Simulations of simulink models using Kalman filters are often very time-consuming. This problem depends mainly on the fact that the Kalman correction has to be performed at each sample instance through the whole simulation. The goal for this thesis work is to reduce that time-consumption for the filtering part (the integration partis treated in a complementary report) of a simulation. Furthermore a Matlab routine to perform parameter tuning and finally a graphical user interface is developed.The filtering part of the simulation in this thesis is based on an Extended Kalman Filter (EKF). The time optimization of this filter considers searching for the possibility to replace the today?s existing Matlab functions that is used to perform the filtering calculations.

This report describes an analysis of WebGL together with JavaScript with the aim to examine its limitations, strengths and weaknesses. This analysis was performed by building a 2D game engine containing some dynamic elements such as water, smoke, fire, light, and more. Different algorithms have been tested and analyzed to provide a clearer picture of how these work together. The report will go through the most basic functions of the game engine and describe briefly how these work.The result shows that JavaScript with WebGL can be considered to be a potent toolsets, despite the difficulties caused by JavaScript.In summary, similar projects can be recommended as Javascript and WebGL proved both fun and incredibly rewarding to work with..

GE Healthcare operates in Uppsala (Sweden) and develops systems, equipments and medium to purify medical substances. Discussions with the local authority concerning planed far-reaching changes and upgrades of the biological process techniques for sewage management, aroused the question about revising the terms of permit for the activity. Therefore it seemed necessary to evaluate a newly installed biological process technique, which is the background of this thesis. The evaluated biological treatment process was built in 2003 and consists of a biological reactor filled with moving bed carriers with a high surface area for biological growth. At the time of the project the biological wastewater treatment plant consisted of a flow equalization facility and two following parallel biological processes; a biological reactor with moving bed carriers and a tower trickling filter.The aim of this thesis was to survey the function of the biological reactor with respect to the reduction of organic matter.

The National Libraries task to save and preserve the national cultural heritage has turned to a new challenge in a digital world. The preservation of born-digital material for future use requires not only saving the digital object itself but also information about the object, preservation metadata. This is a relatively new issue and the library community has very little experience in this area. It has become evident that international cooperation is necessary to solve the task and that the development of international standards is of fundamental significance. This thesis investigates what has been done to meet the problems with the fast obsolescence of digital material with the focus on metadata.

Pupils, and most of all girls, drop out of organized sports in the ages 13-18. The purpose of this survey was to study which motives girls had to proceed in sports together with differences between certain groups. This study was based on a survey which included 86 responses from girls active in sports in 10 different compounds. The results showed that the most frequent motives to do sports were to have fun and to feel well. Differences showed were that the ones who trained more often and the ones who practiced more than one sport found that to work hard was an important motive, compared to the other groups.

The purpose of the study was to review the current veterinary literature regarding gastric dilatation and volvulus (GDV) considering pathophysiology and treatment, and to evaluate the operative technique (incisional gastropexy) used during the years 2005 and 2006 at the University Animal Hospital (Universitetsdjursjukhuset), SLU, Uppsala, Sweden. GDV has a complicated pathophysiology which foremost effects the circulatory system. Progress is often acute and it is not unusual that patients are affected with shock. The initial treatment targets to alleviate the shock by fluid therapy and decompression of the stomach. There is a high risk of recurrence in the long term perspective unless the stomach is surgically fixated by gastropexy. The study describes two different techniques for gastropexy; incisional gastropexy, and funduspexy. Long term complications were rare among the patients that were treated surgically, while about half out of the eighteen dogs that undergo surgery do experience complications of various severity in the short term..

District heating covers around 80 % of the heating demand in apartment buildings and 10 % in single-family homes in Sweden. In the year 2010 the total input of energy to the Swedish district heating grids was about 70 TWh, which corresponds to 11 % of the total energy input to the whole energy system in the country. Through the combined production of heat and power the CHP-plants often reaches an efficiency of 90 % from energy in the fuel to produced heat and power. In order to keep the efficiency high it is important for the owners of the plant to have good knowledge about the plants performance at different operation points. Strängnäs Energi AB initiated this diploma work together with FVB Sverige ab in order to come up with a program for short term planning of the production of heat and power at the company´s CHP-plant.The work consists of three main parts.

