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.

Nya bättre transportmedel och sätt att kommunicera gör att världen krymper, konkurrensen hårdnar och detta tvingar företag att fokusera på kunderna. Dagens företag måste veta vad deras kunder värdesätter och det har gett begreppet kundvärd en ny och viktigare betydelse. En bransch där konkurrensen hårdnat de senaste åren, på grund av bland annat avregleringar, är flygbranschen. En viktig pusselbit för att denna bransch skall kunna fungera är flygplatserna. Flygplatser var en gång i tiden enbart platser där människor var ?tvungna? att passera för att ta sig till en ny destination.

Under den senare delen av 1900-talet inträffade ett antal företagsskandaler, såsom Enron och Worldcom, vilket föranledde ett bristande förtroendet för såväl styrelsers som revisorers arbete. För att återfå förtroende på den svenska marknaden introducerades Koden och en uppdatering av Aktiebolagslagen gjordes. En av de förtroendehöjande åtgärderna innebar att revisionsutskotten introducerades. Revisionsutskottens införande innebar ett tydliggörande av styrelseledamöternas arbetsuppgifter, men medförde samtidigt att huvudmannaskapsproblematiken i styrelsen aktualiserades. Vilket leder till vår problemformulering: Hur har revisionsutskottens införande påverkat ansvarsfördelning i styrelsen?För att kunna besvara vår frågeställning har vi genomfört kvalitativa intervjuer utifrån ett expertperspektiv.

Trough a literature study based on both philosophic and objective fact this essay is taking off in the meaning of public space. It investigates how the information society and its virtual world are affecting the idea and use of public space in the city. The city and the actual world have developed from the traditional meeting between people while the virtual world is based on flows of information. The information flow has expanded through the Information and Communication Technique (ICT). ICT covers among others Internet, mobile phones and computers.

The subject of this project focuses on how Landscape Architects by their profession can explore and directly make a difference in the cityscape. This paper documents the process of art - based research practice. The purpose of installing temporary activities is to encourage people in the city to discover, participate and invite people to be more playful in the city. My experience of interaction in public spaces comes primarily from the education within landscape architecture, from site-specific art installations I have performed in different cities and from observations of landscape architecture, street art and urban life in the cities of Vienna, Berlin and Linköping. It is fascinating and inspiring to see how the urban space can invite and allow visitors to participate and therefore feel invited to the open space. As a landscape architect I wish to create urban spaces that are useful and inspiring for their visitors. The projects main question: How can you make temporary landscapes that encourage outdoorinspired activities at selected locations in the city? is answered by practice based research, an approach in which theoretical research are developed through practical experiments in the designing- and implementation process.

In this project, an area in the small town Tungelsta south of Stockholm, is in focus. Tungelsta is placed in the municipality of Haninge and it is for the planning department on the municipality, this project is made. The task is to compose an arrengement of buildings and open spaces for a 50 hektar area. Today the area is consists of agriculture fields and forests. The area is placed near the railway station, in the city centre of Tungelsta, which makes it interesting and important to work with. There are different opinions about the future plans for the area.

The standard model concerning the relationship between perception and motility is linear and one-way. It depicts the flow between the two as moving from sensation to perception to representation to computation, and finally, to motility and action. According to this model, animal being is basically a bundle of reflexes. But what can correctly be considered a bundle of reflexes from a natural science point of view, doesn't necessarily have to be true. This conception does not take into consideration the more complex interactions between motility and perception that constitutes, or generates, animal and human beings.

The city?s public environments are meant to be perceived as safe and inviting areas to visit any time of the day. In recent decades the number of vandalism complaints has doubled and graffiti has become so common that it received a separate category in the crime statistics. With this type of impacts in the public environments the experience are precarious and a boring sight. It?s difficult to put a price tag on these types of crimes, the number of unreported cases suspected to be large.

Denna studie undersöker om det är möjligt att införa nåbarhetstestning i en baneditor. Testets syfte är att ersätta manuell testing, det vill säga att bankonstruktören inte ska behöva spela igenom banan för att säkerställa att denne kommer kunna nå alla nåbara positioner.För att kunna utföra studien skapas en enkel baneditor som testplattform. Vidare utförs en jämförande studie av flera alternativa algoritmer för att fastställa vilken som är mest passande för nåbarhetstestning i en baneditor.Resultatet från den jämförande studien visade att A* (A star) var den mest passande algoritmen för funktionen. Huruvida automatisk testning kan ersätta manuell testning är diskutabelt, men resultatet pekar på en ökad effektivitet i tid när det kommer till banbygge..

