The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600. The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox. A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace.

Denna rapport är ett examensarbete på 7.5hp för CAD-tekniker på Högskolan i Halmstad.Gruppen har fått i uppdrag från företaget National Gummi AB i Trönninge att ta fram en upprullare för stora gummiprofiler. Personalen rullar ner gummiprofilerna i en lastpall för hand vilket kan slita ut personalens ryggar då gummiprofilerna väger en del..

The aim of this study is to increase knowledge about how a group of newly graduated social workers reflect on the practical daily work and their positions working with clients who are in need of social and/or economic resources. More precisely the purpose is to find out how these seven newly graduated social workers viewed working with clients during theoretical and practical studies. The aim is to analyze which techniques and methods could be seen in these narratives. Furthermore the aim was to find out if and how these seven social workers reflected on the power relation between social worker and client.The material of this study consists of seven semi-structured interviews. Throughout gathering the data and analyzing it, the qualitative method in form of narrative approach was used.

Today's Swedish large-scale forestry uses almost exclusively computer-aided bucking. It allows the harvester computer, using an optimisation price list (steering price list), to maximize the value of each tree. The optimisation price list can be adjusted so that the industry gets the raw material it demands from the forest. There are various simulation programs that can be used when constructing a optimisation price list. The simulation program merchandise a database of stem shapes using a given price list and mimics a harvester's work. To get the demanded raw material for the industry it is important to use a well-adjusted optimisation price list.

The competitive nature of the automotive industry has always implied a necessity to improve product development concerning time-to-market, cost and product quality. As capacity of computer-aided engineering (CAE) tools has evolved, so has the strive for simulation-driven design. Virtual durability testing using full vehicle models is one of many challenges posed in front of vehicle manufacturers when computer simulations are given a key role in product development.This thesis has been initiated as a preliminary step towards implementing dynamic virtual durability testing in the development of buses and coaches at Scania. The objective has been to assess the predictability of a full vehicle coach model and to what level of precision structural loads can be predicted. Previously performed proving ground testing of a Scania Touring coach has been the basis for the modelling and simulations in this thesis.A virtual model of the Scania Touring coach has been created in multi-body simulation software package MSC.Adams.

Mathematical models possible to simulate are of great importance in order to make successful projects in the aircraft manufacturing industry. An aircraft fuel system is very complex, containing pipes, tanks, orifices, valves and pumps. The principal of this thesis is using the tool Easy5, which no longer is considered reliable enough in terms of development and support. This thesis tries to evaluate the Modelica language as a possible alternative to Easy5. To make this evaluation, the components concerned in the fuel library in Easy5 are implemented to the Modelica language.

Cache simulator is a tool to increase the understanding of a cache memory. Therefore cache memory simulation is included in the course Computer Engineering IS1200 at the Royal Institution of Technology. The purpose of this project is to develop a cache memory simulator for education. The existing MipsIt and Mips Simulator which is currently used in IS1200 has been the main source of inspiration. This resulted in the development of the cache memory simulator LMSim.

AbstractThe importance of good construction planning affects the final costs of the production and the timing of the project. Planning for building projects has been studied with the aim of identifying how three week planning appears in the construction industry today.A case study has been conducted in Navisworks Simulate to assess whether the software is suitable to connect the task schedule with the BIM model to create a 4D model. 4D models are used for performing 4D construction simulation to visualize the project. In order to use the benefits of the model, investment in equipment and software is required. This means higher costs for the companies.

AbstractThe importance of good construction planning affects the final costs of the production and the timing of the project. Planning for building projects has been studied with the aim of identifying how three week planning appears in the construction industry today.A case study has been conducted in Navisworks Simulate to assess whether the software is suitable to connect the task schedule with the BIM model to create a 4D model. 4D models are used for performing 4D construction simulation to visualize the project. In order to use the benefits of the model, investment in equipment and software is required. This means higher costs for the companies.

