In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

Purpose of the thesis is to construct a tool for car wheel change. Car wheels can be heavy and hard to handle and therefore the company Movomech intends to develop a tool that makes wheel change easier. Movomech does not have any similar product and because of this the work was condition less.The intended users of the product is tire workshops and there for the work began with investigation of these. The reason of the investigation was to see how wheel change is done and how tire workshops are planed. The tire workshops? crew?s opinions were also considered and above all one important conclusion was made.

This thesis describes new methods for automatic crack detection in pavements. Cracks in pavements can be used as an early indication for the need of reparation.Automatic crack detection is preferable compared to manual inventory; the repeatability can be better, the inventory can be done at a higher speed and can be done without interruption of the traffic.The automatic and semi-automatic crack detection systems that exist today use Image Analysis methods. There are today powerful methods available in the area of Computer Vision. These methods work in higher dimensions with greater complexity and generate measures of local signal properties, while Image Analyses methods for crack detection use morphological operations on binary images.Methods for digitalizing video data on VHS-cassettes and stitching images from nearby frames have been developed.Four methods for crack detection have been evaluated, and two of them have been used to form a crack detection and classification program implemented in the calculation program Matlab.One image set was used during the implementation and another image set was used for validation. The crack detection system did perform correct detection on 99.2 percent when analysing the images which were used during implementation.

Title: Process description of round timber transports ? a case study at Tra?frakt Go?taland ABAuthors: Karl ? Johan Tern, Christian Johansson and Andreas IvarssonTutor: Anders JerrelingExaminer: Fredrik KarlssonBackground: Today the profitability of forest haulers is unsatisfactory. Negotiations on prices are more about the relative strength of the negotiation parties rather than a discussion about actual costs. Adding extensive changes in the forest haulers cost structure has led to insufficient knowledge of whether the negotiated prices really correspond to their costs.Methodology: We decided to carry out a case study at Tra?frakt Go?taland AB, a special interest organisation whose members represent the majority of forest haulers in Go?taland.Purpose: To describe the processes and underlying activities of round timber transports.

Syftet med examensarbetet är att ta reda på hur fem lärare uppfattar sitt läraruppdrag. Sedan jämför jag dessa uppfattningar med hur litteratur och styrdokument uppfattar läraruppdraget. Min övergripande frågeställning är: Hur uppfattar fem utvalda lärare sitt läraruppdrag och hur förhåller sig deras uppfattningar till det som framhålls om uppdraget i styrdokument och litteratur? Examensarbetet är utfört utifrån en kvalitativ surveyundersökning där resultaten från intervjuer med fem lärare tolkas och jämförs med hur litteratur och styrdokument uppfattar läraruppdraget. Styrdokumenten fokuserar på att läraruppdraget går ut på att vara kunskapsförmedling och att utveckla elevernas etiska förhållningssätt.

This master thesis has been carried out as a prototype development project. The project hasbeen performed in cooperation with ÅF Combra AB. The purpose with the master thesis is toconstruct a Bluetooth interface between an accelerometer and a smartphone and constructinga physical prototype containing an accelerometer. This is done to test a new user interface tomobile phones. The master thesis has also included a research about the possibility toimplement distance measuring with Bluetooth.

The purpose of this project was to investigate if retention of polar compounds that are given to treat tuberculosis, diabetes, inflammatory bowel disease and childhood leukemia could be obtained with HILIC separation. By varying different parameters for different types of columns the compounds were analyzed with the aim of finding guidelines for future method optimizations. To perform these analyzes three different columns were tested ? ZIC-HILIC (silica-based with zwitterions), ZIC-pHILIC (polymer-based with zwitterions) and XBridge Amide (amide functions). The results were evaluated with selected quality measures.

Orica Miningsservices är ett företag som tillverkar sprängämnen till civil förbrukning. I deras produktutbud finns ett sätt att initiera en sprängning utan att använda elektriska sprängkapslar.  De använder en plastslang som är belagd med ett tunt sprängämnesskikt runt kanten på insidan, och sprängämnen kallas HMX.De finns idag ett analogt detekteringssystem som är baserat på optisk detektering. En lasergivare skickar ljuset igenom plastslangen och den detekteras med en fotocell. För ett säkert mätresultat används två lasergivare med respektive fotodetektorer, de mäter horisontellt respektive vertikalt. Deras resultatvärden summeras i en OP-förstärkare.

