The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

In 2009 The National Land Survey of Sweden, Lantmäteriet, commenced a project intended to provide a new digital elevation model (DEM) of Sweden. The method chosen for the project was airborne laser scanning (ALS). In addition to information about the land surface the project will also provide information about the forest, this as a by-product. This data can be used to estimate forest variables such as height and volume. The estimates are often more reliable than what is standard today. This study is based on interviews with employees and members of the forest owner association Södra in southern Sweden.

A high amount of dead wood is one of the most important prerequisites for high biodiversity on forest land in Sweden. Dead wood is most abundant in young forests, thinned forests, woodland key habitats and protected forest land. In old-growth forests most of the dead wood consists of logs and snags, whilst in managed forests a huge proportion of dead wood is made up of logging residues like stumps and FWD, fine woody debris (< 10 cm diameter). All these different types of dead wood may serve as substrates for epixylic bryophytes and lichens. However, few studies have been conducted on the relative importance of these different fractions of dead wood for the occurrence of bryophytes and lichens, especially when considering dead wood on thinned forest land.

Vår studie bygger på artiklarna ”Fads, Martingales and Market efficiency” och ”Volume and Autocovariances in Short-Horizon Individual Security Returns” och är ett replikat av dessa. Studiens syfte är att undersöka förhållandet mellan förändringar i aktieomsättningen och veckoavkastningar för enskilda aktier på Stockholmsbörsen..

Syfte: Identifiera recidivmönster hos glioblastom samt studera betydelsen av erhållen stråldos beträffande uppkomsten av recidiv.Metod: 50 patienter som strålbehandlats för glioblastom valdes ut till studien och deras magnetkamerabilder från uppföljningen jämfördes med behandlingsplanen frånstrålbehandlingen. Lokala, marginella eller distala recidiv identifierades baserat på om recidivet låg innanför, tangerade eller låg helt utanför PTV (planning target volume). De marginella delades in i två grupper, de som hade en fysisk koppling, connex, till GTV (gross tumor volume) och de som inte hade det. Vidare lästes erhållen stråldos i recidivet ut från strålbehandlingsplanen.Resultat: 35 stycken patienter hade fått recidiv på 42 unika lokaler. Av dess 42 recidiv var 66,7 % (28 stycken) lokala, 9,5 % (4 stycken) marginella med connex till GTV, 19 % (8 stycken) marginella utan connex till GTV och slutligen 4,8 % (2 stycken) distala.

Degree project in Logistics, 30 credits, The Business Administration and Economics Programme, Linnaeus University, 4FE05E, Spring 2013Authors: Ida Nilsson & Malin Skacke Tutor: Peter Berling Examiner: Helena ForslundTitle: Increased profit potential by controlling customers? ordering patterns -­? A case study at OatlyBackground:Oatly manufactures and sells oat-­?based products and deliveries are today carried out through an external distributor. The company is going through a re-­?organisation and will in the future be managing stock keeping and planning of deliveries with their own resources. The customers? present ordering frequency and volume differ substantially, leading to unnecessary costs.

Today there is a research project undertaken by the Swedish University of Agricultural Sciences along with Wången (a highschool specialized in trotter training), which focuses on trotting horse training, performance and health. The project investigates how exercise intensity and feeding strategies affect the development of growing horses. The project includes two groups of horses where all 16 horses are fed in the same way. One group of eight individuals are trained 100% compared to conventional training and the other group are trained 20% less than the other group. All horses are trained twice a week and are out at pasture beyond that.

In Sweden, the demand for bio energy has increased in recent years due to the current energy and climate debate. In 2008, the energy supply of Sweden was 612 TWh, biofuels accounted for 123 TWh of these. Stumps have been highlighted as a potential fuel in recent years and the Swedish Forest Agency expects a technically and biologically feasible potential of 20.7 TWh annually between 2010 and 2019. The idea of utilize stumps is not new. During the 19th century stumps were used for tar production and during the 70?s and 80?s attempts were made to use stumps in the pulp industry.

Inspired by how to sketch a light cone from a flashlight in a comic I wanted to create an armature carried only by its own light cone. To manage this challenge I sketched in an architectural and sculptural way, where I chose to ignore the function of the lamp as long as possible.As a result I developed an armature with a stunning shape, with an illusion that it was carried by its own light cone. It could be hanged on a wall, placed on a table, pushed against a ceiling or standing on the floor.Depending of its size the light cone from the light source lightens up the surface and draws attention to the otherwise forgotten wallpaper or the undisposed statue in the darkness of the city..

Modern sawmills are using the raw-material and the production-capacity more efficiently today, due to rising raw-material prices and higher production costs. Log sweepness has a negative effect on the sawn yield, for sawmills with straight-sawing. It is desirable that these logs could be sorted based on more criteria, if it increases value-yield and consequently the utilization of raw-material. Bow-heights over 1 cm have a negative effect on sawn yield, since the surface of the mantle cuts down in the sawn pattern. Some of these small bow-heights reduce the logs yield of value which affects the production planning negatively. Nearly half of all the Swedish logs have a bow-height over 1 cm.

The annual demands for forest fuels increases in Sweden. At present, large unutilized biomass resources is found in young, dense forests from which about five million oven-dry tonnes (ODt) (23 TWh) could annually be extracted as forest fuel. But harvesting small trees give high logging costs and new cost-efficient harvesting techniques are therefore required. The aim was to study the productivity of Vimek 608 BioCombi in forest fuel thinning of Lodgepole pine and to calculate the economy of the harvesting and estimate the thinning quality. The time study was performed in Åmarken in the county of Västerbotten.

In 1994 a new Forestry Act was accepted in Sweden. One of the aims of the law is to raise consideration forpreservation of biodiversity. Since the new law got accepted and some time has passed, there now lie someinterest in examining whether the law has been effective towards its purpose. Methods suitable for analysishave been examined during this study. The content of this pilot study is based around five parameters whichcan be used to validate the effects of the new law.

One of the most important components of a harvester is the crane. Most harvester cranes are only possible to pivot (or horizontally rotate) at the crane pillar. Cranab in Vindeln, Sweden, has developed a new type of harvester crane which has an extra pivot point on the outer boom. This makes it possible to reach around residual trees, easing thinning work in dense stands. The aim of the study was to analyze if the use of a pivoting outer boom (POB) crane gave an increase in thinning production and if there were any differences in time consumption between the work elements for the POB crane and a conventional crane. A Valmet 911.3 equipped with a POB crane was used in the study.

Vår studie bygger på artiklarna ?Fads, Martingales and Market efficiency? och ?Volume and Autocovariances in Short-Horizon Individual Security Returns? och är ett replikat av dessa.Studiens syfte är att undersöka förhållandet mellan förändringar i aktieomsättningen och veckoavkastningar för enskilda aktier på Stockholmsbörsen..

The efficiency of the harvesters work is more often reviewed, than the work of the forwarders. In a local Stora Enso office the differences between the harvesters reported volume of timber, and the actual volume delivered to the industry had been noticed. Therefore, the decision was made to do a review on the forwarders work. The review was conducted together with a worker from Vmf Qbera, who is working daily with wood measurement, in order to get a valid evaluation of the logs. Eight sites were included in the survey, and on each site 50 logs were marked. Approximately one third of the marked logs were pulpwood, and the remaining logs marked were timber.