In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

The objective of this paper ? Trusting the reader: On impressionistic narrating in Stig Claesson's writings with the novel Brev till en hembygdsgård as starting point ? is to examine narrative techniques used by the Swedish author Stig Claesson, specifically some which fall within the broad field known as literary impressionism: e.g. omission, repetition, juxtaposition, episodic narration and how access to the narrator?s as well as individual characters' consciousness is handled.The method used for the study will be that of illustrative comparison. The analysis will seek its theoretical grounds in the works by Gerard Genette and Jonathan Culler.

Yesterdays common fertilizing strategy was to apply phosphor (P) and potassium (K) in thefall a few times in the crop rotation. In the spring only nitrogen (N) was applied. Recent trialsand studies has shown that this strategy, N+P/PK, is ineffective compared with the systemwhere NPK is spread every year in the spring. The strategy with annual NPK-fertilizer in thespring has proven to be better for the crop, the environment and the farmers economy.In the NPK-system the crop responds with higher yields and better quality, especially in thespring cereals. This is mainly because of an interaction between the different nutrients in thefertilizer.

There are several thousands shallow bays along the Swedish east coast. Most of them are disturbed by different human activities, and undisturbed bays can be considered as quite unique. In the sheltered shallow bays water warms up more rapidly than adjacent water favoring the growth of vegetation, which in turns is beneficial to spring spawning fish species like perch and pike. It is nowadays more common that coastal habitats are inventoried to facilitate future preservation and planning. The aim of this study was to investigate the shallow bay Utanåfladen (59° 53`31.38 N 19°00`44.90 E) in the north Stockholm archipelago and evaluate its habitat value.

Oilseed rape constitutes a good break crop within a cereal dominated cropping system. The normal sowing time for winter rape in Sweden is August. It's a time in the cropping year characterized by a heavy work load, such as harvest and soil management. In addition, it is often a period with large precipitation. Thus, it is sometimes problematic for the farmer to do the sowing of winter rape at the optimal time.

Migration and giving birth are crucial decisions for animals during their life cycle, which may have lasting consequences on their population demography and fitness. Migration can entail a variety of possible effects for an individual, such as access to high quality food and reduced risk for predation. The moose (Alces alces) in northern Sweden is partially migratory and moose females are known to give birth to one or two calves. The synchrony between time of calving and timing of migration has not been compared before, especially in terms of energy maximizing and time minimizing perspectives, which may provide vital cues for fitness benefits of migration. I investigated effect of timing of birth and individual life history on distance, timing, stopovers and duration of 190 individually marked female moose that have been tracked for multiple years in ten different areas in northern Sweden.

Over the past few years the Swedish forestry industry has become increasing interested in direct seeding. Although, in practice, this interest has been restricted to pine seed, the knowledge and techniques that have been developed for pine seeding can readily be transferred to spruce. Direct seeding is a method that is of interest to the forestry industry since it can lead to lower regeneration costs, denser stands and better root development than the more conventional planting method. This study evaluated experiments that focused on direct seeding of spruce in the northern Sweden. Skogforsk set-up the experiments in Gideå and Sävar in 2003.

This study aimed to investigate whether lambs show anticipatory behaviours in a holding pen prior to entering a known arena, whether the holding pen experience prior to the arena exposure affects their play expression in the arena and whether their behaviour (in home pen) is affected if arena access is denied. Twenty pair-housed male lambs (average 14 weeks old), were exposed, in chronological order, to five treatments. Holding pen treat-ment (HP-control): Each pair was led into a holding pen (2.7 m2) and remained there for 5 minutes before returning to their home pen (6 m2). Holding pen ? arena treatment (HP-A): Each pair was led into a holding pen for 5 min and then was allowed access into the arena (22 m2, containing two hanging chains, one ball and one platform) for 15 min before re-turning to their home pen.

Functioning reproductive organs are essential for the survival of a species. The reproductive system is very sensitive to exposure of chemical substances of anthropogenic origin. Humans release great amounts of chemical substances to the environment by our means of life and these substances have been proved to have a negative effect on the reproductive ability of different vertebral classes. In the polar bear (Ursus maritimus) a declined reproductive ability as an effect of decreased testosterone levels and decreased testicular size has been connected to the presence of high levels of organohalogenic compounds like PCBs. Although the Swedish brown bear (Ursus arctos) is not as carnivorous as its close relative the polar bear it is still exposed to environmental.

