Breakdowns of welded structures are usually a consequence of fatigue loading. Fatigue fractures are commonly initiated in the region close to the weld toe but can also initiate from the weld root and from Discontinuities inside the weld. The purpose of this investigation was to examine the weld quality of welded joints produced at Volvo Wheel Loaders factory in Arvika. The goal of the investigation is to give a clearer insight regarding factors influencing the fatigue strength of the welded joints and thereby give a better foundation for fatigue strength calculations.The investigation is including examination of the weld geometry, weld Discontinuities and the effects of shot peening. Mainly three different methods for collecting test data have been used: Plastic replicas cast on the weld profile, weld specimens from a rear frame belonging to a wheel loader of model L110E/120E and Almen testing of the shot peening.The results showed that it is not possible to control even transition between the weld material and the base material without after treatment.

This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone path as to make the acceleration continuous will be presented.

This report is introduced with a presentation of fundamental electromagnetic theories, which have helped a lot in the achievement of methods for calculation and design of microstrip transmission lines and circulators. The used software for the work is also based on these theories. General considerations when designing microstrip solutions, such as different types of transmission lines and circulators, are then presented. Especially the design steps for microstrip lines, which have been used in this project, are described. Discontinuities, like bends of microstrip lines, are treated and simulated.

Stockholm a?r en mycket expansiv region med flera sto?rre infrastrukturella projekt plane- rade vilket kommer att medfo?ra arbeten i och vid berg. Utan no?dva?ndiga fo?runderso?kningar o?kar risken fo?r ras i samband med byggnationen och en fara fo?r framtida stabilitet fo?relig- ger. En ingenjo?rsgeologisk fo?runderso?kning da?r man kartla?gger strukturer i det pa?ta?nkta omra?det bo?r genomfo?ras och som beskriver de bergtekniska parametrar enligt Q- och RMR-systemen fo?r bergkvalitetsklassificering.

?The management of innovation is inherently difficult and risky, most new technologies fail to be translated into products and services, and most new products and services are not commercial successes. In short, innovation can enhance competitiveness, but it requires a different set of management knowledge and skills from those of everyday business administration? (Bessant et al. 2005 p.