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.

The purpose of this Masters thesis is to investigate if gender stereotypes are mediated to children between 0-3 years through books suitable for their age. This thesis concerns books that are available in public libraries. The content will be analysed by using a combination of methods, both content analysis of all the books in our study and a qualitative analysis of a smaller number of these books. With inspiration from both Robert Connell and Yvonne Hirdman and their theories of gender and gender stereotypes, this material was read and we wanted to examine if books for very young children might establish stereotypes. Our analysis showed that many known stereotypes are common in these books.

The purpose of this essay was to research the level of condition and requirements of democracy which faces states applying for a membership in the European Union. The focal point was to research the levels of democracy requirements on two set enlargements which are the cases of the 1981 and 1986 enlargements together with the 2004 and 2007. The states that did reach the goal of becoming member states had similar political backgrounds that made them suitable for a most- similar system study. By using my theoretical framework which consists of democracy theories, together with the chosen method was I able to find answers to my research questions when examining the material. The result of the study is that even though the condition might have been quite similar but the reality of them was different.

In this master thesis, the possibilities of customizing a low-cost microprocessor with the purpose of replacing an existing microprocessor solution are investigated. A brief survey of suitable processors is carried out wherein a replacement is chosen. The replacement processor is then analyzed and extended with accelerators in order to match set requirements.The result is a port of the processor Lattice Mico32 for the FPGA curcuit Xilinx Virtex-5 which replaces an earlier solution using Xilinx MicroBlaze. To reach the set requirements, accelerators for floating point arithmetics and FIR filtering have been developed. The toolchain for the processor has been modified to support the addition of accelerated floating point arithmetics.A final evaluation of the presented solution shows that it fulfills the set requirements and constitutes a functional replacement for the previous solution..

Today there are commercially available databases with active features, i.e. active mechanisms are available for development of information systems. But the usage of active mechanisms is low in practice. This is due to the insufficient methodological support in analysis and design for developing ECA rule based software. It has been proposed that one of the most suitable ways to tackle this problem is not to develop new methods but to extend existing methodologies.In this thesis an extension of the Object Modeling Technique (OMT) is developed, called OMT-A, which is able to model active rules.

 AbstractThe aim of this essay is to look into how teachers view pupils who use finger arithmeticduring mathematic classes. How do these teachers help them to move on with their learning,what information and problem-solving material do they use?I made qualitative interviews with grade two- and grade three teachers, in three schools.The interviews showed that the teachers find it difficult to adopt a suitable attitude towardsfinger arithmetic. In addition, lack of time for planning and lack of knowledge about variousexperimental methods caused further predicaments. The teachers were aware that arithmeticexperimental material was attainable at the schools, but time to learn about it and how to useit was lacking.

This master?s thesis describes the development of a model of the catalystsystem aiming at control by an MPC. A well functioning model, which is suitable in control purpose, is important while emission legislation become more and more hard to fulfill for the car manufacturers. Much research has been done in the field of physical modeling of the system, but in this work a linear adaptive time discrete ARX-model is developed and validated.The systems tendency to change its dynamic during usage implies that the model must be adaptive. The developed model proved to be well functioning and shows promising conditions for the MPC design.

Emwiro Vibe is a complete system for seismic measurements. The functionality of the system was before the completion of this project handled using a software contruction based on a state machine. Emwitech, the company developing Emwiro Vibe, expressed a desire to replace this solution with a real-time operating system (RTOS). The project consisted of two parts. Firstly the existing software was studied, available RTOSes was evaluated, and the RTOS most suitable for the application was selected.

Emwiro Vibe is a complete system for seismic measurements. The functionality of the system was before the completion of this project handled using a software contruction based on a state machine. Emwitech, the company developing Emwiro Vibe, expressed a desire to replace this solution with a real-time operating system (RTOS). The project consisted of two parts. Firstly the existing software was studied, available RTOSes was evaluated, and the RTOS most suitable for the application was selected.

AbstractThe purpose of this study is to see how technology is presented in different fictional picture books that are available in preschool. Six fictional picture books that have connection to technology in picture and text have been analysed. In order to show how technology can be made visible in fictional picture books, the relation between picture and text has been analysed through a technology perspective. Furthermore, the pictures and the texts have been analysed separately in order to show what they show respectively in terms of technology. The fictional picture book has a potential to be a basis for making technology visible in preschool, which is a step in a new direction.

A Biogas plant in SLU?s (Swedish University of Agricultural Sciences) management sustains to behave in con-nection with the new animal stables at Lövsta. There will primarily manure from stables that rot to biogas. The biogas plant will also have the capacity that rot others substrates that can arise in the farm operation. The aim with the biogas plant is to produce non fossil electrical and gas heat for own customs, to reduce smell impact from stables and to make possible different types of research investments within the area.This study has implemented multiple cases study of different investment scenarios.

Mine waste from Ljusnarsbergsfältet in Kopparberg, Sweden, is considered to constitute a great risk for human health and the surrounding environment. Some of the waste rock consists of sulphide minerals. When sulphide minerals come into contact with dissolved oxygen and precipitation, oxidation may occur resulting in acid mine drainage (AMD) and the release of heavy metals. The purpose of this study has been to characterise the waste material and try to chemically stabilize the waste rock with a mixture of sewage sludge and calcium carbonate. The drawback of using organic matter is the risk that dissolved organic matter can act as a complexing agent for heavy metals and in this way increase their mobility.

This report provides a comparison between the products cellular concrete, foam concrete and LECA concrete. The questions to be answered during the work is how the cellular concrete stands up in cost terms to the existing competitors on the market, how the concrete products differ in design work, and in which situations the concrete varieties are preferred to use.Cellular concrete is a variant of ordinary concrete, with the difference that the ballast is exchanged from stone materials to expanded polystyrene beads (EPS). This substitution gives a product with higher insulation values but lower weight than ordinary concrete.The work was carried out by designing a survey which was sent to two hundred randomly chosen companies across Sweden, to see the building industry?s opinion of the product cellular concrete. The survey showed that cellular concrete was equals its competitors in terms of price, while the product was said to be more flexible, quicker and easier to cast.Then some of the companies, who participated in the survey, were interviewed to see more carefully, how the price, the workmanship and the time for casting and dehydration differed between the products.

The Regional Forestry Board in Värmland- Örebro needs increased knowledge on silviculture in broad- leaved forests. This thesis is an inventory of naturally regenerated broad leaved forests, and the results from the inventory have been compared with The Regional Forestry Board?s demands on regeneration results. The result of this inventory was that the regenerated sites were suitable for broad leaved trees, but only half the number of the stands fulfilled the demands of regeneration results of The Regional Forestry Board, mainly because of gaps in the stands. The gaps in the stands were mainly caused by lack of soil preparation and seed trees..

The thesis that follows is performed in collaboration with Nitator in Oskarström.The factory in Oskarström focuses on laser cutting, robotic welding and surfacetreatment of steel for the automotive industry.The project aims to streamline the flow of materials in production by automatingthe movements of the forklifts, running to and from the interlayer, and betweenworkstations.The project started with a systematic literature search. The literature searchshowed the research position around the AGV-system. Also a review of studentliterature was made, so that a suitable method for practical implementation couldbe developed and applied. Selected method uses both quantitative and qualitativeapproaches, which is analyzed by using triangulation.The work has resulted in a modified layout of the current facility in Oskarströmthat can be used for the implementation of the AGV-system. It has also resulted inthe tender documents and profitability calculation from several of AGV-suppliers..