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.

In this master?s thesis the problem of simulating conditional Bernoulli distributed stochastic variables, given the sum, is considered. Three simulation methods are considered, namely the acceptance/rejection technique, Bondesson?s method and the Markov chain Monte Carlo method.To compare the three methods the bias and the standard deviations of the simulated variables are evaluated. The results of the simulation study shows that the Markov chain Monte Carlo method is not the best method for this type of simulation.

If Swedish companies are to compete with companies in low-cost countries they have to achieve a more efficient production. The purpose of Total Productivity Maintenance (TPM) is to increase the company's profitability by increasing the productivity. TPM is a method that involves all employees and aims to prevent failures in order to increase the availability of existing equipment.The aim of this paper is to evaluate the implementation process of TPM and give recommendations for the further implementation process. The conclusion and the analysis are based on a case study done at a production department at ABB Cewe-Controls facilities in Nyköping. The case study consists mainly of qualitative data from participation observations, surveys and interviews.Commitment of the management is a key factor in the implementation process of TPM.

During my practical training I have seen what after-school offers children. Large groups of children and little staff, often results in that the children had to play freely until they go home. Few activities are offered to the children and the staff is busy looking after the children and ensures that they are not fighting.The purpose of this study is to find out how children feel about their leisure activities and if they think they are being offered a meaningful leisure. The main research questions were:How do children experience their leisure-time?Do after-school offers children a meaningful leisure and is it the children's interests and needs that govern the activities and the environment?How do the number of children in the leisure group affect the leisure time?The methods to collect data in the study are observations and interviews.

The SK 60 Aircraft has been a workhorse for the Air Force?s training of future pilots since the late 1960s. The aging SK60 aircraft is going out of style, and the system has merely a few years of total running time left. A replacement for the SK 60 needs to be implemented in the coming years, and the Armes Forces Flying School has been commissioned to conduct flight tests on suitable replacement systems. This study will conduct a system analysis of two aircrafts mentioned in the Flying Schools report.

Operators and Internet service providers invest in broadband to be able to deliver new services that require higher data transmission rate. A way to make this possible is to use ADSL, Asymmetric Digital Subscriber Line, as the access technology. To be able to handle this technology, the service providers should do a pre-qualification. Methods and tools are needed to analyze the local copper lines and decide if these qualify for ADSL with respect to service availability and possible bandwidth through the lines. This report brings up some methods for pre-qualification of ADSL, the important quality parameters and how to gather them from the available services today.

This thesis shows the result from investigations of methods that use distance vectors when matching pictures. The distance vectors are available in a distance map made by the Euclidean Distance Transform. The investigated methods use the two characteristic features of the distance vector when matching pictures, length and direction. The length of the vector is used to calculate a value of how good a match is and the direction of the vector is used to predict a transformation to get a better match. The results shows that the number of calculation steps that are used during a search can be reduced compared to matching methods that only uses the distance during the matching..

Aim: To evaluate nurse student?s apprehension of an interprofessional seminar as part of training. Method: A descriptive, qualitative study built on the analysis of 43 questionnaires and one group interview with nurse student?s who participated in the seminar. For the analysis of the collected material we used the method of analysis of contents as described by Graneheim and Lundman.

The paper examines Philosophy with children as a pedagogical method for schools to practice. The questions I have posed are:Why philosophize with children and teenagers?How does Philosophy with children work?What, in the organized structure of the philosophical inquiry, can be emphasized as favourable for learning?How carefully is the structure of the philosophical inquiry really followed in practice?How can philosophy be applied as a pedagogical model?The theoretical framework of this inquiry consists of a discussion about a thirst for learning that exceeds the explicit and direct usability that motivates vocational training.I have used two different kinds of methods. The main method is a literary analysis of some of the literature in this field. This analysis is compared to field observations of children participating in communities of inquiry in school.The basic assumption is that practicing the ability of philosophical thinking can help children develop a more profound way of understanding who they are and how the world in which they exist works.

The dog (Canis lupus familiaris) is the first species ever domesticated. They can develop a close bond towards other dogs, almost like a relationship among siblings, which can be a high valuable resource for good relations and cooperation?s. Dominance in dogs is sometimes used to explain undesired behaviors and explained as a personality trait. Dominance though, is not a trait in a dog or a source for undesired behaviors, but can rather be explained as a relationship between individuals, were one of them receives more submissive signals from the other.

During my practical training I have seen what after-school offers children. Large groups of children and little staff, often results in that the children had to play freely until they go home. Few activities are offered to the children and the staff is busy looking after the children and ensures that they are not fighting.The purpose of this study is to find out how children feel about their leisure activities and if they think they are being offered a meaningful leisure. The main research questions were:How do children experience their leisure-time?Do after-school offers children a meaningful leisure and is it the children's interests and needs that govern the activities and the environment?How do the number of children in the leisure group affect the leisure time?The methods to collect data in the study are observations and interviews.

Mould is a common contamination in cereals. The growth of mould can stimulate mycotoxins production andsome of which at critical concentrations cause health problems in humans and animals. Fusarium is one of thefungus species that has been found in crops and can cause major problems for farmers such as reduced harvestand economic losses. A group of Fusarium species, Fusarium avenaceum, Fusarium poae and Fusariumtricinctum express a mycotoxin, enniatin. The limited information available today about enniatin-forming fungiis that they grow out on fields of wheat in colder climates.

This thesis studies the customer relationships and customer accounting methods used by a Swedish fashion company. The aim is to test the empirical applicability of the relationship based framework developed by Lind and Strömsten and to explain potential differences between empirical observations and theory. The framework is based on the categorization of four customer relationship groups and the appropriate customer accounting methods to be used for each relationship. The fashion company, that recently assessed the profitability of its customer base in an aim to implement a new customer strategy, is the object of the qualitative case study. The case study reveals that all customer relationships are to be found at Whyred, except the connective customer relationship.

Through qualitative interviews with five teachers from three schools, two public schools within the same school management and a Waldorf school, the purpose of this study is to find out teachers' views on the phenomenon of life skills in the lower classes in school. What is the subject, how do teachers work with life skills, and should it be seen as a separate subject or integrated in all school subjects?The results show that the definition of life skills is a term with many interpretations. Two concepts that can be seen as the common denominators in the educators' views on the subject, however is, social and emotional skills. This is something that educators believe develop self-awareness and empathy in children and sees that as important as learning other subjects.

In this multistudy the aim was to measure the effect of mindfulness and yoga in negative stress. Is it possible for yoga and mindfulness to increase awareness and acceptance to inner and outher circumstances? Mindfulness-Based Stress Reduction (MBSR) has shown good results in how to cope with negative stress and how to stay calm in a stressful envirorment. The qualitative study where Visby Yoga Center and Stockholm Yoga Shakti attended in a survey. Correlation showed no relationship between stress and mindfulness and no significant value, n=20, Cohens d=0,16.