Today when new and harder demands on CO2 emissions are developed, vehicle manufacturers must work to develop new engine solutions to new kinds of fuels to replace fossil fuels. A fuel that could be applied is hydrogen. When hydrogen is combusted only water vapor occurs. Hydrogen is known to be explosive and flammable. These properties are both good and bad for combustion.

Estimation of the variation in the integrated hydraulic conductivity around the Tunåsen infiltration facility - An investigation of the effects of uncertainties in existing informationAlmost half of Sweden?s drinking water volume is produced from groundwater. The main fraction of this is extracted from eskers, some of which allow for very large extraction rates. Despite this, the groundwater volume is not sufficient in some areas. This has led to an extensive use of artificial recharge.In Uppsala, the total volume added through artificial recharge is divided between four infiltration facilities.

This thesis adresses the subject of stormwater management and the problematic with stormwatermanagment and landuse in the compact city. The thesis research different solutions in stormwater managment and how to implement them in the context of the compact city. And at the same time preserve and make good recreaational places and keep quality green land per capita. The thesis also analyses risks and problems that could effect the environment with focus on stormwater managment and hov to minimize these problematic factors an create a good environment. In an urban context where the water has a natrual place, and is used as a asset.

The author of this report has created a Web-based invoice system and CRM at therequest of the company Webhouse.se. The purpose of the System is to makeeveryday tasks in the company easier. The system also needed to prevent mistakesand errors by managing orders and invoices.The system has been created with the company?s requests in focus. During thedevelopment of the system information security and interaction design have beenimportant aspects that have been taken into consideration.The system has been created using techniques such as PHP and MYSQL.

Magnetic resonance imaging (MRI) has the potential to be used for the diagnosis and study of osteoarthrosis in the equine tarsal region. In the development of new diagnostic MRI techniques cadaver specimens are often used. To allow the use of cadaver legs for these types of studies it is important to know the effect of time after death on the MRI image. Since the relaxation times are temperature dependent, it is interesting to examine whether the time after death and the temperature of the cadaver may play a role in the image appearance and quality. The radio pulse sequences that show the different types of tissues are also important to know when pathological evaluation with MRI is used.

If not purified leachate from landfills would cause damages on the environment. At most landfills in Sweden local treatment of leachate is achieved, at the rest the leachate is transported to sewertreatment. While no comprehensive legal provisions for discharge exist in Sweden there is a difference in discharges between the installations for landfill. If no comprehensive legal provisions is produced guidance must improve.Treatment of leachate and self monitoring system at fifteen installations in Sweden has been studied and compared. A study of literature about different treatment solutions has also been performed.

AbstractThis report is about the creation of a test system for development of a control system for a off the shelf RC-helicopter, which can be bought for about two thousand SEK. The test system consists of both electronics for controlling the helicopter and mechanical constrainer. The constrainer is used for mounting the helicopter so that it won´t crash.A circuit board including processor and sensors was manufactured. This was used for doing test of the different control algorithms. In this way were we able to analyze the quality of the sensors chosen, and what other sensors that could contribute to the control of the system.Basic helicopter control have been studied and presented in the report.

A titania-supported nickel catalyst was prepared and tested in methanation in order to evaluate its catalytic properties (activity, selectivity and specially, activity loss), and compare it with an alumina-supported nickel catalyst.The titania-supported catalyst did not only show higher stability than alumina, but also presented a different cause of deactivation, carbon formation. In addition, a kinetic model was obtained for the titania-supported catalyst, and a study of the effect of different operating conditions (temperature, composition and partial pressures of synthesis gas and water) on the deactivation rate and carbon formation of this catalyst was performed.