This master thesis studies how much the cycle time, i.e. the time it takes for an industrial robot to perform a given task, can be reduced if an extra degree of freedom (DOF) is added to the robot system. The extra DOF consists of a linear track, which is supposed to be used in an optimal way. The problem has been studied using simulations in the robot simulation tool RobotStudio. To be able to run an optimization in Matlab, with the RobotStudio simulation cycle time as the object function, communication between Matlab and RobotStudio has been set up with an interface written in Visual Basic.

Combustion of fossil fuels is today the dominating source of energy. During combustion,carbon dioxide is formed. The carbon dioxide accumulates in the atmosphere,which raises the global average temperature on earth through the so called greenhouseeffect. The only way to reduce the emissions of carbon dioxide from combustionin a coal fired power plant is through carbon capture and storage (CCS).Post-combustion capture is a technology to separate carbon dioxide from the uegas after the combustion for efficient transport and storage. The steady state operationof coal fired power plants with post combustion capture has already beenthoroughly investigated on a pilot scale, however much work remains to investigatethe plants dynamic operation.

During year 2004 Ålö AB made significant change in their production process. The production of front loaders is nowadays highly automated with short operation times. To be able to control their process in a better way Ålö recently decided that they needed a tool for simulation of their production and to shift patterns. This final thesis started with a pilot study in Ålö?s factory in Brännland.

The background of this study is the fact that it nowadays is more common to grow wheat after wheat. Usually we plow every autumn to remove the straw, and we wanted to study the effect of alternative methods to do it. We have done this experiment to answer the question if no tillage is better than conventional plowing. The results of the field experiment indicate that there is a link between plant establishment and the choice of equipment, but also a higher weed pressure in experimental plots with only ground tillage. The equipments which left much straw on the top of the ground the problems with fungi were more severe.

ABSTRACT Tobacco Rattle Virus (TRV) is a soilborne plant virus. It is an important pathogen in potatoes where it causes spraing disease. This disease can lead to significant economical loss for the farmer, so it is imperative to get the proper diagnose before planting. TRV is spread naturally by free-living nematodes (Trichodorus and Paratrichodorus). Transference of TRV to a plant occurs when the virus-carrying nematodes feed on plant roots. The relationship between virus, nematodes and plants is complicated, and has to these days not been fully characterized. The diagnostic methods available today do not work sufficiently.

AbstractThe future of ethanol is depending on good solutions for the production. ENA energy power plant produces electrical power and district heating by heating biofuel. By building an integrated bioenergy plant surplus steam could be used to produce ethanol as fuel to vehicle.This would mean that ethanol is produced renewable energy and the energy for the process derives from the surplus of power.  ENA energy, MDH (the University of Mälardalen) and the energy authority has initiated a research project were different bioenergy combinations integrate with existing power plant.  As a part of the project which size an integrated factory should be to gain the best efficiency for the plant was investigated. Consideration will be taken to the cost of the production in order to be competitive to the price of imported ethanol.  Etanolens framtid vilar på bra lösningar för framställning.  I ENA energi kraftverk i Enköping produceras el och fjärrvärme genom eldning av biobränsle.  Genom att bygga ett integrerat bioenergikraftverk där skulle man kunna använda överskottsånga till att framställa etanol som fordonsbränsle.

This thesis work includes studies and simulation how magnetization of the translator in a linear generator for wave power can be automated. The translator is the moving component in the generator that is "dressed" with permanent magnets. The translator is magnetized with rectangle-shaped permanent magnets that are today's strongest permanent magnet type of neodymium-iron-boron (NdFeB).Eight equivalent metal sheets are mounted around the translator. The plates have milled tracks where 106 permanent magnets per sheet are mounted. Today the assembling of the magnets is done by hand, which is a very tedious and time-consuming work.  This project presents investigations about the automation of the translator magnetization theoretically and simulation results are preformed in ABB's robot simulation software RobotStudio. Even robot-held tool was designed that enables the robot to be able to magnetize the translator in a simple manner.  The investment cost is roughly 1.5 million SEK. With an economic life-time of five years, the investment costs are estimated to 24000 SEK / month.  According to the calculations, this project is very motivated to implement, as it provides savings up to 17 000 SEK per translator which is 10.2 million SEK assuming that the robot cell is operating at full speed the whole year.According to this thesis work the result is a 4x9 meter cell with two industrial robots of the type ABB IRB6650S.The cycle time to magnetize one translator was calculated to about 10 hours.This prototype of project can possibly be implemented in a full-scale production line and performed according to the calculations and simulations presented in the report. Further work is suggested to improve the tool.Lyssna .

