This master thesis includes a description of how a number of sensors are put together in a sensor platform. It also gives a description of how localization and mapping has been performed with data collected from the sensor platform. Localization is a prerequisite for most of the tasks that can be requested from an autonomous mobile robot. In many situations the GPS signal is not available and hence an additional localization system is required. One approach is to apply localization based on landmarks extracted from the robots surrounding.

The purpose of this bachelor thesis is to study cultural sponsorshipof cultural institutions and cultural events in some particular pointsof views. Namely, how do the Moderate party look at culturalsponsorship based on their motions and how these motions havebeen received by the Swedish parliament. The aim has beenbroken down into three questions. Firstly, how does the Moderateparty look at sponsorship of cultural institutions and culturalevents based on their motions on the subject. Secondly, whatviews have been existed in parliament both in committee andplenary, against the motions? Thirdly, what are the most relatingparagraphs for the different material groups.

Denna studie har genomförts för att undersöka hur Meat Free Mondays kampanj för att minska människors köttkonsumtion representerar och presenterar relevanta frågor om miljö och hälsa i delar av deras externa kommunikation.Syftet har varit att se hur miljö- och hälsofrågorna presenteras och representeras i Meat Free Mondays digitala kommunikation via videoklipp och delar av hemsidan. Vi har diskuterat vilka motiveringar som finns för att helt eller delvis sluta äta kött och utgått från tidigare forskning och teori i miljö- och hälsokommunikation. Vidare har vi utgått utifrån begrepp som kommunikationskampanjer och social marketing, och utifrån ett teoretiskt ramverk över miljö- och hälsoutfall undersökt vilka motiv och retoriska resurser som används i kommunikationen. Det har även diskuterats vilken roll och verkan Paul McCartney har som ambassadör för kampanjen.Studiens metodologiska ram har baserats på Karlberg & Mrals neoaristoteliska retorikanalys av både text och bild, och huvudsakligen de tre appellerna ethos, logos, och pathos. Materialet innefattar fyra videoklipp från Meat Free Mondays YouTube-kanal där Paul McCartney framför tal, samt delar av Meat Free Mondays hemsida, med innehåll som berör aspekterna hälsa och miljö.Studien visar att innehållet av Meat Free Mondays kommunikation kombinerar olika strategier för att stärka kampanjens teser. Budskapet förmedlas genom att anspela mycket på människors ekologiska drift och gemensamma värderingar, och användandet av den retoriska appellen pathos framträder tydligt i materialet.

This thesis studies two instruments within EC-law, affecting asylum issues, the Schengen Convention and the Dublin Regulation. These instruments are developed as a result of the free movement of persons in the European Union, and the development of the free internal market. The member states are afraid of losing control of who is residing within their borders, as their border controls has been removed, and these instruments are made to protect the member states now that their own means of control are gone. The thesis explains the relationship between the free movement and asylum issues and shows the connection between them. Its focus is aimed at the free movement of workers and how the European court of justice has interpreted article 39 to increase the workers ability to move within the union.

This is a report written for an examination project C-level, on the subject of energy. The examination project is a product of the FVB Sweden AB (district heating bureau). It started with a meeting with Stefan Jonsson FVB Sweden AB, were he explained the content of the project, and from this a presentation of the problem was made. The problem that needed to be solved was how they could control the valves in the system to provide heating to everyone in the system. The valves are often oversized so the pump in the heating plant would have to be enormous to be able to provide enough flow to be sufficient, if everyone in the system had there valves fully opened. I came up with two solutions to the problem, one was a wireless network that could keep track of the valves and the other solution was an extra sensor that was placed on the radiator.

There is always a need for more effective ways to store energy in order to reduce the human impact on the environment. One step on the way can be the use of flywheels as kinetic energy storage devices. Low frictional losses are essential for a flywheel to be effective. To minimize these losses active magnetic bearings (AMB) can be used to keep the shaft centered instead of the more conventional ball-bearings. AMBs use actuators and a fast control system that needs correct and noise-free measurement data of the shaft position and the current in the actuators to work properly.This thesis explains the process of constructing power electronics and a current measurement system for active magnetic bearings (AMB).

According to Swedish tax legislation, investment funds are taxed differently depending on if the are Swedish or foreign. The difference between the investment funds lies within the taxation of received dividends and the opportunity to shift the liability of tax of received dividends on to the funds shareholders. This measure is only available to Swedish funds. The question in this thesis is whether this difference is discriminatory against foreign investors and therefore constitutes a forbidden restriction against the free movement of capital stated in article 63 EUF Treaty.The European Court of Justice (ECJ) has given several preliminary rulings on this type of legislation and its compatibility with the principle of free movement of capital. It is not compatible with the free movement according to the court.

