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.

Children of today are surrounded by many different kinds of media. Books have to compete with new media like computers, video games, many TV-channels etc. The aim of this study has been to investigate the reading habits of 9-12-year old boys in their spare time, and their reasons for reading related to their use of other media. Our interest has been to shed light on the boys reading habits, their preferences and motives for reading and their reading functions. Even though our focus has been on their reading, we also have examined their use of other media and the function of this use.

Syftet med uppsatsen är att ta reda på hur en organisationsförändring kan mätas med avseende på formella och informella element samt att presentera hur mätprocessen kan genomföras. Studien bygger på intervjuer och dokumenterade utvärderingar. Studien visar att de formella elementen mäts genom att kontrollera att målen som satts upp inför förändringen är uppfyllda. De informella elementen mäts genom medarbetarundersökningar dock utan någon koppling till förändringen som har genomförts. När de informella elementen mäts i en förändringsprocess görs detta genom så kallade attitydmätningar.

This paper addresses the need to review the modern presentation of textile archaeology in museums. It is time to look at textiles in archaeology with new eyes. The reality behind archaeological textilestudy is holistic, embracing many different aspects of society. The presentation of textiles has in my opinion become old-fashioned. I will show in my paper that Jonathan Adams? `seven constraints´ model, developed for research on ancient ships, can also be applied to textile research.

This paper addresses the need to review the modern presentation of textile archaeology in museums. It is time to look at textiles in archaeology with new eyes. The reality behind archaeological textilestudy is holistic, embracing many different aspects of society. The presentation of textiles has in my opinion become old-fashioned. I will show in my paper that Jonathan Adams? `seven constraints´ model, developed for research on ancient ships, can also be applied to textile research.

This paper addresses the need to review the modern presentation of textile archaeology in museums. It is time to look at textiles in archaeology with new eyes. The reality behind archaeological textilestudy is holistic, embracing many different aspects of society. The presentation of textiles has in my opinion become old-fashioned. I will show in my paper that Jonathan Adams? `seven constraints´ model, developed for research on ancient ships, can also be applied to textile research.

This paper addresses the need to review the modern presentation of textile archaeology in museums. It is time to look at textiles in archaeology with new eyes. The reality behind archaeological textilestudy is holistic, embracing many different aspects of society. The presentation of textiles has in my opinion become old-fashioned. I will show in my paper that Jonathan Adams? `seven constraints´ model, developed for research on ancient ships, can also be applied to textile research.

This paper addresses the need to review the modern presentation of textile archaeology in museums. It is time to look at textiles in archaeology with new eyes. The reality behind archaeological textilestudy is holistic, embracing many different aspects of society. The presentation of textiles has in my opinion become old-fashioned. I will show in my paper that Jonathan Adams? `seven constraints´ model, developed for research on ancient ships, can also be applied to textile research.

Syftet var att undersöka vilka psykologiska och emotionella reaktioner som förekom i samband med idrottsskada. Vad som gjorde att en ung idrottsflicka kommer tillbaka till idrotten och vad som får henne att följa rehabiliteringsplanen efter en allvarligt idrottsskada.?Cognitive appraisal model? (Wiese-Bjornstal et al. 1998) har använts som teoretisk model för en djupintervjustudie med fyra 17-18 års elitidrottsflickor i lagbollspelen fotboll och handboll. Deltagarna intervjuades 3 gånger.

Tumour development occurs to a large extent because of dysregulation of the cell cycle. Of particular importance are defects occurring in the G1 phase. The reason why G1 is critical is because of the influence of several signals (external signals as well as cyclins and cdks) on this stage. The G1 phase can be divided into two parts, G1pm and G1ps. Each part has its ?own? restriction point which needs to be passed in order to progress to S phase.

This paper addresses the need to review the modern presentation of textile archaeology in museums. It is time to look at textiles in archaeology with new eyes. The reality behind archaeological textilestudy is holistic, embracing many different aspects of society. The presentation of textiles has in my opinion become old-fashioned. I will show in my paper that Jonathan Adams? `seven constraints´ model, developed for research on ancient ships, can also be applied to textile research.

An airline company that operates with its fleet needs to ensure that maintenance of a following and certain standard will be implemented. In this project we have sorted and divided the various working procedures of Malmö Aviation into Work Packs. These procedures are mandatory and must therefore be implemented in order to keep the aircraft airworthy at any time. Our task was to optimize and sort these working procedures by zone, panels, access and down time. We have created a maintenance program which Malmö Aviation can use and we have sorted their working procedures in B and C- Checks.Maintenance procedures that did not fit into our Work Packs have been gathered and sent back to Malmö Aviation for further inspection.This project has required a lot of extra reading in manuals and we have had a great insight into the complexity of a technical organization such as Malmö Aviation..

In this essay, I explore the history of the ideas that have shaped the profession of landscape architecture, in a Swedish context. To this purpose, I have sampled the professional debate on landscape architecture at four points in time. These are the years around 1890, 1930, 1970 and 2010. Drawing on G N Brandt (1920), I make the distinction between two arguably crucial approaches, i . e., naturalism and formalism. By identifying these perspectives, and by dividing the arguments of each time period according to this classification, I am able to compare the course of the debate over time. I take on the task through hermeneutics.

In the last few years there has been an ongoing debate concerning the methods of assessing the quality of public libraries and their services. This study investigates the opinions and needs of the users at four different public libraries in Malm : the local libraries in Bellevueg rden, Limhamn, and Kirseberg, and the main library in central Malm . The purpose was to find out whether different user groups display different patterns in their library use and, in addition, to identify what library services they prefer. The data were collected through interviews with users and librarians, and by means of a user survey ccarried out at the four libraries. The results indicate that certain differences in the usage patterns do exist between the main library and the local libraries.

This thesis is closely related to the Dynamically Self-Configuring Automotive System(DySCAS) project. DySCAS is a middleware for electronics in an automotive system. Thethesis work has been performed in cooperation with ENEA. Parts of the demonstrationplatform Self configurable High Availability and Policy based platform for Embeddedsystem (SHAPE) developed for the DySCAS project by ENEA have been used in theimplementation phase of this master thesis.The goal of this thesis was to evaluate how the Meteor MW, an offspring of the DySCASmiddleware, should handle QoS and to design a Quality of Service Manager (QoSM) for theMeteor MW that fulfilled hard real-time requirements. The thesis also had the objectiveof analysing and identifying the requirements on such a QoSM from a QoS perspective.Specifically the requirements to guarantee real-time support for applications running onthe MW.