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.

The following study aims to investigate the environmental conditions of the harbor of Sk?rhamn, a small fishing community on the west coast of Sweden. The interest to do so rose as a newly built apartment residence failed to connect the sewage pipes of 18 apartments, causing the untreated sewage running into the sea. The parameters accounted for are the C/N ratio, total organic carbon (TOC) as well as total nitrogen present (TN) and ?13C in the top ten centimeters of a sediment core retrieved in the Sk?rhamn harbour.

Den här studien är en analys av hur den ryske författaren Lev Tolstoj, genom kanonisering och uppkomsten av vissa mönster av texter, bilder och representationer, reduceras till tecken, symbol och ikon, samt hur denna symbol och ikon behandlas i två filmadaptioner - Leo Tolstoj (Lev Tolstoj 1985) respektive The Last Station (2009). Den teoretiska utgångspunkten är i huvudsak Jurij Lotmans kultursemiotiska teori och i synnerhet hans definitioner av termerna tecken, symbol och ikon. Uppsatsen visar, utifrån denna semiotiska teori, hur adaptionerna väljer att representera en viss bild av Tolstoj som en reduktiv strategi för att kunna skapa ett narrativ som måste infoga och välja bland en komplex uppsättning av bilder och självbilder, representationer och självrepresentationer.Resultaten av analysen visar hur bilden av Lev Tolstoj i Lev Tolstoj fokuserar på bilden av författaren som å ena sidan starjets, som en vis äldre man, som människor uppsöker, och å andra sidan som författare. Hans verk ges följaktligen stort utrymme och det refereras ofta till hans verk, och då i synnerhet till den senare produktionen av filosofiskt och religiöst material. Vad gäller de ikoniska elementen är det bilden av den gamle mannen i de enkla bondekläderna från de sista åren av hans liv som dominerar.

A substation must be properly protected against lightning and other external effects to the equipment in the station or staff, for that we use relay protection. They should also protect against internal errors which may occur as ground faults. There are different types of protection relays, but most common are overcurrent-, distance-, residual current- and differential protection.The purpose of this thesis was to deepen our knowledge of relay protection and to use the theoretical knowledge we got from the university studies in the work process. In the process we discovered which parameters were the most essential and calculated these for all relay protections on the substation. We also carry out a comparison between two brands of relay protection, ABB and Alstom.During our work we will test and simulate the over-current relays in a program called NEPLAN, the program will also calculate the fault currents.

Examensarbetet är ett planeringsprojekt i direkt anslutning till Stockholms innerstad. Planområdet är ett avvecklat stations och spårområde, där framför allt gods har hanterats under det senaste seklet. Den ursprungliga användningen av området har successivt avvecklats, och ersatts av andra verksamheter i de gamla magasinsbyggnaderna i området. Spårområdena har omvandlats till parkerings- och uppställningsplatser. Sedan SJ lämnade området har planer tagits fram för en förnyelse av området.

To be allowed to sell Z-suspended vehicles with dipped beam Xenon or LED lighting, Scania have to develop automatic headlight level control. This master?s thesis aims to be the foundation to that development.The thesis consists of several parts; a market analysis of how competitors to Scania and the general vehicle industry solve this problem; several available principles for detecting the amount of control needed; the construction of a test station for sensors, a control unit and components connected controlled by the control unit; a further theoretical and practical development of one principle ? one rotational sensor connected between the chassis and the back drive axis; a state flow model programmed in Simulink that produces the control signal for the headlight leveling from the sensor input.Lastly the thesis gives some recommendations to the further development and implementation of automatic headlight level control on Scania vehicles..

A new shipyard on the island of Beckholmen consisting of a new ship hall and complementary workshops. The program is extended with rentable industrial space for other smaller companies to take advantage of synergies with the yard and to create an active maritime cluster around Beckholmen. By building a marina and a port at the northern shoreline of the island the shipyard can expand their potential customers to non-commercial and larger recreational boats that are becoming increasingly common in Skärgården. The port is also supplemented with a combined naval fuel station, harbor office and a small café. The boat traffic in the region gets a additional stop at the end of the port and act as an additional gateway to Djurgården. Several small retail spaces with direct access to the water is created along the promenade between the port and Djurgården. The shipyard gets a modern and efficient industry building, while the island is made available to the public again, and Beckholmen will hopefully take an equal place in the city's consciousness as it does visually in the inlet to Stockholm..

