In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

In published studies it is found that the fuel consumption on a forwarder is relatively constant, on time basis. A certain variation between different sizes of forwarders occurs as well as between different working elements. The aim of the study was to establish a forwarders comparatively fuel consumption when driving on road and in the terrain, loaded and unloaded, with high and low gear and with high and low speed as well as with hydrostatic and hydrodynamic transmission. A hypothesis was that low rpm gives lower fuel consumption on distance basic, at all trials. The test driving was made with a Hemek 750 which is a three geared hydrostatic machine and with a Hemek 700 which is a hydrodynamic machine with six gears.

Abstract This degree project examines how much carbon dioxide that emits during the construction phase of a road project. This is to make it possible to compare how the amount of carbon dioxide differentiates between traditional road construction and Swepave construction, which is PEAB?s alternative way to design roads. To make the comparison a calculation tool has been produced. To compare the amount of carbon dioxide emissions a reference project was needed.

The author has, with the help of AK Consultancy Indoor Air AB, formed a series of questions regarding moisture problems in buildings and how these are handled in extreme climates with high temperatures and a high relative humidity. Furthermore to analyse and indentify key material that makes a construction safe against moisture problems. Ventilation, AC and the choice of materials have in a later stage of the thesis been investigated to enhance the knowledge of moisture protection. The research for this report includes measurements on existing buildings, calculation models on the building envelope for analyses and the ingoing materials of the envelope. The health aspect of moisture problems related to ?sick building syndrome? has been included and interviews have been conducted to gather relevant information.A study of the American system, ASHRAE, American Society of Heating, Refrigeration and Air Conditioning Engineers and the standards used in Singapore has been made to highlight the difference.

The purpose of this study is to achieve an understanding of how a CE- marking process is conducted and to identify the relevant factors that must be considered in such a process. We have conducted our study at Lo?vhults Svets & Smide AB (Lo?vhults) in Skruv, Sma?land Sweden, which are manufacturing brackets for small covering constructions.To understand how a CE-marking process is conducted several documents and provisions have been reviewed to achieve a basic understanding and insight of the subject. It thus led to that guideline ETAG 015 were studied and the factors to be considered in the CE-marking of brackets were identified. Together with Jan-A?ke Johansson at Lo?vhults we agreed on four different brackets to investigate for a potential CE-marking.

In present-day situation many libraries use detectors so that they can be able to prevent attempts too take out books without registering them. The university library in Jonkoping is one of the libraries that have such a detector. But unfortunately it doesn?t always work correct and can also react on other things a part from books. This is a big problem since the library staff don?t have time to check all signals that comes from detector.

This report will point out the income for a scania plant production farm, this has been estimated through a case study. The outcome of this report will later be used to calculate a reasonable leasehold charge. This case study is solitary based upon this particular studied farm, at this very point, and can therefore not be used as a general guide. The reason why this particular scania plant production farm has been selected, is because the author is born and raised at the farm and has the intention to run the farm in the future. The chosen farm for this report is based in the southwest of scania and cover 300 hectare of plant production. The crop rotation consists of autumn wheat, sugar beats, spring wheat, spring barely, winter rape and fallow. The farm owns all machinery required.

The idea to develop  a platform for a PID-controller came from the need to control the temperature in  an espresso machine in a more exact way than a thermostat could perform. In discussions with Syntronic AB the idea developed into PID-control for industrial use. Syntronic AB suggested that the platform should be based on a commercially available processor module to shorten the development time. The suggestion included the use of the microcomputer Raspberry Pi, which supports USB, HDMI, memory card and Ethernet.The work began with establishing a schedule for the 10 weeks of the projects duration, and after that a system specification listing all functions, implementation and limitations was made. When the foundation of the system specification was done, a preliminary system design took shape.Because of the Raspberry Pi´s lack of Analog-to-Digital converter, a circuit board containing Wheatstone bridges, differential amplifiers and a two channel Analog-to-Digital converter was fabricated.

This essay is divided in several different parts, but all are tied up together by a fact that we want to increase productivity. We hope to do that by programming the PLC and to reach this with a better security for the person how are going to handle the cutting machine under it?s cutting process. We should as well look for some other ways to come up with better instructions and way to work and handle yourself during work. This programming is done in GRAPH7.

This thesis examines different methods for the cooling of data centers. Several means of cooling with the refrigeration cycle have been studied, as well as the feasibility of using free cooling in different parts of Sweden. In addition, the possibilities of transferring excess heat to a nearby district heating system were investigated. It was found that in all investigated cases except two, the data center could be cooled solely with free cooling for at least 300 days a year when only the outside air temperature was considered as a constraining factor. The limit was then set to 20 °C.The vast majority of all district heating systems in Sweden get little to none of their heat from other excess heat sources.

The fishing port of Bläsinge is located on the east coast of Öland, Sweden?s second largest island. Today the port has a limited supply of freshwater. The economic association of the fishing port wants to expand their business, so that they will also include tourist services. To do this the harbor will need a more independant source of freshwater, with a higher quality than the present well.

 AbstractThis Master?s thesis analyses the dynamics of the medieval counterweight lever engine, ortrebuchet, a type of mechanical artillery. The purpose is to study the differences between different types of these machines, and see if computer simulations can be used to validate preserved advice on construction. Simulations include machines with a fixed counterweight, a hinged counterweight and a combination of both counterweights.Due to the almost complete lack of archaeological finds and insufficient historical source material there are still, after more than a century of research, many unanswered questions concerning the design and performance of these machines.The present study is based on an analysis by Jahsman (2004). A more detailed mathematical model employing Coulomb-friction is used.

The sludgebark and to a certain extent the bark were until a decade ago waste products without any economic value that were thrown away. A number of environmental laws and increcing energy prices have improved the prerequisites for increasing the use of these materials. At Seskarö sawmill they burn the sludgebark and a great deal of the bark in the sawmill furnace. The sludgebark has a number of disadvantages compared to bark during burning. The sludgebark is often wet which means the energy net from burning often gets low.

This thesis work resulted in a template for how the thermal spray process can be controlled through robot programs. The robots today and their programs need to be replaced, therefore a new structure which can be matched with the new robot systems is needed. The work is limited to only concern structured programming on the new robots on Thermal Spray Centre (TC) with the programming language Rapid. The basic data for the program was retrieved from interviews with concerned personnel at TC, from studies on process parameters for thermal spray and from existing specifications at Volvo Aero Corporation (VAC). The thesis work briefly describes the process thermal spray and the four methods used at VAC.

The most predominant method for forest harvesting in Sweden is the cut-to-length method based on two-machines, a harvester that fells trees and cut them in a predefined length, and a forwarder which transports logs to a landing area for further transport to a processing facility. New machine solutions have to be much gentler to the ground than today?s machines. To be able to develop a forestry machine that preserves the terrain requires a proper understanding of the interaction between tire and soil.The goal of the project is to contribute to the existing knowledge of forest machine tire-soil interaction and to develop a tire-soil model that enables dynamic simulations of forest machines operating in rough terrain. The modeling has especially been focused on the interaction between tires and soft ground.A comparison of theoretical data of different WES-based terrain interaction models and a comparison test data from a full scale field test is presented.