The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

Humidity problems and poor ventilation are factors that we associate with poor indoor airquality which are known to negatively affect health. Such problems have decreased with timein Sweden but, in other countries this is still a major problem especially during winter. InChile, this is most common in the central regions of the country, especially the Strait ofMagellan. This issue is primarily due to surface condensation happening indoors which bringsabout dampness which facilitates the growth of fungus and stains, foul odors, metal corrosionand more. This is due to a combination of poor ventilation and insufficient forms of heatingalong with buildings which have no insulation.

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.

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.

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.

The municipality of Kalmar have a problem, how to reach and communicate with young people in Kalmar. In today?s changing media environment it gets more difficult to stand out and reach audience with messages and especially with the new forms of media that has revealed. Therefore, we have been commissioned to develop recommendations on how the municipality of Kalmar can communicate with young people in Kalmar.  The purpose with this study is to investigate which media channels young people in Kalmar use and their attitudes towards social media in particular. We wanted to find out how the municipality should communicate to reach them and what attitude youths have against the municipality in general.

The purpose of this paper is to analyze Martti Ahtisaari?s comprehensive reportfor Kosovo, CPS, based on theories about democracy, democratization andmulticulturalism. The essay is a way to make a contribution to research on howthe international community can contribute to democratization processes ingeneral, as the CPS gives the expression and democratization of contextscharacterized by multicultural problems in particular. In this paper, we implementa qualitative text analysis of our main material CPS. The qualitative text analysiscan be applied in studies as ours when sought contents of the text are hidden underthe surface.

I have studied how network in a broad sense can affect decision-making. The primary purpose is to see if the political initiative somewhere disappears when it comes to understand the relations between power, actors and politics. The study discuss in a theoretical area that concerns the reliability in neoinstitutionalism to use as an analytical instrument. Some criticism is given to the theoretical standpoint in the sense that there is no power perspective included in the theory. I include a discussion about a concept of power, which I include to the theory.

A new type of device for measuring thev m& ?rate of fuel sprays from a diesel fuel injector has been developed and the various steps in the development are described. The device works by deflecting all of the sprays from the injector at the same time by using a bell shaped deflector. A load cell consisting of a machined steel part with strain gauges mounted on it measures the resulting force. The shape of the curvature in the deflector bell shape has been evaluated by photographing the flow in a 2D?version of the curve shape.

Örebro svets & hydraulik AB tillverkar lastknektar till Suzuki Garphyttan. På lastknektarna transporteras sedan stora rullar av tråd i stål. Knektarna har visat sig kollapsa efter viss tids användning och behöver därför en förbättrad konstruktion. Höga laster, tuff hantering samt ovarsamma lyft kan vara orsaker till att knektarna kollapsar. Örebro svets är väl införstådda var skadorna uppstår i nuvarande konstruktion och vill därför förstärka denna del och konstruktionen i sin helhet.Kraven på den nya konstruktionen, förutom att vara mer hållbar, är att befintligt mått mellan benen ska följas och att knekten ska vara staplingsbar vid transport till galvanisering.Nuvarande knektar har modellerats i CAD-programmet Pro/ENGINEER för att sedan analyseras med Finita Elementmetoden i beräkningsprogrammet ANSYS för att visa var deformation och spänningar uppstår.

Birch is the dominant deciduous tree species in Sweden but only 16 % is found in pure birch stands. The majority of the birch (51 %) is to be found in conifer dominated stands. Swedish forest land comprises approximately of 23 % mixed stands and one problem is that for mixed stands there are few management recommendations. The underlying aim of this thesis was to study the management of mixed forest stands of spruce and birch to achieve good timber quality of birch. The study was based on a literature study and measurement in a field experiment launched in 1998 by the Swedish University of Agricultural Sciences (SLU).

The determination of the optical properties of biological tissue is an important issue in laser medicine. The optical properties define the tissue´s absorption and scattering behaviour, and can be expressed by quantities such as the albedo, the optical thickness and the anisotropy coefficient. During this project, a measurement system for the determination of the optical properties was built up. The system consists of a double integrating sphere set-up to perform the necessary reflection and transmission measurements, and a computer algorithm to calculate the optical properties from the measured data. This algorithm is called Inverse Adding Doubling method, and is based on a one-dimensional transport model.

The work was carried out on Termisk Systemteknisk?s office in Linköping. The aim was to create a computer system with infrared camera technology for quality control and temperature monitoring of manufacturing processes in industry. The system should be configurable such that it can be used on several different issues, including those where the real-time analysis of camera images is required.The developed system is based on an existing framework, Panola, to deal with measurement results and images in a database. The framework is built for the system continually check for new data , and the task was to create a foundation upon which to build systems that use the framework, but fully or partially utilize direct calls .

Every year, approximately 700 000 individuals´ visit an emergency ward in Sweden as a result of injuries and to the emergency ward at Umea University hospital (NUS) about 12 000 injured arrive every year. This study is a retrospective cross-sectional study that surveys injuries caused by crashes among 153 pedestrians and 53 bicyclists, who have been injured in a geographically well defined area during the period January to June 2009. The aim of this study is to survey injuries among pedestrians and cyclists and to examine what preventive measures could reduce these injuries in the Umeå municipality. The results show that falls caused by slipper surface are common among both pedestrians (71 %; n = 109) and bicyclists (32 %; n = 17). Almost one third of the pedestrians (34 %; n = 43) were in the age of 65 or older.

Music has always been an important form of communication and it can be found in many different contexts including aesthetical, cultural and emotional forms. In the globalized society of today music can be distributed fast through radio, TV, CD: s and the Internet. For many people consumption of music is an important part of the daily life and it can contribute to shape an individual?s attitudes and personality.The main purpose of this study is to find out whether there are any differences between men and women?s musical preferences. I will apply an explorative approach using qualitative interviews to describe what causes the differences.