This master thesis work was done at Saab Underwater Systems AB, a company at the cutting edge of underwater technology. Here torpedoes and other underwater vehicles are developed and manufactured. The major customers are navies of different countries, mostly the Swedish navy. The aim of this master thesis is to develop, construct and evaluate an automatic Trim System for Unmanned Underwater Vehicles. The task of the system is to change the position of the centre of mass and the vehicle?s total mass or volume.

When driving hard and cornering on a circuit good control of a car?s roll is desired, so the car reaches steady state quickly but yet in a controlled fashion. This control is mainly given by the combination of the cars springs, shock absorbers and anti-roll bars.The aim of this report is to investigate, analyze and measure a Porsche Boxster?s turn in behaviour and roll dynamics as well as with the aid of simulation results give suggestions for improvement of the previous mentioned combination.Two different simulations were made, one based on a simpler model that was based on an evolved version of the bicycle model in Matlab and one was more advanced model in the simulation software rFactor. Measurements of the real car was made using a GPS-based measurement system.

This joint study has researched the use of non-European history in a Swedish textbook for the High School course History 1a1 as well as internet based material regarding the same issue. The aim of this study was to clarify the use of non-European history in regards to the Eurocentric theory.As for the textbook analysis the purpose was to research what non-European history was mentioned in the material with regards to geographical location and the events that were mentioned, as well as to study how much non-European history was included in the material compared to European or Western history.The study of internet based material aimed to show what kind of teaching material could be found on internet based databases by and for teachers. The study aimed to show how well the material handled non-European history, as well as to what degree the material used European perspectives when dealing with non-European events and geographical areas.In our thesis we have created our own definition of the theory regarding eurocentrism. The method used was a combination of a quantitative and a qualitative discourse analysis of the texts.Our results showed that the textbook was overwhelmingly Eurocentric, not only giving vastly more focus to the European parts of world history, but also using European perspectives and ideals to describe non-European events and areas. The internet based material, on the other hand, proved more diverse and less biased, but also more difficult to find and less plentiful.Our conclusion, then, is that teachers have to choose between the risk of letting their students develop a severely limited and heavily Eurocentric view of the world, and the additional workload required to find and organize non-textbook material to broaden their students horizons.We hope our study will contribute to the discussion of the place of Eurocentrism in today?s global and multicultural society..

I dagens samhälle blir det allt mer intressant att spara energi, dels med tanke på miljön och dels föratt minska på utgifterna. Denna energi ska sparas på ett sådant sätt att effekten för användarna blirså liten som möjligt.I denna rapport beskrivs hur ett reglersystem kan byggas för att minska energiförbrukningen hosväxthus genom att reglera belysningen på ett effektivt sätt. Systemet är helt automatiskt vilket göratt användarna inte behöver tänka på styrningen av lamporna alls när väl systemet är uppsatt ochkonfigurerat.För att styra lamporna på ett bra sätt mäts det inkommande ljuset med en PAR-sensor. Lampornatänds och släcks därefter beroende på ljusmängden och även på hur varmt, eller kallt, det är iväxthusen.Styrningen av belysningen sker med en mikrokontroller från Microchip, en PIC18F4620 som ärprogrammerad i C18. Kringkomponenter som portexpasioner, klocka och reläer användes också föratt bygga ett bra reglersystem.Resultatet är att det är möjligt att bygga ett reglersystem med begränsad budget som styr lampornapå ett effektivt sätt.

Quality Control is a term often used within production and is referring to managing processes so they produce capable products. Within Quality Control, process capability index is a common measure to oversee processes. Safety Region Plots were introduced to do this graphically. In Albing & Vännman (2010) the concept of Safety Region Plots is expanded to incorporate an elliptical shape. The method of Elliptical Safety Region Plots assumes a normally distributed data.

The return of large predators to regions where they were previously extirpated has created a need for knowledge about their effect on prey species, not only their lethal but also their behavioural or risk effects. In this study the behavioural risk effects of brown bear (Ursus arctos) were tested on fallow deer (Dama dama), roe deer (Capreolus capreolus), red deer (Cervus elaphus), moose (Alces alces) and wild boar (Sus scrofa). This was done by using patches of fur to simulate the presence of the novel predator (brown bear), a novel nonpredator (reindeer (Rangifer tarandus) and no fur as control. These three treatments were then compared. The response variables measured were increased vigilance, decreased feeding time and change in patch use.

During the last decades the fertility of dairy cows has declined in the same rate as the milk yield has increased. This is a result of the negative genetic correlation between milk yield and fertility, failure to show estrous signs and metabolic problems in the cow. The purpose of this review was to investigate the function of metabolites and hormones as markers for disturbances in fertility, health and production in the dairy cow. There are several metabolites that are suggested to indicate the cow?s energy balance.