Today?s wind power plants are only compensated for their reactive power consumption at no-load. As the wind power plants grow bigger the amount of reactive power they need also increases. This is no longer a problem that can be ignored, especially as the net owners are beginning to charge the reactive power they transport.In this thesis a couple of different methods of compensation and their prices will be discussed and evaluated. Problems, such as self-excitation, that can occur if one fully compensates the wind power plant will also be brought to surface.

Today?s wind power plants are only compensated for their reactive power consumption at no-load. As the wind power plants grow bigger the amount of reactive power they need also increases. This is no longer a problem that can be ignored, especially as the net owners are beginning to charge the reactive power they transport.In this thesis a couple of different methods of compensation and their prices will be discussed and evaluated. Problems, such as self-excitation, that can occur if one fully compensates the wind power plant will also be brought to surface.

This pilot study examined whether treatment with Vortex Process Technology (VPT) of the irrigation water used on tomato (Solanum lycopersicum) plants had any effect on plant growth. In a block experiment, with two blocks comprising 12 vases containing 1 L water and two tomato plantlets, treatment in which, nutrient solution was based on Vortex-treated water was compared with an control using untreated water. All vases were kept in a static aerated culture system in a daylight chamber for four weeks. The results showed that the effect of the two blocks exceeded the effect of vortex treatment in terms of leaf area and weight of fresh and dry matter. Plant height, stem width and internodal length were significantly different in tomato plants grown in Vortex-processed water compared with the untreated control.

This master?s thesis deals with integrating simulations using Agilents Electronic Design Automation tool ADS with customized Matlab scripts, for solving complex analog and digital radio architectures. In particular, it addresses predistortion, realized in the digital domain, of power amplifiers, modeled in the analog domain. The former is implemented in Matlab while the latter is implemented in ADS. Two versions of integrating the two systems have been tested: 1) Iterative approach on sample basis and 2) Scheduled batch solution by matrix inversion.

AbstractThe future of ethanol is depending on good solutions for the production. ENA energy power plant produces electrical power and district heating by heating biofuel. By building an integrated bioenergy plant surplus steam could be used to produce ethanol as fuel to vehicle.This would mean that ethanol is produced renewable energy and the energy for the process derives from the surplus of power.  ENA energy, MDH (the University of Mälardalen) and the energy authority has initiated a research project were different bioenergy combinations integrate with existing power plant.  As a part of the project which size an integrated factory should be to gain the best efficiency for the plant was investigated. Consideration will be taken to the cost of the production in order to be competitive to the price of imported ethanol.  Etanolens framtid vilar på bra lösningar för framställning.  I ENA energi kraftverk i Enköping produceras el och fjärrvärme genom eldning av biobränsle.  Genom att bygga ett integrerat bioenergikraftverk där skulle man kunna använda överskottsånga till att framställa etanol som fordonsbränsle.

The purpose of this study was to compare naturally regenerated Scots pine (Pinus sylvestris (L.)) against seeded Scots pine in terms of benefits and differences. An inventory was performed at a number of different sites, 4 ? 6 years after soil scarification and data on the number of new established plants, their height growth as well as ground-line diameter was collected. Information about site conditions such as altitude, quarter exposure and frost risk was also collected. A review of previous studies was conducted in addition to the field study.

At SIA TallOil's pellets factory in Latvia wood shavings and saw dust are dried with flue gases from a gas burner. TallOil wants to replace the gas with a biofuel that is available at the pellet plant. The reason for this is the unstable gas market in Europe in combination with the fact that TallOil wants to improve its profile as supplier of renewable bio fuels. In this project the technical and economical possibilities for a fuel conversion to ether bark powder, wood shavings or wood powder have been investigated. These fuels should be burned in one of the following applications: TPS BioSwirl, VTS Multifuel burner or Saxlunds bio fuel combustion plant Due to the fact that the fuel alternatives available are relatively common except for bark powder, the work has mainly been focused on bark powder.

The power system modelled in this thesis work has been developed for simulationwhen e.g. the production in some part of the power system is changed. The powersystem has been modelled according to the swing mass of the system, the frequencydependency of the load and the turbine governor. The model determines the systemfrequency, the period of regulation and the power exchange between the differentsubsystems in the Nordic synchronized system.In this model the system frequency is assumed to be the same in all different parts ofthe power system and the voltage conditions in the power system are neglected. Forthat reason power swings does not occur between different subsystems in the powersystem, which usually occur as a result of the swinging connection between thetransmissions line.