Due to soft grounds in combination with seasonal variation in soil humidity, there is a lack of stands that are possible to cut during spring and autumn in some geographical regions. For Holmen Skog this sometimes means that a large proportion of the contracted private forest is cut during the winter when the ground is frozen. One consequence of this is that the proportion of winter stands in the stand bank of own forest increases while spring and autumn stands becomes a scarcity. This in combination with milder winters, especially when there is a long period of reduced bearing capacity in spring or autumn, means that the situation rapidly can become critical. The overall goal with this study was to generate basic data for decision support in the work to achieve a sustainable distribution between own forest and contracted private forest in the stand bank. The study took place at Holmen Skog, district of Umeå, during autumn 2007 and was based on interviews and an analysis of harvest planning and delivery data. The study showed that there is a problem with how the cutting is distributed between own and contracted private forest during the year and that it foremost is the proportion of winter thinning of own forest that has increased in the stand bank.

This study investigated how we can understand St. Francis as environmentally conscious. The study also presents where those elements can be found in St. Francis own documents and from documents that describe St. Francis.

Uppsatsens syfte är att utreda huruvida ett visst mått av interaktivitet är möjlig inom ramen för en films berättarstruktur. Med andra ord söker den visa om en tittare kan vara delaktig i filmens handlingsförlopp genom att aktivt påverka det. För uppsatsens syfte används filmen Lola Rennt (Spring Lola, Tom Tykwer, 1998) som en teoretisk försökskanin. Genom analys av filmens berättarstruktur och diverse tidigare forskning, fallstudium inom interaktiv film, samt relevanta bitar ur de Narratologiska (berättarforskning) och Ludologiska (spelforskning) skolorna ämnas det finna svar på hur ett interaktivt filmnarrativ kan se ut, samt hur det skulle påverka tittarens relation gentemot filmens karaktärer och handling..

The water level of Lake Mälaren has been regulated since the 1940?s. A recentinvestigation suggests that the current regulation needs to be adjusted in order toprevent a decline in water level, salt water from infiltrating from Lake Saltsjön,and risk of floodings. In addition to these preventions, the new regulation couldpotentially effect the natural environment and agriculture practices in the lowlands that surround the lake. The new regulation proposal calls for an increase invariations in Mälaren?s water level during seasons, while the annual mean waterlevel will remain the same.

Aluminium sulphate (Al2(SO4)3) is usually added during the drinking water treatment processin order to precipitate organic and inorganic material, resulting in aluminium-based drinkingwater treatment residual sludge (WTR). Since 2003 Swedish law no longer permits WTR tobe deposited in lakes, and there is an interest to explore the possibility to utilize WTR as soilamendment. The aim of this study was to examine the effects of WTR application on cropgrowth and concentrations of macronutrients and trace elements (including micronutrients andpotential toxic elements). A greenhouse pot experiment was conducted with three soils; a clayloam rich in phosphorous (P), a loamy sand rich in P, and a silty loam with a low soil Pconcentration, and two crop species Italian ryegrass (Lolium multiflorum Lam. cv.

When models are used to describe physical phenomenon during development or modification of a technical system, it is often possible to reduce both the time needed and the overall development cost. With the use of models it is also possible to investigate the potential of the selected solution, without the need for any expensive details and testrigs. In many cases it is also not possible to test all the aspects regarding the functionality that are desired from the system, without using the complete and final product.In this case a model based approach has been used to optimize the different parameters in the new snubbing mechanism for the Nose Landing Gear Retract Actuator on the JAS39 Gripen.During the simulations, upper and lower boundaries were calculated for the length of the spring and the diameter for the restrictor. The governing constraints were given by the requirements for the retraction time during cold conditions and that the amplitude of the alternating loads in the uplock mechanism were brought to an acceptable level.The most promising results from the simulations were then used in a limited number of trials in the hydraulic rig to verify that the configurations comply with the requirements.The final parameters for the snubbing mechanism were chosen to 35±1mm for the spring and 0.4-0.5 mm diameter for the restrictor..