På senare tid har en kritisk diskussion växt fram kring användandet av budget som styrmedel. Budgeten anses vara tidskonsumerande, resurskrävande och den anses även inte tillhandahålla relevant information, vilket har medfört att det finns företag som avskaffat budgeten som styrmedel. Men hur styrs företag utan budget och är det möjligt att styra ett företag utan budget? Det finns forskare som anser att företag som styrs utan budget får problem med planering, samordning samt styrning av aktiviteter då de saknar ett ramverk. Ahlsell AB är företag som har styrt sin verksamhet utan budget i 17 år.

I denna studie undersöker vi inomhusmiljö och material i två Montessoriförskolor. Våra frågeställningar handlar om hur inomhusmiljön är utformad och hur materialet är placerat i två Montessoriförskolor, samt hur två pedagoger i två Montessoriförskolor ser på miljö och material utifrån följande nyckelbegrepp från läroplanen för förskolan: utmaning och stimulans, initiativ och självständighet samt demokrati och medinflytande. I vår studie utgår vi främst från Maria Montessoris teorier angående miljö, material och självständighet, men tar också upp andra teorier kring miljö. Vi använder oss av observationer och kvalitativa intervjuer, som grundar sig på en pilotstudie som vi genomförde i en traditionell förskola. Resultatet visar på att miljön och materialet i de två Montessoriförskolorna tillåter barnen att ta egna initiativ och vara självständiga.

Communication is a part of everyday life. The more sensitive information we handle, the more interesting the question around security of your information becomes. There are two ways of handling security around the information you want to communicate, either you control the means by which you are communicating. Or you control the way you communicate, making you able to use existing communication channels. Existing methods within cryptography enables two parties to communicate information securely.

The intent with this paper is to investigate the medieval habitation in central Old Uppsala. This time-period has over the years been neglected. Therefore I wish to summarize and ana-lyze the medieval habitation to see what can be said about its continuity, and also to investi-gate why it is located in certain areas.Due to the amount of source material I have limited my investigation area to the central Old Uppsala. It is possible that this limitation will affect the result of the research but without the limitations the investigation area would have been too large to handle.The source material has been collected from excavation reports and the summarized. My theory is material culture and material agency.

This thesis work contains a litterature study about electrical motors in general and how PWM-patterns for brushless DC-motors can be made. A suitable method has been implemented as a simulation model in VHDL. A simulation model of a brushless DC-motor which describes the phasecurrents, torque and angular velocity has also been made. The motor model made simulations easier for the complete PWM-system. The design was synthesised and tested with a prototypeboard including a SPARTAN II FPGA.

This thesis has been made on behalf of Forsmarks Kraftgrupp AB and is the final part of the education of Bachelor of Engineering in ? Innovation, production and logistics atMälardalens Högskola.Forsmark nuclear power plant is located in Östhammars municipality at the coast of Uppland. The three nuclear reactors in Forsmark together produces approximately one-sixth of Sweden?s electricity consumption each year.The background of this study is that a large number of requests come to the purchasing department with incomplete information. Usually it is in the description of what is to be acquired as the information is incomplete, but also in knowing when Quality Control-functions (QC) is supposed to be used.The aim of this work is to describe and analyse the material acquisition process.

The healing process of human bone can be aided by the presence of differentmaterials. A material that is transformed into bone when in contact with bone iscalled a boneconductive material. By transforming into bone the material reduces thetime that it takes to heal a fracture. This report is a study of existing boneconductivematerials on the market to see if there is a material available that would be suitable totest on larger fractures. The wanted application is to be able to heal fractures up to50 mm which is a fracture too big for the body to heal on its own.The healing process of human bone can be aided by the presence of differentmaterials.

I dagens samhälle blir det allt mer intressant att spara energi, dels med tanke på miljön och dels föratt minska på utgifterna. Denna energi ska sparas på ett sådant sätt att effekten för användarna blirså liten som möjligt.I denna rapport beskrivs hur ett reglersystem kan byggas för att minska energiförbrukningen hosväxthus genom att reglera belysningen på ett effektivt sätt. Systemet är helt automatiskt vilket göratt användarna inte behöver tänka på styrningen av lamporna alls när väl systemet är uppsatt ochkonfigurerat.För att styra lamporna på ett bra sätt mäts det inkommande ljuset med en PAR-sensor. Lampornatänds och släcks därefter beroende på ljusmängden och även på hur varmt, eller kallt, det är iväxthusen.Styrningen av belysningen sker med en mikrokontroller från Microchip, en PIC18F4620 som ärprogrammerad i C18. Kringkomponenter som portexpasioner, klocka och reläer användes också föratt bygga ett bra reglersystem.Resultatet är att det är möjligt att bygga ett reglersystem med begränsad budget som styr lampornapå ett effektivt sätt.