The purpose of this project was to further develop and complete a quadcopter that had been built in an earlier course at KTH, so that it could be used for demonstration and education at the school. The quadcopter was at the beginning of the project completed when it came to hardware, and there was some software functionality implemented but no system for automatic stabilization. The main goal of the project was to implement such a system, and to combine it with the previous functionality to make the quadcopter operable and able to fly. To create a functioning and stable ground multiple basic software features has been implemented, and on top of that additional software to improve the safety, stability and functionality. The most important part is the control system that is responsible for converting sensor and control signals to suitable motor values.

Nation building is vital in post-war states to bring the people that have been at war together. To restore peace in a state, many different actors need to work together to bring stability, safety, and advancement to a new nation. There are several methods of nation building, and this thesis evolves around three of them. This is a qualitative study where three theories on nation building are used to analyze the development of nation building, and the obstacles Bosnia and Herzegovina still has to reach a national identity. Several studies are used in this thesis to show how the development has evolved in Bosnia and Herzegovina.

This thesis studies the negative impact that control signal saturation may have on a controlled system. Different methods that are used to compensate for this problem are also studied and evaluated. Both sensitivity to disturbances and the effect the method has on the systems'ability to follow a reference signal will be examined. Stability will be discussed, but no conclusions whether the systems are stabilized or not can be drawn. Control signal saturation will lead to a slower behavior in general.

Development and accuracy tests of advanced exchange trading systems require well adjusted tools for testing. Aptness of these tools are probable to have a major impact on identification of bugs and verification of new functionality. Identifying erroneous parts and bottlenecks of the trading system is of outmost importance for the exchange as a whole since stability and correctness are two of the determinant factors its viability is measured by. This paper covers how this test-tool was created and the motivation behind the design choices made. The tool was created with the goal to be broad enough to cover the majority of cases that could arise, fast enough to be able to test the trading systems speed limitations (i.e.

Background: The fast growing tourism industry increases the need for new destinations to meet the markets demand. Because of this, destination development becomes a part of tourism development and it can therefore be interesting and relevant to study this phenomenon. It requires consciousness about the destination?s conditions and to what extent tourism can be developed. The study of these conditions can be useful as they are fundamental for future tourism development at a destination.Purpose: The purpose of this study is to describe and analyze which conditions and characteristics a place should have to become an attractive destination.Methodology: This study has been executed from a positivistic point of view and a quantitative approach.

An inflammatory reaction is induced after release of proinflammatory mediators such asinterleukin 1 and 6 and tumour necrosis factor ?. These mediators stimulate the liver tosuppress the syntheses of albumin and endure the syntheses of acute phase protein forinstance C-reactive protein. The aim of this paper was to perform a method validation on animmune turbidimetric assay to quantify C-reactive protein in canine serum at the laboratory atSkara Animals Hospital, Skara, Sweden. The validation involved evaluation of the assaylinearity, precision, stability and recovery.The method was proved to be linear for both TruLab control and Medinor control.

The thesis aims to increase our understanding about parents reasoning about the elementary school choice by studying which factors parents perceive as important during the decision making process and also by giving meaning to Pierre Bourdieu?s concept of capital through the parents perspective. The empirical material comes from seven BNIM-interviews made with parents, which has been analyzed according to the thematic field analysis.The results show that the parents are not especially concerned about making an active school choice. Stability, closeness, friends, rumors, development and adaptability to the reality are the factors that are perceived as the most important in the decision making process. The school choice has a limited meaning as an investment in social capital, from Bourdieu?s perspective.

In industrial control systems PID-control remains the prevalent strategy, also for processes that would benefit from model based control. The purpose of this thesis is to evaluate whether model based control can be readily implemented in an industrial control system. To this end a simulated surge tank with a simulated industrial control system is studied. For evaluation two scenarios with specified objectives are selected.Following a review of LQR and versions of MPC, Predictive Functional Control (PFC) is considered the most suitable for implementation. PFC is a form of MPC developed with industrial applications in mind and therefore has several advantages for implementation in an industrial control system.

