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.

This master thesis covers the development of an automatic tuning process for the existing speed controller for drive systems. The drive systems are resonant two-mass systems where a motor is used to drive a load connected by a shaft. The developed method relies heavily on system identification and the construction of a complete mechanical model of the process. With this approach, the common problem with poor load speed control that derives from measuring only the motor speed can be addressed and solved for a majority of such processes.The automatic tuning method has along with general test functions been implemented in a complete tool for automatic tuning, testing and performance evaluation and reporting for drive systems..

This essay focuses on different aspects of the concept of freedom of speech. The purpose is to examine the opinions and thoughts that upper secondary school students have on rights, responsibilities and limitations when it comes to freedom of speech, and to investigate theirschool experiences of the mentioned freedom. Focus groups have been used as method and two group interviews have been conducted, one at a vocational and the other at an academic upper secondary school. Overall, nine students from the third grade participated in the interviews.The essay's results show that the students believe that everyone in society should have theright to be heard, whether you have extreme or divergent opinions. The interviewed studentsexpresses that all people have great responsibility for their opinions, however that, opinionsdiffer on how to interpret the concept of responsibility.

An automatic control system for calibration of pressure indicators has been constructed. This control system can be used as a complement to the calibration system located at AerotechTelub, division MainPartner, in Linköping. The calibration system used today contains some not wanted pressure changes, which is compensated by hand today. The new system presented in this report automates the calibrating process and simplifies the calibration. Suitable hardware as motor, controls card and so on have been found and software in the form of Visual Basic program has been developed.

Material handling is a term that includes all kinds of handling of material from a raw product to a finished one. ABB is active in the following segments; foundry, packaging and palletizing, metal industry and plastics industry.The demands for efficiency and reliability have been set very high in the industrial sector. Optimizing of the material handling will give the company higher cost-effectiveness. Around the robot there are different kinds of material flows, to optimize the cycle time, consisting of carriages combined in different ways.Motion Control is a complex system with main functions such as; positioning, synchronizing, indexing and more. The products in the system need to cooperate to make these functions possible therefore integration of motor- and servo products are important.

The study aims to demonstrate the significance of educators lived experiences of stimulating children's physical development. It has been noted that children are occupying themselves with more and more sedentary activities, which may lead to that they do not develop motor skills at the pace expected. To understand educators lived experiences from a phenomenological hermeneutic perspective empirical relevance has been collected through narrative interviews. The results shows that educators find it difficult to understand the Curriculum goals for motor activity and that the desire to stimulate motor development is great, but the realization is conspicuous by its absence. The discussion highlights educator?s commitment and motivation and the importance of being a reflecting practitioner..

AimThe aim of this essay is by using a motor skill track to see if there exists any remarkable difference in the motor skill profiles between pupils from our montessori school and the mean score in the "Nytidstest". The questions at issue we had were: How is the motor skill profile on pupils in year 2 and 3 practicing montessori pedagogy? Is the motor skill profile superior or inferior to the mean score in the "Nytidstest"? What factors, if any, concerning the montessori pedagogy affects the results of the test?MethodWe used a motor skill track consisting of 8 stations sellected from the "Nytidstest" adapted for year 3 (the original test consists of 16 stations). Pupils from year 2 and 3 in our chosen montessori school were tested in groups of 4-5 persons each. We made the tests on two occasions each lasting for 100 minutes at the time.

Abstract This examination work is about the role of physical activity for students with concentration difficulties. The purpose of this work is to describe educators experiences of how students with concentration difficulties are affected by physical and motor activity during school-time in primary school. In the work I assume from my questions that are: How do educators experience students with concentrations difficulties? Do educators think physical and motor training during school-time matter for the students learning processes? How? Do students with concentration difficulties have other possibilities than other students regarding physical and motor activity during school-time? I am using a qualitative interview method for answering my questions. The interviews are conducted in collaboration with three educators in a medium-sized Swedish F-6 school.

The purpose of this essay is to perform a comparative study of first a pedagogical/rhetorical and then a therapeutic method, to help students overcome their speech anxiety. My choice stayed at focusing on the academic world and the benefits offered to mainly students. I have chosen two institutions with long experience of work with speech anxiety: Instutionen of Swedish, rhetoric and journalism at Södertörns Högskola and Student Health at Uppsala University. I want to find the advantages and disadvantages of the two universities and in no way define what is more favorable..

On children born with a complete cleft lip and palate (CLP) the repair of the alveolar ridge doesn´t take place before the children are about ten years old. This results in that they have a residual cleft in the alveolar ridge during their early childhood. This residual cleft, and the oronasal fistulas that may appear after the repair of the hard palate, can result in a negative influence on the speech of the children. Thereby it may be necessary with cover for examplewith a palatal plate or an obturator. At the Department of Orthodontics, at Linköping University Hospital, Sweden, some of the children with CLP undergo treatment with sustained palatal fistula obturation in order to cover fistulas or residual clefts.

Background: The speech- and language deficit aphasia affects 12 000 persons annually in Sweden. Aphasia is caused by injury in the brain and the most common etiology is stroke. According to the tool for describing and assessing aphasia, A-FROM (Kagan et al., 2008), the four following aspects of aphasia need to be considered: severity of aphasia, participation in life situations, communication and language environment and personal factors. Several different interventions and treatments can be performed in every domain. There is scientific evidence for interventions performed by speech and language pathologists; however, the question is yet being discussed since results are unambiguous.Purpose: The main purpose of this study is to investigate which aphasia interventions performed by speech and language pathologists that are supported by evidence.

This is an analysis of the music in the television-series The Tudors (2007 ? 2010). The opening credits and how death is portrayed musically in the last episode are analyzed. My question is what functions the music has. The method used is Michel Chion?s masking-method.

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.

This essay intends to investigate the view on freedom of speech in Sweden. The expanding of the hate crime law rises the question if there is a current changing view on freedom of speech. By comparing motions concerning an expanding of the hate crime law from different periods, I am able to conclude if and how the view on the term freedom of speech has taken place. This is done in a descriptive analysis of terms, where the different values and arguments for a change is compared. The material is taken from the period 1991-1993 and 2000-2001.

Det har tidigare rapporterats att icke-stammande personer har en tydlig vänstersidig cerebral lateralisering vad gäller talmotoriken, vilket visas genom ökad högersidig aktivering i läppmuskulaturen. Personer med stamning har å andra sidan föreslagits ha ett vänstersidigt eller bilateralt aktiveringsmönster av talmuskulaturen. Detta antas vara en av orsakerna till stamning. Testdeltagarna i aktuell studie bestod av 11 stammande och 13 matchade icke-stammande vuxna. Uppgifterna bestod av ordrepetition, ordgenerering samt att puta med läpparna.