The aim of the Master?s Thesis work is to study and develop algorithms for autonomous travel of a UGV (Unmanned Ground Vehicle). A vehicle for the mounting of sensors has been constructed in order to perform the work. Since the UGV is to be used outdoor in urban areas, GPS can be used. To improve precision and robustness, inertial navigation is used in addition to GPS, since GPS reception is likely to be diminished in such areas.

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.

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.

A numerical simulation case involving space plasma and the evolution of instabilities that generates very fast electrons, i.e. approximately at half of the speed of light, is used as a test bed for scientific visualisation techniques. A visualisation system was developed to provide interactive real-time animation and visualisation of the simulation results. The work focuses on two themes and the integration of them. The first theme is the storage and management of the large data sets produced.

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.

The amount of various phosphorus (P) fractions in the sediment and the relationship between the amount of P and sediment particle size were investigated in a constructed wetland southwest of Linköping. Furthermore, the possible correlation between clay content in the sediment and distance from the inlet was investigated. Sediment samples were collected along three transects from the inlet to the outlet, with six samples in each transect. In order to measure the soluble P, an NH4Cl extraction was done. This was also analysed for total soluble P after oxidation with peroxodisulphate.

The purpose of this work is to design and construct a device able to measure the mechanical attrition of oxygen carrier particles. Those particles are used in chemical looping combustion and in the present situation there is a lack of knowledge in how the attrition process work and in which extension. To find already tested solutions trying to answering this problem a literature study wascarried out and the best solution found was the so called Grace-Davison Jet-Cup method. This method is supposed to emulate the attrition caused by a cyclone separator and its advantages are that it is possible to use small test amounts, 5-10 g, and a thirty minutes long test will be enough to acquire useable results. An device was designed based on the Jet-Cup method with some slight modifications.

Cycling is one of the most sustainable transport modes available and it is widely promoted inmany urban areas. The health benefits from cycling has shown to be substantial, includingdecreased risks of diseases related to overweight and enhancing brain capacity. However, inurban areas cyclists can temporaly be exposed to high levels of air pollution, resulting inhealth risks as opposed to health benefits.The objective of this thesis is to develop a rasterbased test model in GIS that estimates theinhaled dose of air pollution for cyclists based on relative particle concentration in differenttransportation micro-environments. The method used is a least-cost path approach,calculating three different routes; shortest, fastest and least dose for four different trips withinSödermalm, Stockholm.The results show that the inhaled particle dose can be greatly reduced, 39% - 58% for three ofthe routes, by choosing the least dose route. One of the most interesting findings is thesubstantial increase of dose when high levels of particles are combined with uphill cycling.The conclusion for the thesis is that a raster-GIS model can be very useful for estimating doseof different air pollution particles and chemicals along cycling routes.

A change towards using more biofuels than fossil fuels is taking place in Sweden, and in many other parts of the world. This makes the use of fuel pellets increasingly popular, causing a greater demand for sawmill sawdust products. There is a trend towards the use of multiple types of shredders, instead of a single type in each sawmill. The purpose of the study was to characterize the different flows of saw particles that can be found at Sävar såg when cutting thick or thin wood with different cutting techniques. The saw particles size, shape, moisture content and heat value were analysed by the cutting stations: first cutting fast and slow, second cutting fast and slow, grading fast and slow and planning.

Platelets are small fragments, but they are of crucial importance for the coagulation. The risk of spontaneous bleeding increases when the level of platelets falls below a thrombocyte particle concentration threshold value of 50 x 109/L. In those cases a platelet transfusion might be compulsory. Ongoing research tries to improve the quality of the platelets and to increase the safety of the method used. However, we still need to better understand which factors that affect how patients react upon platelet transfusion.

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.

Texture is an important soil property and accurate particle size analysis of soil texture is therefore crucial. There are a number of well-established and newly developed methods available for determining soil texture. In order to compare the results of these methods, the differences between them must be determined. The difficulties, problems and differences regarding texture class determination were examined through a study performed on forest soil samples. The study compared different methods (pipette, hydrometer and field methods) and two types of dispersing agents (sodium pyrophosphate and sodium hexametaphosphate (calgon)) commonly used for particle size analysis.

The aim of the thesis is to analyse and understand resolution, repeatability and reproducibility of the measurement system for package distance. The measurement system for package distance is already in use, no Gage R&R has been performed on the system and before spreading use of the system the quality of the system has to be understood and approved.

Modern milk production have come a long way when it comes to accommodating the nutritional and physiological needs of the animals, but unfortunately the behavioural and psychological needs of cows and heifers are often left unfulfilled. A long time for eating is beneficial for the digestion and also gives the cattle something to do and decreases the risks for developing abnormal behaviours. An important factor that influences eating- and ruminating time is the particle size of the roughage. The aim of the study was to find out if particle size influences the behaviour of dairy heifers, in particular with regard to eating behaviour and abnormal behaviours. The study was conducted at Uddetorp farm high school in Skara. Forty-two heifers of the breeds SR and SF were housed in 8 slatted floor pens.

When an error occurs in an IT system that is vital for the production of a major industry, the consequences can be great. To quickly identify and correct errors is important as a stop in a system can lead to a break in production, which is costly for the industry. Our task in this thesis has been to develop a system for ÅF that facilitates the debugging process of the system Paperline. The system's target audience is ÅF-call personnel that provides support for Paperline 24 hours a day if something goes wrong. The system consists of a Windows service, a database and a web application and is developed mainly with the techniques C#.NET, MVC 5, Google Charts, Javascript, HTML, CSS, and Entity Framework.