In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

Today there is a widespread opinion that the woodmarket and the forest industry are dominated by a traditional way of thinking and not adapted to the customers of today; a lot of products are produced purely on routine. Also, there is a demand for improving the quality of sawn woodproducts. AB Karl Hedin wants to sort this out by increasingly adapt their products to the demands of the market, i.e. through introducing a short wallstud of standard length, "Hedinregeln". At tirst, the wallstud will be produced in lengths of 2,70 m and of guaranteed quality.

There have been changes in Earth?s climate system on both global and regional scale since the pre-industrial era and some of these changes are due to human activities such as the combustion of fossil fuels. This calls for the development of engines with a higher efficiency and less harmful emissions. One interesting concept is the Homogeneous Charge Compression Ignition (HCCI) engine, which has the advantages of potentially low emissions combined with high efficiency. However, HCCI with diesel fuel requires a relatively long fuel/air mixing time to ensure a "homogenous" charge.

Background: Cancer disease is one of the most common diseases in Sweden andradiotherapy is one of the regimens available for the treatment of cancer. Radiotherapycan be delivered as single treatment or be divided into several fractions that last forweeks. Radiotherapy can cause side effects that may occur during or at the end oftreatment. Information and communication is an integral part of all treatments and care.The oncology nurse should attempt to ease for the patients to communicate, participatein the care, receive information and enhance the ability to self-care.Aim: The aim of the study was to examine the patients? needs for communication andinformation with oncology nurse during their meeting through radiotherapy.Method: This pilot study was conducted on six patients with different cancer diagnosis.It was a qualitative study, were data was collected through individual interviews usingsemi-structured questions.

In the last decades, high speed cutting has become an attractive technology in the wood industry. The possibility of reducing global costs in addiction with an increase in productivity, were the main reasons for the enlargement of the use of this technology. As usual, these advantages are accompanied by disadvantages that should be carefully analyzed. If on the one hand cutting forces are reduced with increasing cutting speeds, on the other hand, the centrifugal forces affecting the tool are higher. Exposed to such high loads, there is a considerable risk of tool failure that embeds hazards for both machine and workers.

In Sweden, the demand for bio energy has increased in recent years due to the current energy and climate debate. In 2008, the energy supply of Sweden was 612 TWh, biofuels accounted for 123 TWh of these. Stumps have been highlighted as a potential fuel in recent years and the Swedish Forest Agency expects a technically and biologically feasible potential of 20.7 TWh annually between 2010 and 2019. The idea of utilize stumps is not new. During the 19th century stumps were used for tar production and during the 70?s and 80?s attempts were made to use stumps in the pulp industry.

Moisture damage in buildings is a serious issue that leads to problematic consequences and high economic costs. Despite the knowledge and awareness existing about moisture problems, extensive damager still occurs today. Studies of moisture in the exterior wall constructions shows that the issue if often caused by rain and water intrusion. These kinds of problem result in major costs usually because the companies have to replace the material and structural components and also in some cases tear down large parts of the buildings.The work includes moisture theory and descriptions of four different exterior wall constructions, wood stud wall with plastered facade, exterior wall with wood facade, exterior wall with concrete, and exterior wall with brick facade. Our thesis work describes how the constructions are affected and moisture damage due to water intrusion.

Jönköping Small Animal Hospital is today the only clinic in Sweden to offer radiation therapy as a treatment of tumours. The body contains of billions of cells that all have to obey the regulations that are established. If a cell is exposed to a harmful substance, for example a chemical, it can be transformed into a tumourcell. Normally the body has a good defence but the tumourcell can survive and start to divide unrestrained. A tumour is starting to develop.

Uppsats för avläggande av filosofie masterexamen i kulturvård, 30 hp.

Today?s forest managers implement a large number of methods to increase the amount of dead wood in Swedish forests. They use everything from high cutting of trees to girdling trees and burning forests. However, implementation of these measures without proper knowledge of their consequences is a common problem. This study has been performed to increase knowledge about two of these measures, girdling and high cutting, and how these actions affect the number of wood-living insects living on dead trees.

This thesis was rendered for the client HAGS Aneby AB that is a global leader in playground equipment. The goal of this project was to develop a seesaw that is available for children aged 5-12 years; both with and without disabilities. The project has aimed to develop a seesaw that fits everyone in the target group without looking specially adapted.Children with disabilities have difficulty using today's seesaws because they consist of only a seat and a handle on each side. It requires that the user has strong arms and legs and can sit up without support. HAGS Aneby AB would like to change this.To gain knowledge of the target group and on the different types of disabilities information was sought for on the internet including the RBU's and UNICEF's websites.

The examination of the adequate nature conservation methods in a natural reserve, to conserve a specific species and / or increase biological diversity is the subject of this study. This work is based on four species, that can be found during the Spring season, liverleaf, wood anemone, brimstone and woodpecker. The incidence and availability is studied and closely observed for these species in twenty forests, i.e. ten forests which are nature reserves and ten forests with the similar characteristics as the nature reserves habitat, but are not nature reserves in Gnesta mucipality, Södermanland. Measurements of the tree crown and the diameter of the tree trunks where noted to study how these factors could affect the outcome of the abundance and incidence of the four species.

There are several man-made environmental problems in today?s society. Tourism gives a lot of people serenity, creates jobs and better social circumstances but also has a dark side, a dark side that is harming our environment. Mass tourism creates large amounts of harmful gasses through transportation of tourists, littering ends up in pollution and acidification and the list goes on. Ecotourism has during the latter part of the last decade been marketed as a counter pool to the harmful kind of tourism and offers connectedness to nature.

In this final thesis, an existing method for analysis of chlorophenols (CP) in bottom sediments has been updated and adjusted for analysis of chlorophenols in soil. The covalent bonds between the chlorophenols and the soil matrix were broken through basic hydrolysis and the chlorophenols were then separated from the water phase through addition of sulphuric acid followed by ether extraction. The chromatography was improved through extractive acetylation of the chlorophenols.The updated method was then applied on soil samples from a contaminated area (a former sawmill in Hyttsjö, Östergötland, Sweden).The analyse was preformed by GC/MS with respect to 2-MonoCP, 4-MonoCP, 2,4-DiCP, 2,6-DiCP, 2,4,6-TriCP, 2,3,4,6-TetraCP and pentachlorophenol (PCP).Contamination of chlorophenols in nature can be explained by the former use of wood preservative chemicals based on chlorophenols. In the 1960s and the 1970s these chemicals were used in Sweden, but due to their toxicity they were banned by the Swedish government in 1978.In Hyttsjö a pentachlorophenol-based product named Santobrite was used for several years. The concentration of PCP in the soil samples from Hyttsjö varied from 0.2->1.8 ng/mg dry substance.

Uppsats för avläggande av filosofie kandidatexamen iKulturvård, Konservatorsprogrammet15 hpInstitutionen för kulturvårdGöteborgs universitet2013:12.