In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

The survival of hatchery reared smolts is generally low after release. To get a better understanding of what variables affecting migration success, Atlantic salmon smolts were studied during their out-migration in the old river channel in the lower part of river Umeälven. The area consists of shifting habitat and complex structures which causes difficulties for smolt on their migration out to sea. The aim of this study was to try to determine the effects of feed restriction, fin conditions and different physical barriers in the river, on the migratory behavior of Atlantic salmon smolts in the river Umeälven. The river was divided into six different sections using acoustic receivers strategically deployed along the river. Two-year old hatchery-reared smolts (n=150), in three different weight classes, were tagged with acoustic transmitters.

Background: Women are recommended to breastfeed exclusively for six month; despite this the frequency of breastfeeding duration is decreasing in Sweden. Research indicates that there is an association between attitudes towards breastfeeding and perceived difficulties and initiation and duration of breastfeeding. The aim: to study women?s attitudes to breastfeeding and their perceived difficulties with breastfeeding expressed on parent oriented websites on the Internet. Method: Data consisting of users posts corresponding to the aim of the study were collected from two parent oriented websites on the Internet.

The purpose of this study was to gain insight into refuges experience of traumatic events such as torture, political persecution, war, natural disasters and other trauma. For the study used theories which, inter alia, deals with many of the refugees coming to Sweden is influenced by various psychological trauma and may be accompanied by torture, political persecution, war, natural disasters and other trauma. To this study, a survey with 40 participants, 17 women and 23 men. There was also an interview on the Internet with a refugees consultant within the Red Cross. The men had higher average than women in all the perceived problems.

Three methods of sensitivity and unceartainty analysis have been applied to the operative stormwater- and recipient model StormTac. The study area is the watershed of lake Flaten in the municipality Salem. StormTac?s submodels for stormwater, pollutant transport and the recipient are cosidired. In the sensitivity assessment, the model parametres and inputs were varied one at a time by a constant percentage according to the ?one at a time? (OAAT) method and the response of the outputs were calculated.

BackgroundSexual health is affected by disease, dysfunction and disability but can also be experienced in spite of illness. To get a deeper knowledge of what the nurse does for the patients the background is written with the support of the holistic care and Katie Eriksson theoretical perspectives health and suffering.AimThe aim of this study is to describe the factors to why nurses do not prioritize patients' sexual health in the nursing care.MethodA literature review based on nine qualitative and quantitative studies focusing on the barriers perceived by the nurses to address sexual health.ResultThe result of this study showed that the barriers were many. Factors related to nurses unwillingness to talk to patients about sexuality and sexual health were difficulties in nurses' psychosocial work environment and lacking competence concerning sexual health. The fact that sexuality is a sensitive subject, factors related to the patient and that it was someone else's responsibility to raise the topic were other factors that made it difficult.ConclusionWe conclude that a stressed workplace where there is a lack of time and stress along with a poor education and uncertainty leads to no grasp of the subject and the problem slides between health professionals. Patients' sexual health remains untreated.

In this literature review the characteristics of two free-floating macrophytes, water hyacinth   (Eichhornia crassipes) and duckweed (Lemna sp.), and two microalgae, Chlorella and Scenedesmus, have been examined regarding their suitability as efficient nutrient removers in the treatment of wastewater with high levels of nutrients and suspended solids from a biogas plant in Loudden. The needs required for the plants to be able to grow in wastewater and the amounts of biomass they can produce have also been studied. The results show that Chlorella is capable of a very high uptake of nutrients in photobioreactors with high nutrient loadings. With an ammonia uptake maximum value at 10900mg/m2/d Chlorella outshines the other organisms in this study. The test organism that performed the closest to Chlorella in terms of nitrogen uptake was water hyacinth with an uptake about 1602mg/m2/d.

The river Selångersån runs through thenorthern Swedish city of Sundsvall, splittingthe city in two as it winds through thevalley between Södra- and Norra Stadsbergetand out into the Baltic Sea.The river is a national interest of nature conservationbut at the same time in the middleof an urban development string for the city,creating a complex situation of developmentcontra conservation of natural environment.This project attempts to create a strategy oflandscape urbanism for the area surroundingSelånger Bay, four kilometers upstreamalong Selångersån. A sensitive wetland, todayrather forgotten but with great potentialfor introducing wild nature as an active partof the city. Or rather, initiating a processwhere the built environment can infiltrateand enrich the natural environment gradually.A city park in this location to initiate thisprocess could be a joint project of the city?sresidents with the scope to become a projectin constant development.The idea of the project is to offer a large ecologicalpark and meeting place near the citycenter. This will be achieved by clarifyingthe activities and values that already existin the park, such as the largest living deltai the region, football fields and a medievalchurch ruin, and by creating new paths.

