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.

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.

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.

The project Design analysis and proposals of plastic screw caps in Australia was performed at Högskolan Dalarna incooperation with University of Western Sydney, Australia. The Swedish company Tetra Pak, in Lund, were assigner forthe project that was performed 2006-2007. The commission was to do a survey about the packages for non-carbonateddrinks in Australia. The bottles had to be plastic, able to open in one step and with focus on the caps.The project has result in design analysis and a new proposal of a plastic screw cap for the Australian market. Sixbottles were choosen and they were all testet on 20 consumers each with a Likert-scale test.

The project Design analysis and proposals of plastic screw caps in Australia was performed at Högskolan Dalarna incooperation with University of Western Sydney, Australia. The Swedish company Tetra Pak, in Lund, were assigner forthe project that was performed 2006-2007. The commission was to do a survey about the packages for non-carbonateddrinks in Australia. The bottles had to be plastic, able to open in one step and with focus on the caps.The project has result in design analysis and a new proposal of a plastic screw cap for the Australian market. Sixbottles were choosen and they were all testet on 20 consumers each with a Likert-scale test.

Jag fick i uppdrag av Barn- och ungdomsförlaget Vombat förlag, att göra en barnbok som handlar om väderfenomen för målgruppen barn 6-9 år. Boken ska innehålla förklaringar och fakta om tretton olika väderfenomen, men i detta examensarbete har jag gjort förslag på fyra uppslag ur boken som behandlar fyra olika väderfenomen.Det finns idag redan många böcker som behandlar temat väder och väderfenomen, då det är ett relevant och spännande ämne som barn ständigt kommer i kontakt med och som påverkar dem varje dag. Dock har jag inte stött på någon som enbart fokuserar på väderfenomen utan att gå in på klimatfrågor eller mer omgripande information om väder. I detta examensarbete har jag undersökt hur informativ illustration kan användas för att på ett enkelt, tydligt och underhållande vis förklara vad som ligger bakom de olika väderfenomenen. För att ta reda på detta och för att förstå målgruppens behov har jag använt mig av teorier, gjort en omvärldsanalys och en målgruppsanalys.Utifrån vad jag kom fram till har jag utformat ett förslag på fyra uppslag som jag sedan testade på målgruppen..

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.

Pneumonia is a common disease in calves. There are several causes behind the disease. The main purpose of this litterary study was to estimate what kind of nursing calves with pneumonia could benefit from, especially the evidence-based nursing recommendations for the sick calves. A further purpose was to gain knowledge of different treatments of sick calves and what kind of practical measurements that are most suitable to use in the preventive work. The results in this study shows that there are only suggestions of nursing, rather than some actual evidence-based actions. The most important nursing actions is to isolate the calves with dyspnea, prevent or treatment of hypothermia, potential dehydration and malnutrition. It is also important to make sure to place the calf on soft and dry bedding.

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 legal situation of companies costs for investing in computer software in an income tax law perspective is described by a tax law guidance that generelly acount these costs according the principles of research and development. If there is any reason to classify the costs differently, it could mean that immediate deduction not will be allowed. For this reason it is important to establish what the legal situation would be in a more nuanced tax law classification. The tax law categories that will be analysed in the thesis are research and development, inventories, intangible assets, stocks and ongoing projects. The purpose of this thesis is mainly to give examples of what such an income tax law classification can look like.While dealing with the problems of classifying the costs some situations of competition will occure.

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.

The purpose with this study is to map the research front and the research base in information science, by using the bibliometric methods bibliographic coupling and author-co citation analysis. The research questions are: 1. What is the nature of the research front in information science, regarding which areas that are being studied? 2. What is the nature of the research base in information science, regarding which authors who are most cited, and how they can be grouped? The data used in the study were gathered from articles published in the journal Journal of the American society for information science and technology, published between 2004-2006, respectively 1986-2006.