Title: Process description of round timber transports ? a case study at Tra?frakt Go?taland ABAuthors: Karl ? Johan Tern, Christian Johansson and Andreas IvarssonTutor: Anders JerrelingExaminer: Fredrik KarlssonBackground: Today the profitability of forest haulers is unsatisfactory. Negotiations on prices are more about the relative strength of the negotiation parties rather than a discussion about actual costs. Adding extensive changes in the forest haulers cost structure has led to insufficient knowledge of whether the negotiated prices really correspond to their costs.Methodology: We decided to carry out a case study at Tra?frakt Go?taland AB, a special interest organisation whose members represent the majority of forest haulers in Go?taland.Purpose: To describe the processes and underlying activities of round timber transports.

Aim: The aim of this essay is to study the communication strategy that the company SATS developed before taking over the company e2. The following questions are to be answered: - what was the planned communication strategy before taking over the company e2? - did SATS follow their original plan when implementing this strategy? ? Which strengths and weaknesses of the communication strategy can be identified based on opinions of the employees?Material/Method: Together with literature and document studies, a qualitative method has been used and seven personal interviews have been conducted. One informant was selected due to professional position; the other six respondents were former employees of the affected company e2.Main results: The main results from the study show that the company SATS did in fact follow their plan very accurately with only some minor changes such as an earlier started education program and exclusion of an initially planned evaluation activity. Communication about the takeover of e2 to employees was quick and clear.

Leadership is essential for every company. Its strength or weakness of direction, clarity, and evaluation affects success or failure of its organization. With the complex structure of the big and global companies today leadership is more challenging. The traditional view of leadership, with the single individual possessing all the competences and skills, is therefore being challenged by an alternative way of leadership, a shared leadership. Existing research on the subject is still scarce, which makes further studies in this field important.

The Swedish population is today exposed to more ads than ever. The number of advertising channels is growing, as well as the number of companies and their advertising expenses. As the products are becoming more alike, the harder it gets for the companies to convince the consumers their product is better than their competitors?. In order to succeed they need to understand what they communicate to the consumers through their different marketing activities, and how that affects the consumers? view of the brand and the product.

Title: Process description of round timber transports ? a case study at Tra?frakt Go?taland ABAuthors: Karl ? Johan Tern, Christian Johansson and Andreas IvarssonTutor: Anders JerrelingExaminer: Fredrik KarlssonBackground: Today the profitability of forest haulers is unsatisfactory. Negotiations on prices are more about the relative strength of the negotiation parties rather than a discussion about actual costs. Adding extensive changes in the forest haulers cost structure has led to insufficient knowledge of whether the negotiated prices really correspond to their costs.Methodology: We decided to carry out a case study at Tra?frakt Go?taland AB, a special interest organisation whose members represent the majority of forest haulers in Go?taland.Purpose: To describe the processes and underlying activities of round timber transports.

This report deals with RFID systems and how to detect nearby tags with the Mifare standard using only a microcontroller and an antenna circuit.The aim was to investigate whether there was any possibility to continuously search for a nearby tag for a system operated with batteries without compromising   the lifespan of the battery. At this time the system would take too long time to wake up and look for a tag to give a satisfactory battery lifespan, which should be done a couple of times every second.The report has two issues, namely:Is it possible to direct the microprocessor to detect and identify a nearby tag after the Mifare standard?What hardware is required for this to be possible?As the research method to provide answers to the above questions an action research was used. This approach has meant that the group worked on information retrieval, examined existing solutions, tested their own solutions and documented the results.The group examined an existing solution that can search for nearby tags with minimal energy consumption. An antenna circuit was built that was connected to the processor.

This essay examines what some of the Swedish authorities? argument are for vegetation, what their grounds are for the arguments and why vegetation is important for the human health and experience. I have examined publications and reports from 6 different authorities on state- , regional and communal level. The authorities which publications I have studied are Boverket, Naturvårdsverket, Folkhälsoinstitutet, Miljödepartementet, Länsstyrelsen Skåne och Malmö Kommun. The publications has been analyzed by different themes; Children and young peoples influence of vegetation, Elderly and sick?s influence of vegetation, Human health, wellbeing and experience of vegetation, Vegetation at work, The influence of vegetation on stress and The effect of vegetation in the city.