I detta examensarbete har ett system för navigering och styrning av ett autonomt fordon implementerats. Syftet med detta arbete är att vidareutveckla fordonet som ska användas vid utvärdering av banplaneringsalgoritmer och studier av andra autonomifunktioner. Med hjälp av olika sensormodeller och sensorkonfigurationer går det även att utvärdera olika strategier för navigering. Arbetet har utförts utgående från en given plattform där fordonet endast använder sig av enkla ultraljudssensorer samt pulsgivare på hjulen för att mäta förflyttningar. Fordonet kan även autonomt navigera samt följa en enklare given bana i en känd omgivning.

The thesis describes a completely new biofuel system to generate particle-free heat from combustion of ash-containing biofuel particles at high temperatures.The suggested system gives opportunities to introduce biofuels in new areas.Main components in the suggested system is a heat radiating combustion chamber intended for pulverized wood, combined with regenerators to extract heat from flue gases and simultaneously preheating the combustion air.The thesis contains a description of the suggested system, theoretical considerations, calculations regarding the combustion, and includes results from tests performed.The results from calculations and tests performed concludes that the system is workable and possible to apply..

Genom a?rhundraden har bilden varit en viktig del i va?rt samha?lle. Den har varit en ka?lla till underha?llning, sparande av minnen och a?ven ett sa?tt att kommunicera pa?. Bilder har anva?nts pa? ma?nga olika sa?tt och sedan 1800-talet har vi kunnat fa?nga bilder genom fotografier.

When implementing syncronous filters with global clock nets, a substantial amount of energy is consumed in the clock net. Hence, it is interesting to reduce the size of the clock net, which in turn will reduce the total energy consumption. One way to acheive this, is to create a SIC (Structured Interfacing of Computational elements) since such a structure can be created without a global clock net. Our results show that a fifth order wavedigital filter with a sample rate of at least 10M samples/sec may be achieved.

The filters used today to purify water are often expensive and the need to find new filter materials is substantial. Studies of pine bark have shown that this is a material that may be used as an alternative to conventional filter materials, such as activated carbon. However, the study of pine bark has shown that a leakage of phenolic compounds may occur when using the material for water purification. Therefore, the purpose of this report is to investigate the release of phenols from pine bark, in order to evaluate the use of pine bark as a filter material. Another assignment is to investigate the amount of metals adsorbed by the filter material.

The different characteristics of many food products, such as aroma and texture, changes during storage time and become undesirable. The reason is instabilities within the product which become prominent as the product ages. These changes in characteristics are quality losses caused by changes in the product?s intrinsic and extrinsic environment. The stability in UHT-milk and beverages similar to it have been studied in the past decades and a certain focus have been on age gelation which is a common defect in these type of products.

This master thesis has been done in cooperation with Sweco Viak AB in Sundsvall. The aimwith the project is to investigate the purifying effect of percolation filter due to iron andmanganese. The overall goal was to investigate how the parameters surface load,sandfractions, and burden time affect the purifying effect. The expectation is to optimize thedesign and find a demouldning of the filter that gives sufficient purifying with a highersurface load. As an attempt to accelerate the curing of the filter, experiments with a layer ofsand which surface has been covered with manganese ore (MnO2) on top of the filter havebeen done.As test filters 10 L bars were used and the experimental work was performed at thewaterworks in Hassela and Munkbysjön.In Hassela different sandfractions were tested.

Wastewater contains biodegradable materials, which are often measured as BOD7.Trickling filters are sometimes used as a purification step for BOD-reduction. Atrickling filter is a tower, which is filled with a carrier material. Microorganisms growon the carrier material in the form of a biofilm. This biofilm consists mostly of bacteriathat purify water from BOD.In Älgarås? wastewater treatment plant the water is purified by a trickling filter.However the treatment plant has difficulties reaching the emission requirements forBOD.

This master thesis studies distributed navigation which isa function implemented in a future network based combat information system to improve the accuracy in navigation for combat vehicles in a mechanized battalion, above all in the event of loss of GPS. In the event of loss of the GPS the vehicles obtain dead reckoning performance through the backup system that consists of an odometer and a magnetic compass. Dead reckoning means a drift in the position that makes the accuracy in the navigation worse. The distributed navigation function uses position and navigation data with measurements between the vehicles to estimate the errors and uncertainties in positions, which are used to improve the accuracy in position for the vehicles. To investigate and demonstrate distributed navigation, a simulation environment has been produced in Matlab.

When exposed to them, isocyanates can induce serious injuries in the respiratory tract and irritation on the skin and in the eyes. They are therefore interesting from the point of view of occupational health. The purpose of this thesis was to collect isocyanates in air with impinger-filter samplers and solvent free samplers. Furthermore the isocyanates were to be analyzed with liquid chromatography-mass spectrometry. The solvent free sampler consists of a polypropylene tube and filter holder fitted with glass fiber filters impregnated with derivatization reagent, coupled with a pump.

Arbetet som presenteras i den här rapporten handlar om ansiktsigenkänning från webbkameror med hjälp av principal component analysis samt artificiella neurala nätverk av typen feedforward. Arbetet förbättrar tekniken med hjälp av filterbaserade metoder som bland annat används inom ansiktsdetektering. Dessa filter bygger på att skicka med redundant data av delregioner av ansiktet..

Chewing behaviour includes both eating and ruminating activity. Chewing behaviour is of great importance for the feed intake as through the action of chewing (i.e. eating and ruminating) animals mechanically process the forages in small particle sizes and prepare the food for digestion. As cattle grow the chewing behaviour changes along with increasing body weight and chewing efficiency is increased. The aim of this thesis was to review the available scientific literature in order to describe chewing behaviour in growing cattle, as well as the factors that affect this behaviour.

The global Positioning System (GPS) provides location and time information as long as there are unobstructed lines of sight to four or more GPS satellites. However, when this is not the case the signal may be inaccurate or sometimes even completely blocked. In these situations the Inertial Navigation System (INS) is an appropriate choice for positioning.  An INS has already been proposed in a previous thesis by Erik Andersson and the objective of this thesis is to fuse the GPS with the INS in a proper way. A part of this project is to decide the reliability of the GPS.Three methods for GPS reliability detection have been proposed. One method based on the statistical properties of each of the separate systems, and two methods based on the statistical properties of the residuals between the GPS and INS.

This bachelor thesis project has been executed at Outotec Sweden AB in Skellefteå. Outotecs main business focus is selling mineral and metal processing technologies. A rest product from the metal process is particle-polluted gas and cyclone designs are today the most commonly used abatement device for particle control. A cyclone provides a simple design with high efficiency particle percolation by using air streams.The purpose of this work is to reduce the time it takes create new cyclone designs in Outotecs projects. An extensive construction work is needed for every new cyclone order due to new designs.

Sociala medier ?r en del av dagens ton?rskultur, d?r Instagram, Snapchat och TikTok ?r de popul?raste apparna bland barn och unga. Forskning visar att anv?ndandet av filter p? sociala medier genererar m?jligheter att (om)f?rhandla sin identitet samt att anv?ndandet kan leda till att unga utvecklar orealistiska kroppsideal. F?r att f? en ?verblick ?ver f?ltet g?rs en strukturerad forsknings?versikt.