When exposed to them, isocyanates can induce serious injuries in the respiratory tract and irritation on the skin and in the eyes. They are therefore interesting from the point of view of occupational health. The purpose of this thesis was to collect isocyanates in air with impinger-filter samplers and solvent free samplers. Furthermore the isocyanates were to be analyzed with liquid chromatography-mass spectrometry. The solvent free sampler consists of a polypropylene tube and filter holder fitted with glass fiber filters impregnated with derivatization reagent, coupled with a pump.

The relationship between free trade and the environment is often considered conflicting and the debates surrounding it are infected. My thesis deal with this conflict and how environmental concerns are integrated in three regional free trade agreements, North American Free Trade Agreement, The common market of the southern cone (MERCOSUR) and Southern African Development Community (SADC). I point out how the organizations differ from each other in this respect and I present a possible explanation to why they differ. The explanation is founded on the theory of the environmental Kuznets curve and that environmental concerns will depend on which level of development the member states in the organizations have. To judge and rank the organizations I have composed a model based on a pre-existing description of the trade and environment conflict.

Hydropower is the largest renewable energy source available in today's society. Operation and production is handled by high-tech electronics. This thesis is done on behalf of Statkraft Sweden AB who wants to explore the possibility of replacing the hydraulic cylinder with an electric actuator, generally as well as a case of a small power station on the river Nissan. Whether it is the chaplain or francis turbine vanes are actuated by hydraulic cylinders. Because of Gustavsberg hydropower is inconstant operation, this report is based on power calculations, which are read and computed according to the available hydraulic diagram.

This report is the result of a diploma work made at IMT at US in Linköping. The purpose of this piece of work is to investigate the possibility to design a general program for data-acquisition using LabVIEW, suiting different hardwares and connections. Great importance has been attached to communication with serialport, using bluetooth, because different wireless PPG-instruments has been developed parallel to this project. These PPG-circuits uses this type of serialcommunication. Communication with USB, GPIB and analog connection has also been examined and analog communication has been tested practically.

The aim of this paper is to map and analyze what role Swede's played in King Leopold II's colony in the former Congo Free State. Letters and messages that arrived at the Congo Consulate in Sweden between 1895 and 1906 have been used as the paper's primary sources. Application letters from 32 different Swedes, seeking to join the Congo Free State Army, to the General Consul of the Congo Consulate, Hans Hugold von Schwerin, have been used as primary sources, and constitute the basis of the paper's analysis. The letters arrived at the Congo Consulate in Sweden between 1895 and 1906. The applicants were all men of different social classes, and were between the ages of 20 and 30 years old. Their chief reasons for applying were primarily for own financial gain or because they did not get a chance to serve in the Swedish army.

Early during my education to become an afterschool-teacher a concern was raised that afterschool-programs will continue to be seen as an institution for childcare services. In this experience-based essay, I discuss what I see as the coreproblem: the free- and planned activities. What do the free- and planned activities actually mean for children's development and what is it that determines how much space the various activities will be allowed to take?In my attempts to answer this question, I go through the concept of leisure, the importance of children?s play and adults responsibilities in children?s play, what the different policy documents say about children?s play and the creative work, staff skills and theoretical and practical knowledge. I question whether I was right in the story that I begin this essay with, and conclude that it is more difficult than I previously thought to find an answer to the question..

In industries today the demand for reading the state of industrial equipment and thus prevent machine breakdown, is increasing. The company HMS Industrial Networks AB has a product on the market, Netbiter EC350 that is used to read sensors and thus find out the condition of industrial equipment. By reporting scanned data to users through a cloud service, users can keep track of their equipment. When developing Netbiter EC350 a slot was made for a Bluetooth module to offer clients a wireless reading in future developments. In this project a prototype was made to show how this Bluetooth communication can be implemented. The goal of the project was to create a Bluetooth communication between a Bluetooth sensor and Netbiter EC350. A user interface was made to allow the user to read sensor values. The result of the project shows how a Bluetooth communication can be implemented to read sensors wireless and therefore it fulfills its purpose and goal.

Purpose: The purpose of the study is to find out what mathematical content primary school children encounter in their free options at school.Through observation, the study defines mathematical areas that primary school students encounter in their free options at school. We want the study to show the reader the mathematics that students continuously meet without associating it with regular mathematics as taught in school.A number of mathematical areas have been defined in the analysis of the observations. These areas have subsequently been discussed more thoroughly. Finally, the areas have been arranged in a grid system to clarify the results.In our study, we have discovered that mathematics exists in all the observed situations the students participated in.We believe that observation as a method can give teachers a tool for helping students associate practical actions during their free options with the more theoretical aspects of formal teaching of mathematics. We discuss this further in the study..