Ethanol for automotive purposes is an issue much debated and researchers disagree about the benefits of bioethanol. Converting energy-rich crops into ethanol suitable as motor fuel is a complex process and continuous development and improvements of processes and material used are important steps in the work of developing environmental friendly fuels. Grain is usually preserved by drying which consumes a lot of energy. Alternative storage of high-moisture grain in airtight storage systems reduce the energy required to produce bioethanol and studies have also shown that ethanol yields are increased more than 10% in ethanol fermentations of moist grain compared to dry. Airtight storage is often not perfectly airtight so biocontrol agents are necessary in order to preserve the grain.

The aim of this study is to look how the Social Service has handled custody issues. The study has a legal and social aspect with a purpose to investigate how the law affects the social administration as well as the family. During a period of one year a quantitative and qualitative study was performed within the social administration in a nearby community. The study focus is partly on the relationship between the law, family and society. The main questions have been: Which one of the parents, mother or father, did in fact get the custody and why? How has the children?s point of view been reported in the inquiry? A child needs a well organized everyday life in a preferably conflict free environment.

This thesis has been performed at Scania CV AB Technical Centre in Södertälje and its aim hasbeen to study the causes and effects of deformations in the interface between the rear axlehousing ADA1100 and the central gear house R780 during operation. Design changes that wouldincrease the sealing capability of the studied interface are also suggested. Finite element (FE)and CAD software have been the primary tools in this study.Finite element (FE) simulations are used in the industry to predict and develop engineeringdesigns. The main motive for FE simulations has traditionally been to identify weak spots in thedesign, regarding high tensions and large deformations.The FE model is an aggregation of submodels and interface models that represents the rear axlehousing, suspension, central gear, central gear housing, wheels, bolts and weldings, and theirinteractions. The submodels have different material properties and they are connected withcontact interface models.Boundary conditions are defined on the bushings in front of the rear axle and on the air bellowsbehind the rear axle.

This report presents an investigation and a new design of Habo Ullspinneris old industrial premises. It is based on the owners visions and wishes, two questionnaires and also considering of the historical value.Habo Ullspinneri was founded in 1882 by Frans August Johansson and was moved to the location it has today, near Hökån in Habo, three years later. The electricity that the machines in the industry needed was extracted from the small river that is placed under the building. In 1960 there was a fire and the result became the end of the industrial activity that had taken place in the building.There is no steady activity in the building at the moment. It is nowadays temporarily used as an agriculture museum and as a store room.

Syftet med den här uppsatsen var att undersöka vad som påverkar revisorns val att arbeta eller inte arbeta internationellt och i vilken mån detta påverkar honom.Eftersom vi inte fann någon passande teori beslöt vi oss för att skapa vår egen. Denna teori utgår från egna antaganden och andras teorier och har byggts upp med hjälp av fem hypoteser, vilka vi rangordnat efter hur mycket vi antar att de påverkar revisorns val. De fem hypoteserna är: legala, stabilitet, sociala, kulturella och ekonomiska. Då vi ville gör arbetet mer intressant valde vi att undersöka tre länder: Sverige, Storbritannien och Kroatien, detta medförde att vi kunde göra jämförelser mellan revisorer från dessa länder.För att det skulle vara möjligt för oss att uppfylla syftet och för att kunna testa om vår teori var korrekt samlade vi in primärdata och sekundärdata. Primärdatan består av svaren vi fick på våra e-postenkäter medan sekundärdatan innehåller information om revisorsutbildningarna samt information om Sverige, Storbritannien och Kroatien.Utifrån analyser på dessa data drog vi slutsatsen att vår teori inte var korrekt fullt ut då hypoteserna legala och stabilitet ej påverkade revisorns val att arbeta eller inte arbeta internationellt i den utsträckning som vi antog.

This report was written as a result of a Bachelor Degree Project at the School of Technology and Society at University of Skövde, first semester 2007. The assigner was Tibrokök in Tibro, Sweden. The commission was originally to design a sliding door concept for kitchen. Later it was expanded to also include bathrooms.During the feasibility study of the project Internet was used as an information source. Kitchen brochures and magazines were ordered from different companies to give inspiration and ideas.

The aim of this project was to develop a numerical model simulating the global transport of air pollution. The model currently used by SMHI, the Swedish Meteorological and Hydrological Institute, was intended to perform such simulations at regional scales. However, the usage of a grid based on longitudes and latitudes makes this model work poorly in global simulations. The problem with this grid is that the nodes are concentrated near the North and South Poles. Due to this characteristic, the Courant, Friedrich and Lewy-condition for numerical stability puts a sharp bound on the timestep length.