In Sweden, there are limits to how much leachable substances waste must contain in order to be deposited as hazardous waste. Fly ash from waste incineration often end up over the limit, mainly due to the chloride content. Fly ash is therefore often deposited abroad. The purpose of this study was to investigate the possibility to handle fly ash locally. To clarify how the law is applied, environmental reports and permit documents from ten waste sites with permission to deposit fly ash were studied.

Vocal technique and interpretation are the key elements of voice training. Thepurpose of this article is to investigate what vocal technique and interpretation meanto teachers and students and how they would describe the relationship between thetwo. The questions at issue, intended to be answered in this article, are the following:What is the relationship between vocal technique and interpretation? How should theteaching be structured for the students to experience progress on the musical plane?What role does the teacher have in the musical development of the student?This is a qualitative survey and the methods of investigation are semi-structuredinterviews and classroom observations. Presented in the article are a number ofresearchers and writers whose thoughts on the subjects have gained great importanceto vocal teachers and students, as well as leading the research on the voice and itsfunctions forward to higher grounds.

Plant Protection Products (PPP) used in the horticulture industry can be both chemical and biological. They are used for weeds (herbicides), insects (insecticides), and fungi (fungicides) and as growth retarders.Many horticulture workers get in touch with plants, treated with PPPs and many of these don?t use any protective equipment.The aim of this project is to illustrate the work environment hazards for staff working with greenhouse pot plants, after they have been sprayed.The method used was observations of the operations for packing plants. I studied the operations and took notes of how operations were performed and what protective equipment they used. I also took photos and asked questions.A literature study completed the observations.

This is an investigation into the ways in which a group of librarians experience and make use of the intranet in their vocational role. The theoretical frame of reference consists of a model of how professionals seek information, which is based on a role-theory. As a method, I have applied a qualitative case-study. Using semi-structured qualitative interviews I have interviewed five librarians and the webmaster responsible for the intranet in their library. I have investigated how elements such as the age and vocational role of the librarians affect their use of the intranet.

Abstract The purpose of this project is to develop a modular processor card which is intended to work as a platform for Kitron Development Karlskoga. The modular processor card is meant to be used as a control system in development projects, mainly in medical and industrial products. The processor card will consist of a central unit with the basic functions for a control system. Furthermore there will be complete modules with machine commodity and programming, to pick exactly the necessary functions for a specific application. With consideration to the specification of the development and the main unit, I chose an adequate microprocessor (AT90CAN32) as core and interface circuits to stated border areas. The construction is first completed in the program MultiSim and then remade in the program OrCAD Capture. The programming language C was used in the software model.

The knowledge development regarding in-store marketing has shown that influencing a consumer in a store setting is a powerful tool to change the consumer?s buying patterns. However, the store as a marketing channel lacks, in many ways, conducted academic research and according to marketing theory investments into in-store marketing tend to be taken without advanced marketing consideration. As a consequence, we have chosen to generate new insights into the field of in-store marketing by studying in-store demonstrations both from a behavioral and a mental dimension. Furthermore, we have also chosen to study how different consumers with different degree of loyalty and buying patterns are influenced by an in-store demonstration.This study aimed to obtain a better understanding of in-store demonstrations through breaking down the demonstration into its core elements and from these elements construct different types of demonstrations.

Urban trees contribute significantly to our society. By providing ecosystem services and a habitat that other urban species and ecosystems depend on, both biodiversity and the people in the city benefit. Some characteristics that the trees possess include functioning as biological filters for the atmosphere and water, as well as positively impacting people's mental health. However, urban trees are challenged by stressors such as pollution and a drier environment, making them particularly sensitive to climate change. The goal of this study was to estimate the expected magnitude of climate change in Gothenburg and compare it with the current urban species' natural climate boundaries to understand the extent of the climate threat and which species appear to be most at risk.