Picker robots are often mounted close to each other above a conveyor belt. To be able topack robots even closer, it is desirable to reduce the footprint of the robot?s base. One way toachieve this is to skew the arms of the robot which makes it possible to move them closer toeach other.This Master Thesis has been carried out at ABB Corporate Research. The purpose is toevaluate the benefits and drawbacks for the idea of making today?s Picker robot morecompact by skewing the arms.

This thesis has been carried out at the Department of Urban and Rural Development at SLU Ultuna during the spring semester 2009. The topic of the paper is how energy consumption can be influenced through design and if the conditions for good design decreases when solutions based on energy efficiency are used. The report is divided into one literature study and one part where energy efficient solutions are used in a design. The thesis work has its origin in a project called "Energihus i Uppsala." The planned building will be a center for energy research in Uppsala. The project aims to demonstrate to the public what is currently happening in research related to energy.

Water connects heaven and earth. Water is the most obvious element of nature. To move in water is for me more than cooling of on a hot summer?s day. It is about freedom and the feeling of being above the state of things.

etta arbete belyser det för hästnäringen stora problemet ekvina placentiter från en veterinärmedicinsk synvinkel. Ekvin placentit betyder moderkaksinflammation hos häst. De vanligaste orsakande virusen, EHV-1 och EVA, samt ett mykotiskt agens, Histoplasma, tas upp. Bakteriella placentiter är dock mycket oftare förekommande. Därför diskuteras inte bara de tre agens som är vanligast; Streptococcus zooepidemicus, Escherichia coli och Pseudomonas aeruginosa, utan även två bakteriella agens på snabb frammarsch; Leptospira spp.

etta arbete belyser det för hästnäringen stora problemet ekvina placentiter från en veterinärmedicinsk synvinkel. Ekvin placentit betyder moderkaksinflammation hos häst. De vanligaste orsakande virusen, EHV-1 och EVA, samt ett mykotiskt agens, Histoplasma, tas upp. Bakteriella placentiter är dock mycket oftare förekommande. Därför diskuteras inte bara de tre agens som är vanligast; Streptococcus zooepidemicus, Escherichia coli och Pseudomonas aeruginosa, utan även två bakteriella agens på snabb frammarsch; Leptospira spp.

Back problems are well noticed in horses, especially in horses used for riding. Kissing spines (impingement of the dorsal spinous processes) are often found at radiographic examinations of the thoracic spine. Kissing spines is a radiological diagnosis, indicating that parts of at least two adjacent dorsal spinous processes are in contact with each other. It is not uncommon that horses without clinical signs of back problems have some degree of kissing spines. It is therefore not sufficient with a radiographic examination to say that the cause of pain is kissing spines.

Many traffic incidents are due to the driver?s lack of attention, resulting in dangerous lane departures, either sliding off theroad or into the oppose lane. These kinds of incidents often have serious outcomes, which has led to much effort being concentrated on preventing or lessening the damages when the incident is already a fact, for example by installing safety belts and air bags. These measures may be considered to be acts of so-called passive safety. Active safety on the other hand, means that the safety systems intervene before the incidents have occurred.

In veterinary medicine, penicillin is the most used antibiotic in Sweden. Two dosage forms of penicillin are available in Sweden for use in horses, sodium benzylpenicillin (Na-pc) and procaine benzylpenicillin (proc-pc). Proc-pc is the most used dosage form and is used for intramuscular administration which allows horse owners to treat an animal at home under veterinary instruction. Na-pc is only approved for intravenous use in horses. Penicillin is normally well tolerated by horses but a serious, sometimes life-threatening, adverse reaction called penicillin shock may occur.

The purpose of this essay is to examine the impact on children playing at a preschool yard that is designed with traditional playground equipment, and a nature-like yard without traditional playground equipment. How these respective environments influence children?s play, which other factors in the external environment that affect the game and whether the theories in the literature correspond with the results were important questions for the essay. To answer these questions a case study was applied onto two specific preschool centers, both located in Malmö. Through literature studies, inventories, observations and interviews with staff and children, a picture become clear of how the children use the yard and how their play is affected by the design of it.

When performing studies that test the reactions of horses in different situations, important information may be available about the horse?s reactivity level. With information from these tests, accidents and dangerous situations may be prevented. When the behaviours from tests are compared with race performance it may be possible to evaluate if some behaviours are more desirable at the race track than others. The aim of this study was to see if behavioural responses correlated with physiological parameters (heart rate, cortisol), the trainer?s opinions and actual race performance.

In order to optimize calf welfare and health it is important to know the behavior of cattle in free ranging conditions. When the cow is about to give birth to a calf she will leave the heard about 12 hours before. It is then rather obvious that isolating the cow about calving time in a single pen is imitating the cows? natural behavior. To save space and minimize building cost it?s common that the farmers build calving pens for four of five cows especially at larger farms.

The purpose of this paper is to study how the wooded hay meadow of the forest district of northeastern Scania is preserved today, and what local history it has, to thereby achieve a better understanding of the dynamics of the landscape and the complex of problems involved in keeping a historical element of the cultural landscape alive. To accomplish this, literature concerning the subject has been studied, experts have been consulted and an example, the old farm Sporrakulla in Östra Göinge municipality, has been studied. The paper states that the wooded hay meadow constitutes an important part of the history of northeastern Scania, where it provided leaf fodder and hay for the farmers keeping cattle. Today, however, only a few wooded hay meadows remain. One of these is the studied example at Sporrakulla, where juridical protection like Natura 2000 and financial support of maintenance like miljöersättningar make sure that the wooded hay meadow will remain.

In this paper, a small business network with around 30 users is analyzed with respect to security, performance and usability. Based on this analysis, two suggestions on how to solve the problems listed are given. The first suggestion focus on keeping a low budget, while the other tries to deal with the problems more thoroughly. One advantage of the first suggestion is, in addition to not straining the company's budget more than nessecary, it does not involve too great changes in the way the network is used and administered. On the other hand, the smaller budget leads to certain compromises, and there is a risk that similar problems occur again if, for example, the company would grow.

Time of harvest affects nutritional value and digestibility of haylage since plants are in different developmental stages. The aim of this study was to examine the effect of plant maturity of haylage cut in June, July and August on digestibility and faecal particle size in horses.Forage and faecal samples used for the analysis of apparent dry matter digestibility (DMd) and particle size distribution in faeces were from a feed-study performed in the autumn of 2009. Twelve horses were used in the study, divided into three groups in a change-over experiment. Each group was fed haylage harvested in June, July or August during three periods. Faecal grab samples were taken from each horse and pooled so that one sample represented one horse during one period.

This report addresses the growing need to adapt the medical healthcare to the new possibilities that can be accomplished by incorporating a web aspect to the personal treatment plans of patients. It describes what implementations that need to be considered in order to successfully convert to a partially web-based treatment.The report also reflects the potential economical gain that can be made by keeping the communication between the patient and the doctor frequent. It also takes into account the personal gain to the patient by increased feedback and easier ways to communicate with their attending physician and thereby increasing the quality of their healthcare and service.The construction of a prototype of the system required is also included in the report as a description of construction and functionality of the prototype along with results and estimated outcome..