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.

A number of studies have been made to examine several aspects of voice production in individuals with different types of hearing impairments. Most of the studies were made to explore the impact that hearing aids have for people with severe or congenital hearing impairment. So far it has been confirmed that there are changes regarding voice production in these individuals. A group that has not been investigated regarding voice production to a larger extent are hearing aid users with an acquired hearing impairment. In the present study the voice production of seven individuals, four men and three women, with a moderate acquired hearing impairment is examined.

Many companies choose to market their products and brands with help from celebrities. This is not a new phenomenon, though, this strategy is something that we consumers start to get used to and the risk that the consumer unconsciously unselects the message grows. A recently much-disputed theory is the use of incongruent marketing. This means that companies uses a marketing message with the objective to not match the consumer?s expectations.

This study concerns paratransit service in a relatively small municipality in Sweden. The aim of this study is to describe the user's experience of paratransit service. The question formulation is mainly built around the user's experience of paratransit service and their view on what impact paratransit service has on their lives. The empirical data consists of ten interviews with ten different paratransit service users with ages ranging from 25-95 years. The data has mainly been analyzed through concepts of independence, empowerment and trust. The result of this study shows that paratransit service in many ways can be described as a crucial part of the users' lives.

The aim of this thesis is to examine whether law reforms in the detailed planning process can be an aspect that gets in conflict with the citizens rights to participate in the Swedish planning through dialogue, and how five chosen municipalities are working with citizen participation. To be able to answer the aim of the thesis a literature study and five semi-structured interviews was performed in purpose to get wide-ranging information from municipal officials working with detailed planning handling. Law changes that aims to make the detailed planning process more efficient has been implemented partly to satisfy the needs of dwellings since the detailed planning process among master builders seems to be slow and inefficient, which to the them means higher costs. The requirement on having a detailed planning program was taken away when the new planning law was adopted year 2011. The planning program was including a moment of citizen dialogue. The case studied municipalities have not been affected in this law change arguing that it?s still possible to bring a program if needed.

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.

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.

This study is based on discussions among Swedish brass teachers about teaching other brass instruments than their main instrument. Why do some choose to teach only with the help of their main instrument while others use their secondary instruments as well? What are the advantages and disadvantages and how do they look upon other ways of thinking in this matter?In addition, the study examines brass teachers? views on the balance between pedagogical and instrumental skill, as well as their views on teaching sound, technique and expression in relation to the age of the student.A questionnaire was used and anwered by 24 teachers with teaching experience in municipal music schools ranging from 7 months to 35 years. The results indicate that pedagogical skill is always important, whereas the importance of instrumental skill increases as the student gets older and more experienced. The advantage of teaching with the help of the main instrument is that one always keeps a high musical and technical level.

There are widespread discussions about the use of retouched models in media, ranging from bloggers to legal decision-makers. Research shows that there are negative psychological effects on especially females being exposed to idealized, retouched model images. The purpose of this paper is to explore the effects of using retouched models in advertising from a marketing perspective, based on attitudes, perceived quality and purchase intentions.Based on theories about attractiveness, halo-effects and social comparison, an experimental study was done, investigating the different responses on above mentioned parameters to advertisements showing either retouched model images or non-retouched model images. Initially it was also tested if the retouched models were seen as more attractive than the non-retouched models. The results showed almost no differences between the reactions to the advertisements with retouched models compared to the advertisements with non-retouched models, when all respondent groups were analyzed together.

The purpose of this study is to investigate the attitude of teachers regarding including democratic behaviour when grading students in social science. The purpose is also to investigate whether the teachers consider there to be a conflict between the right of freedom of speech and the democratic values that the school is supposed to make sure the students have when they graduate. The study also investigates the problems political decisions encounters when going from theory to reality.The theory of Ulf Petäjä on why the freedom of speechs is important, Robert Dahls theory about the democratic process and Anders Sannerstedts theory about converting political decisions to reality is what this study is based on.The study was carried out at three different schools; Teleborg Centrum, Växjö, Dackeskolan, Tingsryd and Centralskolan, Virserum ranging from the spring of 2006 and the spring of 2007. The method used except from litterature studies was interviews with active teachers.This study shows that teachers don?t think it?s acceptable to grade students based on their political ideology.

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.

Sverige är för tillfället operativa med Helikopter 16 - Black Hawk i Afghanistan. Uppgiften som löses i Afghanistan är främre och taktisk sjuktransport (MEDEVAC).Detta arbete handlar om hur befintliga VMS-system i helikoptrar kan kompletteras i syfte att möta ett föreliggande prickskyttehot vid lösande av främre MEDEVAC i ett insatsområde som miljömässigt liknar Afghanistan. I arbetet analyseras möjliga tekniker utifrån aspekter från ett konstruerat scenario där helikopterbesättningarnas uppgift, insatsmiljö samt hotbild beskrivs.Resultatet visar på att MEDEVAC-helikoptrar kan utrustas med sensor-gimbaler där olika sensorer kan kombineras, vilket möjliggör spaning i 360°. Detta bidrar till den militära nyttan då helikopterpersonalens lösande av uppgift effektiviseras, chansen till överlevnad ökar samtidigt som personal och patienter kan känna sig tryggare..

AASS (Applied Autonomous Sensor Systems, Centrum för Tillämpade Autonoma Sensorsystem) arbetar med forskning inom autonoma system. Deras stora användningsområden är utveckling av automatiska system till fordonsindustrin samt system till äldrevården.AASS, har ett önskemål om en enklare modell av en CNC fräs för enklare fräsning till bland annat prototyptillverkning. Fokus ska ligga på kostnaden då precisionen inte är av största intresse.Uppdraget innebär att ta fram en konstruktion av en cnc- router med tre axlar med ett arbetsrum på 600x450x150mm. Maskinen ska kunna skära i mjuka material som trä, plaster men även mjukare aluminium.Resultatet är en tre axlig cnc- router som drivs av tre stycken stepmotorer som är kopplade till respektive kulskruv. Cnc routern har ett arbetsrum på cirka 600x450x150mm.

This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.