Wireless sensor networks have the potential for becoming a huge market. Ericsson predicts 50 billion devices interconnected to the Internet by the year 2020. Before that, the devices must be made to be able to withstand years of usage without having to change power source as that would be too costly. These devices are typically small, inexpensive and severally resource constrained. Communication is mainly wireless, and the wireless transceiver on the node is typically the most power hungry component.

The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

The concentration of acute phase proteins in serum is altered as a response to inflammation, infection or trauma. this makes these proteins potential biomarkers of unspecific pathological processes. In cattle, haptoglobin and serum amyloid A are the two acute phase proteins that show the largest increase in serum concentration as a result of inflammatory processes. The haptoglobin concentration has been shown to correlate to clinical signs as well as inflammatory processes found at post mortem examination. This feature could be useful prognosis of the individual as well as for monitoring the health status of a herd or identifying carcasses that shold be examined closer at the slaughter-house.

The running of gas turbines with low emissions causes high pressure pulsations to arise in the combustion chamber. These pulsations are high amplitude sound vibrations. At some frequencies these are harmful to the gas turbine. Hence these pulsations are monitored to avoid operating conditions where pulsations are specifically harmful. It is necessary to expose the system of known pulsations to verify the functionality of the monitoring process.

Construction of an autonomous wind station was a project with the goal of creating a product that could collect wind data from a sensor and then transfer this data to a server wirelessly over the GSM network. The device would be powered by batteries and solar cells and function fully without requiring external power supply. This required that a small computer was constructed and programmed to store and send data at predetermined cycle times and programming of a server that received the sent data. The project also required optimization of power consumption and dimensioning of solar cells and batteries based on this. The construction of this station demanded research both for the selection of hardware and programming software. The computer was based on a microcontroller and a GSM module that sent the data over the 2G network.

This paper has bearing on the subject of foreign policy analysis and decision-making,but is nonetheless important to peace and conflict studies due to its emphasis onnuclear weapons and deterrence.I have constructed a theoretical framework for the analysis of foreign policydecision-making that I set out to test on a crucial case. The framework iscrosscutting, and takes into consideration four levels of analysis: the system-,regional-, state-, and individual level. It is centred on a key decision maker, andapplies a cognitive approach for determining his or hers belief system through whichthe inputs from the other levels are filtered in order for the decision maker toconstruct a perception of reality, from which the decision is then formulated within.The framework is applied to North Korean and its leader Kim Jong Il. It sets outto explain his behaviour in the matter of their claimed nuclear weapons program, andhis decision to conduct a nuclear weapons-test, getting inside his head trying to figureout why he chose to do it and for what reasons.The conclusion indicates that the basic structure of the framework and its generalapplicability is sound, but that it needs further testing in order to make it perfectly solid..

Den här rapporten beskriver och utvärderar ett antal algoritmer för multisensordatafusion av radar och IR/TV-data på rådatanivå. Med rådatafusion menas att fusionen ska ske innan attribut- eller objektextrahering. Attributextrahering kan medföra att information går förlorad som skulle kunna förbättra fusionen. Om fusionen sker på rådatanivå finns mer information tillgänglig och skulle kunna leda till en förbättrad attributextrahering i ett senare steg. Två tillvägagångssätt presenteras.

SammanfattningExamensarbetet har syftat till att undersöka möjligheten att utrusta Husqvarnas autonomagräsklippare med avståndssensorer. Dessa ska hindra gräsklipparen från att kollidera med hinder i sinomgivning. Gräsklipparen arbetar i en miljö där väder, temperatur, ljusförhållanden och underlagvarierar kraftigt. Detta innebär att kravet på sensorerna är högt.Av de sensorer som undersökts har det visat sig att ultraljud och ?structured light? är de system sombäst skulle kunna uppfylla all dessa krav till ett rimligt pris.I examensarbetet undersöks därför ultraljudssensorer från företaget Maxbotix närmare ochimplementeras i en prototyp.