This master thesis studies distributed navigation which isa function implemented in a future network based combat information system to improve the accuracy in navigation for combat vehicles in a mechanized battalion, above all in the event of loss of GPS. In the event of loss of the GPS the vehicles obtain dead reckoning performance through the backup system that consists of an odometer and a magnetic compass. Dead reckoning means a drift in the position that makes the accuracy in the navigation worse. The distributed navigation function uses position and navigation data with measurements between the vehicles to estimate the errors and uncertainties in positions, which are used to improve the accuracy in position for the vehicles. To investigate and demonstrate distributed navigation, a simulation environment has been produced in Matlab.

BIM has been a trend in recent years when it comes to design and construction ofnew buildings. However, there has been less talk about what happens to BIM modelsafter the construction phase.This issue has been raised at the Forsmark construction documentation department.This thesis aims to look at how the information in a BIM model can be transferred tofacility management and GIS systems and thus add value, even after the constructionphase.Questions raises how such an exchange might look like and whether it is reliable.How should a claim be brought to planners for such an exchange to work.This thesis tested some of the most common methods for this kind of exchange ofinformation from BIM models to facility management and GIS. It was formats like IFC,Fi2xml and a database connectivity that was analyzed by a computer simulation of amodel provided by Forsmark. The model consisted of an existing office building atForsmark, modeled in Autodesk Revit.The results indicate that the formats tested require a precise plotting of the models.The loss of information that came to light in the simulation could be attributed tofailure modeling in Revit. Even such things as naming of areas must be consistent.

This is a final year project considering constructional techniques for joining cavity walls. The project is related to an ongoing scientific programme about the restoration of The City wall of Visby located on Gotland. The programme was set by Riksantikvarieämbetet as a reaction to a collapse of the outer masonry wall shell which took place in February 2012.The City wall of Visby is a medieval fortification built out of limestone during the 13th century. The wall is constructed as a cavity wall with two separate masonry shells connected to each other through an intermediate core. During the 14th century the wall was heightened which lead to a higher stress, especially in the outer wall face.

The aim of this thesis is to investigate the procurement of maintenance at SvK. Byunderstanding the process that has led to the current procurement strategy; providesuggestions to how the procurement of maintenance can be improved to ensure thequality of future maintenance of the national grid.A god client can be associated with a number of qualities, ?acquisition competence?.Vinnova describes acquisition competence as the ability to plan, formulate,communicate and monitor. Different businesses and industries have different needsand opportunities and operate in different economic structures which requireadjustments in their acquisition competence. A number of areas have been identified,called areas of focus, where clients can adjust their competences to their markets.The areas of focus are competition, competence/quality, control and communication.By defining the need of acquisition competence for SvK and identifying problems, anumber of suggested strategies have been proposed.

This Master s thesis deals with the display of library media, whether it is conceivable and desirable to draw inspiration from the retail business when displaying articles. The questions asked are: are there, in the retail sector, well established display ideas and - if so - what do they look like? Are the similarities in conditions, between the branches, sufficient? In conveying the ideas to libraries, are the potential differences not obstructive? Is there, among librarians, a positive attitude towards further development of library display techniques? The results were achieved by interviewing shop window dressers and librarians. In addition, a survey was sent to the library managers of 65 public libraries in southern Sweden. The results show that there are established ideas and methods of displaying materials, and that the ideas are manifested in frequently used techniques.

AbstractIn my work on language development in preschool the purpose was to examine how and to what extent the pre-school supports children with special needs in their language development. Trough qualitative interviews with four preschool teachers, I wanted to see how they work with language development in preschool. In the study, Main questions asked in the inquiry :How do teachers and support children?s language development?What techniques, resources and tools available to facilitate language development? The conclusion that I made from my inquiry is that the primary language stimulation methods teachers use to encourage children?s language development are rhymes telling, books reading and song singing based on active selection of pieces that match the children?s maturity level.And how they are using different language stimulation techniques Karlstad model, TAKK (Signs of augmentative and alternative communication) and TRAS (Early registration of language development) to promote children?s language development. Keyword: Language development, language stimulation, treatment, communication, methods..