Within the literature and film sciences there are clear models of storytelling and methods of creating a good story. In the game industry it's more difficult because the games are often non-linear, and games are a less established medium than the other two. With this study our purpose was to examine game developers and methods they used when creating a videogame, with focus on storytelling. Four interviews were made with representatives from four different videogame companies in Sweden. The information from the interviews was put in relation to theories regarding the structure of videogames and an established model for creating videogames.

In the 1940s the Swedish town planning was inspired by the English city development with the concepts of neighbourhood and community planning. In order to promote democratic development and solidarity the ideal would be to create community centers with full service. Community centers are part of the building of the suburbs during the postwar period. The buildings in Sweden from 1940 - and -50s were built with the intentions to be good homes for all regardless of income, class and status. Collective solutions to individual problems were characteristic of the Swedish policy during this time.

The purpose of this study has been to evaluate whether a Low temperature bio-mass dryer could be integrated with the local district heating system in Malå. The aim is to increase the thermal efficiency of the cogeneration plant in Malå, by lowering the temperature of the cooling medium. Another benefit that comes from this is improved combustion efficiency at the power plant, since drying the fuel causes an Increase of the heating value.Simulations has been made in Excel, and with use of linear regression, to find out if it is profitable. Data for this purpose has been supplied by the power company Skellefteåkraft and furthermore SMHI.The result of the Calculations shows that a very efficient bio-mass dryer is needed, if yield of investments should be made possible. An Investment of 4,27 Mkr, in a dryer, could at a such criterium return 60000 kr/year, if the price of the biomass is 190kr/MWh.

I takt med att städer runt om i världen växer ökar fokuseringen på miljöproblemen och därmed höjs kraven på ett välfungerande distributionssystem för olika typer av gods. Ett sätt att försöka lösa denna problematik är att samdistribuera gods, vilket har undersökts i olika internationella och nationella projekt. I det nationella projektet SAMLIC, samordnad varudistribution till Linköpings city, har liknande problematik dryftats men med den skillnaden att fokus ligger på att skapa ett ekonomisk och logistiskt effektivt distributionssystem för alla inblandade parter. Bieffekterna av en sådan fokusering blir särskilt positiva eftersom även bättre miljö och service uppnås.En viktig aspekt då det gäller SAMLIC-projektet är att initiativet till att starta ett projekt inom ramen för samdistribution av varor i Linköpings city ursprungligen kommer från näringslivet. Anledningen till att ett initiativ till ett samdistributionsprojekt togs under år 2000 var att näringslivet insett att mängden leveranser in i och ut ur Linköpings innerstad gav upphov till trängsel och därmed stora trängselkostnader.

This is a thesis on how to develop and densifythe suburb of Joanneshov south of Stockholm.Based on Stockholm?s urban history,Stockholm master plan in 2010, the currentdensity and sustainability debate, literarystudies, as well as a variety of analysisof the site it all ends up with a proposal onJohanneshov. The goals have been workedout during the work and has resulted inthat we want to extend the inner city streetand linking Johanneshov with surroundingdistricts, but we also want to create a wellused, diverse, urban area where the humanis in focus and a district that is easy to read.Much of the work is devoted to show howStockholm has developed historical and totry to put the future in a context, but also a lotof work has been put in the information andthe analysis of the site chapter. The plan proposalis still considered to be the work focus.Johanneshov is surrounded by Årsta inthe west, Hammarbyhöjden in the east,Enskede in the south and Södermalm inthe north. Gullmarsplan is a typical 40thcentury area with a functionalist structure.Johanneshov is with Gullmarsplan,the Globe an the Slaughterhousearea, an important node for the southernsuburbs as a place for communication,sports, entertainment and shopping.Today Nynäsvägen divides the area intoa western and an eastern part.

Nyligen kom ett pressmeddelande fr?n Statiska Centralbyr?n (SCB) att Sverige har den l?gs ta siffran p? antal barn per kvinna i modern tid, 1.43. D?rf?r ?r det relevant att spekulera kring hur Sveriges framtida befolkningsm?ngd kan se ut, b?de p? kort och l?ng sikt. I detta arbete har begrepp unders?kts som populationsstorlek, fruktsamhetstal, f?rs?rjningskvot och befolkningspyramid, och hur dessa ter sig ?ver tid. Fyra scenarier analyserades: of?r?ndrad fruktsamhet, fortsatt nedg?ng, ?verg?ng till ?kning samt en cyklisk utveckling med b?de minskningar och ?kningar.