Detta examensarbete är en del av SNOD-projektet vid Totalförsvarets Forskningsinstitut (FOI), vars syfte är att utveckla ett sensorsystem med infraröda- och videosensorer och integrerat navigationssystem. Sensorsystemet är placerat i en kameragimbal och kan användas på rörliga plattformar, t ex UAV:er, för övervakning och rekognoscering. Gimbalen är till för att möjliggöra inriktning av sensorerna i önskad riktning.Detta examensarbete behandlar en metod för inmätning av målkoordinater från den rörliga plattformen, det s k QWIP/MASP-systemet. Detta efterliknar ett UAV-system. Metoden för inmätning baseras på ett extended information filter där målkoordinaterna filtreras fram.

 Saab Microwave Systems (SMW) is a business unit within Saab AB that manufactures and develops different types of radar- and sensor systems for naval, airborne and ground based forces as well as within the market for civil security. In addition to the manufacturing of radar and sensor systems they also provide different types of service concepts. The business unit has 50 years of experience within the area of developing radar systems and is considered to be one of the market leaders. When applying an assemble-to-order production strategy with products at this level of cost price the product lead-time is vital and becomes an important part of the strategy within marketing and sales. Within SMW there is a new department called Supply Management (SM) that provides the supply of incoming and outgoing material. Within SM there are four sub-departments working with activities such as planning, purchasing, receiving inspection, storage and distribution.

This thesis is divided in to two different parts. The first part includes examination of the measurementsystem of an industrial robot using a resolver sensor. The main focus is on methods for suppressing noise in the angularvelocity signal without increasing timedelay. Five different methods are investigated. Three of these are based on oversampling: burstsamplingmethod, meanvaluemethod and correlationmethod.

The purpose of this review was to study the cow eye physiology, focusing on how it registers light, and to see how light affects the cow?s milk yield. It has been showed in studies that more hours of light per day (16 hours of light a day) as opposed to about 9-12 hours of light a day, increases milk yield for dairy cows. This review contains suggestions on how this is connected with the physiology of the eye. Vision is an important sense for many mammals, and is used to check out the animals surroundings. Sensor cells in the eyeball help in turning photons from the light into signals to the brain.

Sverige är för tillfället operativa med Helikopter 16 - Black Hawk i Afghanistan. Uppgiften som löses i Afghanistan är främre och taktisk sjuktransport (MEDEVAC).Detta arbete handlar om hur befintliga VMS-system i helikoptrar kan kompletteras i syfte att möta ett föreliggande prickskyttehot vid lösande av främre MEDEVAC i ett insatsområde som miljömässigt liknar Afghanistan. I arbetet analyseras möjliga tekniker utifrån aspekter från ett konstruerat scenario där helikopterbesättningarnas uppgift, insatsmiljö samt hotbild beskrivs.Resultatet visar på att MEDEVAC-helikoptrar kan utrustas med sensor-gimbaler där olika sensorer kan kombineras, vilket möjliggör spaning i 360°. Detta bidrar till den militära nyttan då helikopterpersonalens lösande av uppgift effektiviseras, chansen till överlevnad ökar samtidigt som personal och patienter kan känna sig tryggare..

AASS (Applied Autonomous Sensor Systems, Centrum för Tillämpade Autonoma Sensorsystem) arbetar med forskning inom autonoma system. Deras stora användningsområden är utveckling av automatiska system till fordonsindustrin samt system till äldrevården.AASS, har ett önskemål om en enklare modell av en CNC fräs för enklare fräsning till bland annat prototyptillverkning. Fokus ska ligga på kostnaden då precisionen inte är av största intresse.Uppdraget innebär att ta fram en konstruktion av en cnc- router med tre axlar med ett arbetsrum på 600x450x150mm. Maskinen ska kunna skära i mjuka material som trä, plaster men även mjukare aluminium.Resultatet är en tre axlig cnc- router som drivs av tre stycken stepmotorer som är kopplade till respektive kulskruv. Cnc routern har ett arbetsrum på cirka 600x450x150mm.

This master thesis is intended to give an increased understanding of the stress state in an axle, which is assembled in one of Atlas Copco?s mountain drilling rigs. The main problems investigated were how the axle is affected when the bearing is worn, when the pretension is varied, and how to dimension the axle. Answers to these questions were found by using hand calculations, practical testing and with Finite Element analyzes. The dimensioning of the axle is currently based on the bending stress, but the author?s opinion is that the axle should be dimensioned considering the equivalent stress.