This master thesis is a study on how a rategyro triad, an accelerometer triad, and a magnetometer triad can be integrated into a navigation system, estimating a vehicle?s attitude, i.e. its roll, tipp, and heading angles. When only a rategyro triad is used to estimate a vehicle?s attitude, a drift in the attitude occurs due to sensor errors.

This master thesis holds a modelling in Simulink for a physical model of a main battletank tower, a three-phase induction motor and some mechanics. The aim of this work is to connect an earlier project at AerotechTelub, named StabSim to another called Eldris. In StabSim it has been made a Simulink model of the align and stabilisation system in a main battle tank 122 and in Eldris it has been build a physical model of a main battle tank tower. In this thesis the models that differs between Eldris and a real tower is changed in StabSim, and the parts that only exist in Eldris is added, for example a torque generating system which purpose is to make the model to behave like a real tower in control application, although it only has half the inertia as a real tower. The thesis even includes proposing a calculation of the torque that the torque generating system will actuate at the model..

In order to detect movements and vibrations on different appliance, especially robots and self-going devices are used different sensors. One of the most used movement sensors are accelerometers. They are three different types of accelerometers one-axes, two-axes and three-axes. They can be analogue or digital. Husqvarna AB uses an accelerometer to detect movements of their self-going lawnmower Automower.

This bachelor thesis is about an ultrasonic sensor, implemented in a bubble chamber in Artis. The sensor consists of the piezoelectric sensor and an electronic control circuit. The control circuit consists of a programmable microprocessor, PIC18F2420 and a circuit, which sends the excitation signal to the piezoelectric sensor, and later receives the echo. This bachelor thesis consists also of a theoretical study, which examines different techniques of liquid level sensing in a chamber. The study discusses which factors are important in liquid level sensing and examine accepted methods.

Syftet är att konstruera en sensor för att identifiera objekt på bilden från en videokamera. Sensorn består av en mikroprocessor som programmeras i assembler samt en enkel CMOS-videokamera och tillhörande analag elektronik. Sensorn är främst tänkt att användas för övervakning inom tillverkningsindustrin..

In the future network-based Swedish Defence (NBD), attaining information superiority will be of great importance. This will be achieved by a network of networks where decision-makers, information- and weapon-systems are linked together. As a part of the development of NBD, we have performed a study of user interface design for a future network-based tool package for analysis of sensor systems, referred to as the C2SR-system. This thesis was performed at Ericsson Microwave Systems AB, Sensor and Information Networks, during the autumn 2002. A pre-study concerning the requirements of usability, trustworthiness and functionality of a user interface for the C2SR-system was performed.

I en ambition att öka effekten och insatsberedskapen i den svenska försvarsmakten har stora omorganisationer skett efter det kalla krigets slut. Den senaste förändringen innebär att värnplikten läggs på is under fredstid och att kontraktsanställda soldater skall ingår i förbanden istället. Detta har medfört reduktioner i personalvolymer, troligtvis för att kunna bekosta löner för de kontraktsanställda soldaterna. Inom flygvapnets markförsvarsförband har reduceringen blivit så stor att vid en spriding av det svenska flygvapnet, finns inte tillräckligt med förband för att skydda samtliga baser effektivt. För närvarande används hundar som sensor för lokalisera fientliga spaning och sabotageförband vid och omkring svenska flygbasområden.

AbstractGroup processes within the free play- in a socialpsychology perspective In our socialpsychology study we have demonstrated how children?s free play is by observing 2-5 years old children in preschool. We have also interviewed two preschool teachers. The major subject in this study is how children?s group processes expresses in their free play.

The purpose of this thesis is to study five pedagogue?s view of the free play and their view of the importance of the free play for children´s learning and development. I have chosen to use a qualitative research method in the form of interviews with five pedagogue´s from a preschool. The main research questions asked were:What have the pedagogues of view on the free play? How important believe the pedagogue that the free play is for children?s learning and development? What has emerged in the study is that educators have a positive view of the free play. They believed that the free play is important for children´s skills.

Marinediesel has, to meet there customers needs for a suitable sterndrive to powerboats, developed a prototype. The prototype is currently in the testing phase. The opportunity to test the sterndrive under load inside the workshop has not previously been possible. Until now the drive has been tested in a test bench without any load on the propeller axle. The prototype has also been tested under real conditions mounted on a boat.The idea with my thesis was to create a test bench that can run around the clock in order to be able to test things like wear and service intervals and other things that require that the test interval is long.

The purpose of my study is to examine how four teachers reflect on free play and controlled play in preschool. What are their reflects concerning free play, controlled play and children?s development and education. The main focus of this research is the experiences of the teachers and I compare their perspectives against each other regarding free and controlled play.To be able to realize this study, I propose the following questions:What kind of vision does the teacher have concerning free play and controlled play?According to the teacher, how does playing affect the children?Which development areas are affected by participating in the play?This is a qualitative study, based on interviews with four teachers from two different preschools.

This bachelor thesis describes the process of developing a two wheeled robot with activebalancing. The robot is designed to go straight ahead until it reaches a finish line. Then it shallstop to stand still balancing. The workload in the group has been divided according to theprevious individual projects, which are attached. The design of the robot is inspired by theconcept of the Segway.

The purpose of this study is to find out how four preschool teachers view children?s free playing and its impact on their learning. My main questions are:How do the teachers view the children?s free playing?In what ways does the children?s free playing affect their learning, according to the teachers?This essay is based on a qualitative study in which I have interviewed four female preschool teachers of different ages. I highlight various theories of children?s playing and learning in preschool, by theorists such as Vygotsky, Lillemyr, Knutsdotter Olofsson, Lindqvist, among others.

This bachelor thesis describes the process of developing a two wheeled robot with activebalancing. The robot is designed to go straight ahead until it reaches a finish line. Then it shallstop to stand still balancing. The workload in the group has been divided according to theprevious individual projects, which are attached. The design of the robot is inspired by theconcept of the Segway.

The purpose of this study was to find out if motion movements, e.g. number of lying bouts and lying time with a registered activity monitoring sensor can detect an impending calving and thereby be used as a measure and an indicator for an upcoming calving. For this, automatically step sensors were used and were attached to one of the cows? hind leg. The sensor registered the individual step and movement activity of the cow.