In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

I Finspång tillverkas gas och ångturbiner. Verksamheten går under namnet Siemens Industrial Turbomachinery AB, som förutom att bygga upp turbiner som separata leveranser även projekterar kompletta kraftanläggningar, där turbinerna ingår, för att producera elektricitet, ånga och värme.Till de gasturbin kraftverk som levereras av Siemens Industrial Turbomachinery AB används ett Simatic PCS-7 styrsystem för att kontrollera turbinerna. För PCS-7 styrsystemet kan mjukvaran Simatic PDM (Process Device Manager) användas för diagnostisk analys av automations komponenter och intelligenta fältenheter. Målet med examensarbetet är att kunna varna tidigare för fel på automations komponenter och fältenheter så att man kan förebygga stillestånds tider som kan uppstå i en anläggning. Examensarbetet visar vad för slags funktioner Simatic PDM har och hur programmet kan utnyttjas i en anläggning.Examensarbetet innehåller en beskrivning av programmet Simatic PDM och PCS 7-styrsystemet.

Although known and feared for thousands of years, rabies remains a real and present threat to thousands of people, especially in low- and middle income countries. In India, rabies is an endemic disease, causing human deaths every year. The primary mode of transmission is through the bite of an infected dog. Fighting the disease in the dog population through vaccinations remains the most efficient way to eradicate the disease. The knowledge of rabies in India is unsatisfactory, as a lot of people lack awareness about the severity of the disease and the importance of washing the bitten area and seeking medical attention for post exposure prophylaxis when bitten by a dog.

This thesis uses critical discourse analysis to examine how the English-speaking press in Hong Kong constructs the conflict between the political movement Occupy Central and the Chinese central government. The empirical material consists of ten articles from the region?s two largest English-speaking newspapers, Hong Kong?s oldest newspaper, the South China Morning Post, and China?s only national English-speaking newspaper, the China Daily. Building on the works of Teun van Dijk, Norman Fairclough, Ruth Wodak and John E. Richardson it examines what political ideologies that are favoured by the press and what attitude the press shows for democratic development.

Syftet med föreliggande studie var att undersöka effekterna av ett längre uppehåll från tobaks- och nikotinbruk på maximal aerob effekt och energiomsättning under submaximalt arbete hos regelbundet snusande personer. Metod23 snusare (18 män, 5 kvinnor) undersöktes före och efter >6 veckors uppehåll från snus (SSP). Försökspersonerna genomförde ett stegrande submaximalt arbete på cykelergometer, ett maximalt löptest och ett uthållighetsarbete bestående av 60 minuter cykling på 50 % av VO2max. Syreupptag (VO2), ventilation (VE), subjektivt skattad ansträngning på Borgs RPE-skala (RPE), hjärtfrekvens (HF) och blodtryck (BT) mättes. Blodprov togs för analys av kotinin, laktat [HLa], blodglukos och fria fettsyror (FFA) i vila och under arbete. ResultatSubmaximalt VO2 och energiomsättning påverkades inte av >6 veckors uppehåll från snus. VE, respiratorisk kvot (RQ), blodglukos och RPE var oförändrade under det stegrande submaximala arbetet.

Ett konstant problem med e-post är mängden skräppost som skickas dagligen och bidrar till en osäkerhet bland hemanvändare samt medför stora kostnader för företag. Att kunna skydda sig och filtrera bort skräppost är av stor vikt. Vad är egentligen skräppost?Programvaror mot skräppost använder flera metoder för att lösa problemet.Arbetet behandlar en av dessa metoder och hur effektivt den används i olika programvaror. Den metod som arbetet fokuserar på är bayesisk filtrering och programvarornas förmåga att utnyttja den.

Dental implants that are integrated into the jaw bones are widely used to replace lost teeth in human beings. Tooth-loss is often related to loss of the surrounding alveolar bone. This can make implant placement difficult and a bone substituting material may be required. The standard method is to use a bone graft harvested from the patient which requires additional surgery than that needed for implant placement. Limitations in the amount of bone that can be harvested also pose a problem.

Mobiloperatörer har under en längre tid haft en stark fokusering på konsumentmarknaden och i flera avseenden försummat företagsmarknaden för mobila tjänster. Detta har till viss del förändrats under de senaste åren i takt med utvecklingen av mobil e-post som primärt riktas mot företag och organisationer. Vi har uppmärksammat denna förändring och därmed intresserat oss för organisationers användning av mobila tjänster. En marknad som vi tror kommer att expandera än mer under de kommande åren. Syftet med vår uppsats är att empiriskt undersöka vad som påverkar anställdas användning av mobila tjänster.

