I denna rapport har mätningar från en lidar och mätningar från en meteorologisk mätmast jämförts. En undersökning har även gjorts för vilka atmosfäriska tillstånd som lidarn mäter bra och för vilka förhållanden den mäter mindre bra. Som referens används data från en mätmast, som antas vara korrekta. Platsen för mätningarna är över skog vilket medför mer komplex terräng än över plan mark.Olika filter har utvecklats för de atmosfäriska tillstånd då lidarn mäter sämre, för att filtrera bort de mest extrema förhållandena. Dessa filter filtrerar bort data med för mycket turbulens, låg eller negativ vertikal vinddifferens och liten återspridning.

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.

WesDyne TRC AB is a fully owned subsidiary of the global WestinghouseElectric Corporation. WesDyne is a world leader in non-invasive methods for theinspection of nuclear power plants. One of the inspection platforms used to scanfor defects in and around the welds in the reactor vessel is called the T-crawler.The T-crawler operates under water in a radioactive environment by stepping onthe vessel (reactor tank) inner wall using suction cups. The environment is harshand many traditional positioning sensors are not suitable for implementation. Thisthesis investigates the possibility to use a gyroscope and a pressure sensor tocreate an alternative and independent positioning system.

The eutrophication of inshore seas, lakes and watercourses is mainly due to leaching of nitrogen and phosphorus (P) from agriculture. Many efforts are made to reduce the lea-kage of phosphorus in Sweden and the Baltic Sea countries. Phosphorus is also a finite resource and the mining of good quality raw material gets more and more difficult. Se-dimentation dams in combination with filters is one relatively new method to separate P from run-off and drainage water from agricultural land. This study was a part of an IVL Swedish Environmental Research Institute?s project which tests the capacity and func-tion for separation of phosphorus in four phosphorus filters.

Syftet med denna utredning var att välja ut och utveckla kommunikationsövningar under det första stadiet av en gestaltningsprocess mellan landskapsarkitekt och brukare. Genom att undersöka olika metoder/övningar såsom att svara på en enkät och att se på bilder framkom det att övningarnas styrka låg i att de var flera och kombinerades på olika sätt.

Simulation of different systems can be done using a graphical model description of the system based on block diagrams. The simulation software Matlab/Simulink offers a lot of possibilities to describe a huge number of systems, which can be linear as well as nonlinear. The simulation using Matlab/Simulink is done by integration based on different kinds of numerical methods.When nonlinear Simulink-models are simulated, it is often interesting to apply a Kalman filter to handle the noise that may occur within the process as well as corrupting the measurement. However, application of such a filter leads to an extensive time-consumption despite using fast computers. The reason is that the existing Matlab functions are not constructed for time optimal evaluation.

The media landscape has exploded during the last decade, which has lead to a massive advertising clutter. Consumers defend themselves against this intrusive marketing by creating an advertising filter that sorts and blocks. These changing conditions have lead to new and tougher demands on creators and advertisers to create more efficient marketing communication that stands out in the clutter and penetrates the consumers? advertising filter. Many creators and researchers claim that creativity is the most efficient method to stand out in the clutter and generate sought communication effects.

When protection zones for wells are delineated, it is important to acquire good knowledge about possible travel time from different points in the catchment area to the well. Often, simple analytical methods are used for estimating travel times and the assumption is made that the hydraulic conductivity is relatively homogenous within the aquifer. Nevertheless, many aquifers are strongly heterogeneous which may lead to differences between estimates and actual travel times. As a part of the process to develop improved methods for delineating protection zones for groundwater supply wells, a tracer experiment was performed in a glaciofluvial esker formation in Järlåsa. On the basis of the experiment, a numerical flow model was created for the test site.The purpose of this master?s thesis was to apply the flow model to an aquifer where the hydraulic conductivity shows great variability and should be described by a stochastic distribution.

When grains of wheat and rye are conventionally milled, large quantities of bran classified as by-products are left and are mainly used for animal feed. Bran is a complex material composed of the aleurone layer, nucellar epidermis, a seed coat, a fruit coat and a small proportion of the germ and endosperm depending on extraction rate. The bran fraction consists of approximately 40-50 % dietary fibre which can contribute to increase the nutritional quality of human cereal food. It would also be valuable for the food industry to convert by-products as bran to products with higher commercial values. The aim of this thesis was to analyse the content and composition of dietary fibre of heat treated wheat and rye bran according to the Uppsala method with some modifications in order to analyse soluble and insoluble dietary fibre separately. Half of the bran samples were precooked, dried and roasted and the other half dried and roasted (uncooked).

In this paper the rate of convergence, speed of execution and symplectic properties of the time-integrators Leap-Frog (LF2), fourth order Runge-Kutta(RK4) and Crank-Nicholson (CN2) have been studied. This was done by solving the one-dimensional model for a particle in a box (Dirichlet-conditions). The results show that RK4 is the fastest in achieving higher tolerances, while CN2 is the fastest in achieving lower tolerances. Fourth order corrections of LF (LF4)and CN (CN4) were also studied, though these showed no improvements overLF2 and CN2. All methods were shown to exhibit symplectic behavior..

The company GEMS PET Systems produces cyclotrons which is a type of particle accelerator. The cyclotrons create log files that are analyzed by the company?s employees for different purposes like troubleshooting or installation. The purpose of the project is to with a usage-centered design method create a paper prototype of a tool that will help the employees to analyze the log files in a more efficient way than earlier.The result shows how the usage-centered design method was used to create the paper prototype and how the user interface was created according to human-computer interaction (HCI)..

Studien underso?ker mo?jligheten att anva?nda ledande partiklar besta?ende av silver- belagda kopparflingor, fo?r att tillverka konduktiva ledningsbanor pa? textilsubstrat. Syftet med denna studie har varit att tillverka de banorna med hja?lp av screentryck- teknik. Sammansa?ttningen av bela?ggningsformuleringen har en stor inverkan pa? den be- lagda textilen och de ledande egenskaperna.

This thesis gives the reader an understanding for newsletters within e-commerce, and how to work with them as a channel for marketing. Furthermore it explains the technical and graphical demands, and how to ensure that the newsletter reaches the intended receivers.A successful newsletter can entice people to shop, but can also help to strengthen a brand and the relationship between the customer and the company. During the writing of the thesis, it has emerged that the most important part of a newsletter (which also determine whether or not the receiver reads the letter) are the subject heading, sender, layout, headlines,images and the deregistration link.A part from working with the different parts of the letter, the sender should also be aware of the technical and graphical demands. Since the E-mail clients are looking out forimages, fonts that are not embedded in the computer, and for questionable words there?s a big risk for ending up in a spam filter when not considering the demands.

The continuous process of urbanization results in demands on research and development for ecological and sustainable city development. Because of this, the current systems for wastewater treatment may have to be improved. In order to evaluate new technologies for municipal wastewater treatment, a development project has been initiated for the new district Hammarby Sjöstad in Stockholm. The project is lead by the company Stockholm Water. High environmental standards have been put up for the district, as it must be twice as good as an ordinary new district.

This essay examines the differences and similarities, weaknesses and strengths of the two Cognitive Semantic theories Conceptual Metaphor Theory and Principled Polysemy Approach to Meaning Analysis. To illustrate the two theories, the Swedish verb-particle construction "gå upp" is examined and analyzed accordingly. The results showed differences in the number of polysemous meaning found. The methodological evaluation showed that the differences in the underlying ideas concerning meaning-construction behind these two theories make them incompatible..