A substation must be properly protected against lightning and other external effects to the equipment in the station or staff, for that we use relay protection. They should also protect against internal errors which may occur as ground faults. There are different types of protection relays, but most common are overcurrent-, distance-, residual current- and differential protection.The purpose of this thesis was to deepen our knowledge of relay protection and to use the theoretical knowledge we got from the university studies in the work process. In the process we discovered which parameters were the most essential and calculated these for all relay protections on the substation. We also carry out a comparison between two brands of relay protection, ABB and Alstom.During our work we will test and simulate the over-current relays in a program called NEPLAN, the program will also calculate the fault currents.

The main aim of this master thesis was to see the process of an interactive online reference service from idea to final product. The reference service we have studied is developed and used by the Library of the National Institute for Working Life in Stockholm, Sweden and goes by the name phibi. Our goal was to review the whole realization process from the reasons why a service like this was created, how the service was introduced and implemented inside the organisation and finally what the result and consequences were for both the library staff and for the users of the service. Phibi is designed to be a tool that fosters communication between the library staff and the remote users where the users get the opportunity to be helped with their questions by the library staff although they are not physically present in the library. To understand the process we conducted a case study with 11 interviews of the library staff, the superior and the initiator to phibi.

Examensarbetet är ett planeringsprojekt i direkt anslutning till Stockholms innerstad. Planområdet är ett avvecklat stations och spårområde, där framför allt gods har hanterats under det senaste seklet. Den ursprungliga användningen av området har successivt avvecklats, och ersatts av andra verksamheter i de gamla magasinsbyggnaderna i området. Spårområdena har omvandlats till parkerings- och uppställningsplatser. Sedan SJ lämnade området har planer tagits fram för en förnyelse av området.

För effektmatning av den elektrifierade järnvägen krävs att spänningens frekvens omformas från kraftnätets frekvens på 50 Hz till 16,7 Hz. Detta sker i dag med två olika metoder. En metod där frekvensen omformas på mekanisk väg då en motor på gemensam axel driver en generator som genererar elkraft av rätt frekvens, detta kallas för en roterande frekvensomformare. Den andra metoden ändrar spänningens frekvens med hjälp av kraftelektronik, detta kallas för en statisk frekvensomformare. Gemensamt för båda dessa metoder är att de har värmeförluster.

Wood for commercial use is harvested from forests using forest machines like harvesters which folds, branches and cuts trees and forwarders which transports logs to a landing area for further transport to a processing facility. Future forest machines have to be much gentler to the machine operators and forest soil than today's machines. Hence new machine solutions must be developed and tested. A practical way is to develop a physical scale model which can be used as a test-bed to incorporate different types of solutions for suspensions, cabin damping, tires and tracks, crane and overall architecture. The aim of this project was to develop such a 1:5 scale model of a forest machine, named as ?Skogbil.A scaling strategy was employed to arrive at important scale dimensions and specifications ofSkogbil which would be comparable to the full scale model.

The purpose of my study is to describe how educators think about the play environment, the nature and its importance for the children's development and learning in preschool. The study is based on qualitative interviews with four active educators. The results of the study show that the teachers regarded the children's interests to a great extent when the different play environments were structured. They are also based on different themes that they have seen that the children were interested in, such as the fire station, hair salon or shop and café. Educators designing not only these play areas for different types of play for the children, but the different environments also have a learning purpose. The outdoor environment however attracts greater interest from children, to where they have more space to move freely in and outdoors, there are no limits to the children.

Several studies have analysed the relationship between Normalised DifferenceVegetation Index (NDVI) and radiative surface temperature. A main goal for moststudies have been to find the best method for carrying out land cover classificationsand to study land cover changes, based on a combination between the twoparameters. Since atmospheric components have a significant influence on bothparameters, most applications were based on multi-temporal data. The quality of theindividual values in such a combination is improved, but the biophysical justificationis uncertain. This study presents a different method, based on only the combination ofvalues that have been registered the same day and about the same time of the day.125 daily images of NDVI and 250 images of radiometric temperature were used inorder to analyse the relationship between (1) NDVI and radiative temperature and (2)NDVI and relative temperature difference between early morning and mid-day.Results between NDVI and radiative temperature show a significant negativecorrelation on areas where a distinct growing season develops, and a strong positivcorrelation where vegetation is abscent throghout the season.

Jämtkraft AB has recently modernized its hydropower station at Hissmofors by replacing four older worn out units with two new units. The generators uses a concept with sliding stator feet to deal with the thermal movements that occur in the stator during operation when the unit is operating intermittently. At other sites, this method revealed shortcomings in the reliability. This has made Jämtkraft AB feel uncertainty about its function and therefore want to investigate it during an early stage. The generators have a built-in monitoring system for the sliding stator feet and by using data from there the function of the sliding stator feet has been investigated. The study focused on how the different stator feet move relative to each other and how the eccentricity and deviation from roundness changed during operation. The results show that there are several indications that the function of the sliding stator feet is not satisfactory.