A group of companies that only recently has caught the attention of Swedish designers, enterprises and media are the so -called "furniture pirates". In Sweden it?s mainly two companies that have ended up in the spotlight. The online stores Ikon M and Designers Revolt are two companies which currently sell replicas of famous Swedish and foreign designers. Although the designs sold are copyright protected in Sweden, and most other European countries, the right holders can only stand by and watch as more or less exact copies are sold for a fraction of the price of the originals.The business model - to exploit the EU?s free movement of goods and the UK's short term of copyright protection in matter of mass-produced art (industrial design) - has proven successful for the companies that practice it.

A group of companies that only recently has caught the attention of Swedish designers, enterprises and media are the so -called "furniture pirates". In Sweden it?s mainly two companies that have ended up in the spotlight. The online stores Ikon M and Designers Revolt are two companies which currently sell replicas of famous Swedish and foreign designers. Although the designs sold are copyright protected in Sweden, and most other European countries, the right holders can only stand by and watch as more or less exact copies are sold for a fraction of the price of the originals.The business model - to exploit the EU?s free movement of goods and the UK's short term of copyright protection in matter of mass-produced art (industrial design) - has proven successful for the companies that practice it.

The lions at Kolmårdens zoo are vaccinated against Feline Panleukopenivirus (FPV). In 1994 there was an outbreak among the lions at the zoo of FPV disease. A retrospective study has been made to measure the antibodytiters in vaccinated lions and lions that lived during the outbreak. An ImmunoPeroxidase Monolayer Assay (IPMA) was used to analyze the titers in the sera from the lions. Lions were divided into five groups. Group 1, 2 and 3 contained lions vaccinated one, two and three times respectively (a total of 40 animals). The lions of Group 4 were born in 2004 (six lioncubs) and were vaccinated according to different regimes and the changes in antibodytiters were followed as respose to vaccination during the spring 2005.

The aim of the thesis is twofold: the first aim is to identify a number of reproductive logics that are used to construct Swedish regulation of embryo donation for reproductive use as either ethical or unethical in the governmental ? and medical discussions ? and to examine how these logics are interconnected with notions of gender and parenthood. The second aim is to identify a number of tensions that arise in the application of the governmental ethical logic on the embryo and embryo donation and discuss how these tensions can be solved with a feminist material approach. I argue that the terminology used to distinguish between genetic, biological, social and legal parenthood in my material is insufficient for understanding the value of the embryo outside its pre-human status. I therefore argue for an embryonic feminist bioethics that is attentive to the embryos post-human status, and for a reformulation of the parenthood terminology in line with what I call ?reproductive ties?..

During the period 1952-2008, real prices of wood before taxes and charges declined. However, the actual net income has not changed by the same percentage as the price list, because taxation, driving costs and the ability to make deductions has changed. This report considers the inflation by using the Swedish consumer price index. Net income refers to the remaining income when relevant costs, taxes and fees have been paid.The purpose of this study was to examine how the private forest owner's real net income has evolved over the period 1952-2008 for three categories of forest owners. These three categories are1.

Health and physical exercise has a become trend in today's society and the work with health promotion has increased in organizations. This is not only a way for organizations to get healthier and more efficient employees, but also a way to regulate the employee?s identity by getting them to identify with the organization. This bachelor essay studies how health promotion can be used as a management strategy. This is done by interviews and by performed observations at the recruitment company, Adecco, in the Stockholm region.

The aim of the project was to study the effect of oral administration of glucose and leucin on the resynthesis of muscle glycogen after intense exercise in Standardbred trotters. In a crossover design, 11 Standardbred trotters performed a standardized exercise test on two occasions in order to deplete muscle glycogen. The exercise test comprised a warm up period, 7 repeated bouts of exercise on an uphill 500 m slope, and a recovery period. After the exercise test horses received: 1) a solution of glucose and leucine via a nasogastric tube at 0 minutes and at 240 minutes post exercise and a single bout of glucose at 120 minutes post exercise or 2) water (placebo) at 0, 120 and 240 minutes. Blood samples for measurement of glucose and insulin concentrations were collected at rest, when the horses returned to the stables directly after exercise and throughout the 6 hour recovery phase. During the first recovery hour, samples were collected every 15 minutes and then every 30 minutes over the next 5 hours.