika händelser där vådabekämpningar skett och kopplar dessa mot hur olika tekniska system eventuellt hade kunnat minska risken för att vådabekämpningen skulle ha skett. Uppsatsen beskriver också ett antal olika tekniska system för identifiering av kontakter på stridsfältet..

How do we perceive literature? In our times computer games and Internet have made us grow more comfortable to the usage of non linear storylines. But how does this apply to printed literature?In this essay, called ?From a to b through d h and o. Non linear storytelling in our time? I have focused on nonlinear literature from different time periods and I have studied novels such as James Joyce?s Ulysses as well as works by William S.

An ethnographic study loosely informed by the theoretical framework of distributed cognition was carried out in order to describe how mariners have adopted the Automatic Identification System (AIS) in their work practice, or"made the technology their own". AIS is a transponder-based identification and communication system that allows ships to automatically identify and track each other. In addition to facilitating the identification and tracking of ships, objectives behind the introduction of AIS are to"simplify informational exchange", and"provide additional information to assist situation awareness". Participant observation and interviews were made at four different ships, as well as at two shore stations. A focus group was also held at a maritime conference.

In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

Direkt viktoptimering (Direct Weight Optimization, DWO) är en ickeparamterisk systemidentifieringsmetod. DWO bygger på att man skattar ett funktionsvärde i en viss punkt genom en viktad summa av mätvärden, där vikterna optimeras fram. Det faktum att DWO har en inparameter som man måste veta i förväg leder till att man på något sätt vill skatta denna inparameter. Det finns många sätt man kan göra denna skattning på men det centrala i denna uppsats är att skatta inparametern lokalt. Fördelen med detta är att metoden anpassar sig om till exempel systemet ändrar beteende från att variera långsamt till att variera snabbare.

How do we perceive literature? In our times computer games and Internet have made us grow more comfortable to the usage of non linear storylines. But how does this apply to printed literature?In this essay, called ?From a to b through d h and o. Non linear storytelling in our time? I have focused on nonlinear literature from different time periods and I have studied novels such as James Joyce?s Ulysses as well as works by William S.

Purpose: The aim of this thesis is to create a greater understanding of organizational identification and the factors influencing this process. The understanding will be obtained by identifying what individuals identify them selves with and why this identification occurs.Method: The thesis is a case study with an abductive research approach with a focus on organizational identification. Data has been collected with a qualitative focus in interviews and images.Conclusion: The employees at Plain Capital primarily identify themselves with their profession, the company and their co-workers. The reasons why they identify are mostly because of the feeling of pride and participation. We have discovered a link between a strong group identity and a high organizational identification.

Syfte: Syftet med studien är att beskriva hur svenska modeföretag arbetar för att skapa Brand Identification  hos sina externa distributörer, samt vilka faktorer som påverkar möjligheterna att skapa Brand Identification. Vidare är syftet att belysa vilka tillvägagångssätt svenska modeföretag använder för att tackla faktorernas inverkan på skapandet av distributörernas Brand Identification.Resultat: Studien visar att arbetet med Brand Identification är viktigt redan i ett inledande skede av ett samarbete. Förmågan att skapa en känsla av tillhörighet är viktig för att Brand Identification med producentens varumärke ska vara möjlig, särskilt då distributören arbetar som representant för flera varumärken. Tillvägagångssätt för detta är kommunikation som är riktad mot distributörens säljkår samt socialiseringsprocesser vid personliga besök hos distributörerna..

Using the models from van Maanen and Schein (1977) and Dutton et al. (1994), we have been able to investigate the socialization process and organizational identification both from the organizational as well as the individual?s perspective. The link between these two perspectives establishes a better insight into the company?s actual socialization intentions and the individual?s identification with the firm.

Modelica is a multi-domain and equation-based modeling language. Modelica is based on object-oriented principles and non-causal modeling. The language is constructed to facilitate reuse and decompose models. The models and the modellibrary can modified to design a new nonlinear components.Object-oriented modeling is an excellent way to analyze and study large complex heterogeneous physical systems. The object-oriented modeling approach build on reusing and decomposition of models and non-causal modeling.Modeling physical systems often leads to a DAE system with index 2 or 3.

Warehouses are a key aspect of modern supply chains and play a vital role in the success or failure of businesses today. Figures from the USA indicate that the capital- and operating costs of warehouses represent about 22 % of a company?s logistics costs while figures from Europe indicate 25 % (Baker & Canessa, 2009). Because warehousing is such an important function within a company, the authors chose to focus on this in their thesis. The purpose of this thesis has been to examine the significance of a Warehouse Management System (WMS) and item identification with attention to logistic efficiency.

The purpose with this masters thesis was to model the scanner in a system for laser bathymetry. The model was then used to develop a controller for the scanner so a good search pattern was achieved. Two different types of models have been tested, a physical model and a Black Box model of Box Jenkins type. The physical model has been derived from Lagranges equations. Identification experiments have been used to compute the Black Box model and to find the unknown parameters in the physical model.

The use of environmental management systems, and objectives-led corporate management have become a widespread phenomenon today. Identification and assessment of an organisation?s significant (environmental) aspects is crucial within this work. Identification and especially assessment of significant aspects is often considered as a problematic step in many organisations. There are no generally accepted methods how to undertake this crucial step.