In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, Dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

This study is about the significance of dual citizenship and the feeling of belonging people experience. Descriptions about the problems with being a citizen in a state, but not being accepted as one, is also discussed in the thesis. The juristic aspects, what it means to be possessed of dual citizenship and the consequences when the negative aspects of dual citizenship arise, is also discribed. The reasons for having dual citizenship is very analogous but at the same time different. The common denominator is however pragmatics.

Modeling and simulation is growing ever more important in the development of new products. This thesis describes the use of Hopsan for hydraulic modeling and its use in conjunction with Simulink with the intent of using the model in a hardware-in-the-loop setup. A sensor layer has been created in Simulink to emulate all the internal sensors in a modern forklift. The details of using legacy C-code instead of a hardware MCU for a fully simulated environment, software-in-the-loop has been outlined. There are two major routes one can follow implementing software-in-the-loop, exporting the C-functions to CAPL via a export layer or creating an s-function in Simulink.

This thesis aims to develop proposals and models for a modular electronics construction to a future D250S Dual battery charger. The aim also includes investigation of possibilities to use some of Texas Instruments C2000 microprocessors. The reason for this is that CTEK SWEDEN AB wants to renew the present D250S Dual battery charger and lower the manufacturing costs. The thesis work has involved gathering theoretical facts for the development of a design on the modular electronic construction, the choice on which microprocessor to use, the choice of electronic components and facts about peripheral equipment to the D250S Dual. With the theoretical there has been developed different solutions to the proposed hardware and software solutions with comparisons in aspects of positive and negative.

This report treats two assignments that concerns the biofuel furnace at Billerud Skärblacka AB and how these assignments were solved. The assignments were: reducing the number of CO-spikes and tuning the overfire air control loop. To reduce the number of CO-spikes the possibility that skewness in mass distribution affects the number of CO-spikes were study. The skewnwss of mass distribution was controled and adjusted with two experiments. The conclusion that was made is that the skewness of mass distribution were not sufficient enough to affect the number of CO-spikes.

Det här examensarbetet presenterar en evaluering av en Klockkorrigerare av klockpulsbredd. Den består främst av en korrigerare av klockpulsbredd (Duty Cycle Corrector DCC) och även en fördröjningslåst loop (Delayed Locked Loop DLL). Det finns många olika korrigerare av klockpulsbredden designade förut, de två populäraste arkitekturerna då har varit enkel eller dubbel återkopplings loop. Den huvudsakliga skillnaden mellan dem är att enkel återkopplings loop använder sig av en öppen loop medan den dubbla varianten istället har en stängd loop. I det här projektet kommer en ny arkitektur att presenteras.

With this study, we have chosen to continue our B-essay about dual-diagnosis. In the essay we have done some research on how this target group feels about the treatment from the dependent unit, psychiatry unit, social services unit and the housing environment. We wanted to know about the feelings because during the B-essay we found out that individuals whit the dual-diagnosis is skipped between different caregivers. We used a qualitative method with six interviews from two different housings in south of Sweden. The information we got we used in our result and analysis part, where we found out that the caretaker?s thought the treatment were fine and that it was the surroundings they found the most fault with..

En gitarrförstärkare baserad på elektronrör har konstruerats på uppdrag av Mikael Lyander, ägare av Sandkvie Studio på Gotland. Arbetet med gitarrförstärkaren Dual 30 har gett stor insikt om designprocessen av en rörförstärkare. Moment som design, layout och praktisk konstruktion har behandlats. Både författarna och uppdragsgivaren är överens om att förstärkaren lever upp till de uppsatta målen..

Internet grows, so it?s cracking, soon will all IPv4 addresses be allocated and a solution is urgently needed. The new protocol, IPv6 is the solution to this problem. With a size of 128 bits against IPv4s 32 bits gives IPv6 a huge amount of addresses to distribute. The security addition that may be added manually in IPv4 is the standard with the new protocol.

The background of this paper is the dual role that the social worker can have, of beeing both supportive and controlling in the meeting with clients. It is also about the power the social worker can have, how they handle the power in their profession and how they remain to it in the relationship with the client. The study is qualitative and built on interviews with eight social workers that work in different areas in the social services. We have chosen to see this dual role as if the social workers have to, in their daily work, handle the roles as one authority role and one supportive role towards the client.The purpose of this study is to understand how the dual role as the social worker has in the profession, as a helper and a authority, is expressed in the work and relationship with the client. We have turned this purpose into two questions: How do social workers with authority remain to the dual roles of the profession? How do the social workers describe and understand power?We don´t want to generalize in this study, we want to give an example of the social workers own experiences about the dual role.

The purpose of this thesis was to help the company Medius AB with optimization of selected parts in an existing system to minimize the execution time by implementing multithreading. The idea was to manipulate the code so that calculations could be executed at the same time. The main work in this thesis consisted of three optimizations. The first one was to reconstruct a big ?for-loop? so it would execute every loop's work in an own thread. The second optimization also was a reconstruct of a ?for-loop? so it could execute the work in different threads. The third and last optimization consisted of reconstructing a stored procedure on the database, so different parts of it each could be executed in an own thread to create data at the same time. To implement the optimizations Visual Basic .NET and its support for multithreading and connection-pools was used. The result of the optimizations meant that one of the modules could be executed more efficiently and it was 12 % faster. The other modules execution time was more efficient by 25 % faster. The meanings and requirements for this thesis are fulfilled by now letting the system make use of its resources in a better way..

Första linjens ledares roll har under de senaste åren blivit mer ansvarskrävande. Vad är då viktigt för ledare i denna position då det kommer till att åstadkomma förändring? Finns det några utmaningar första linjens ledare stöter på? Denna studie syftar till att belysa första linjens ledares upplevelse av att leda en förändringsprocess. Två frågeställningar skapades; ?Vad anser första linjens ledare som viktigt i sitt ledarskap för att kunna åstadkomma förändring?? samt ?Vilka utmaningar möter första linjens ledare i en förändringsprocess??.

This research analyzed differences in measurements of magnetic field strength and frequency response in five audio induction loops installed in rooms of wooden construction materials and five audio inductive loops installed in rooms of steel reinforced concrete constructions. The inductive loops were installed at floor level and the measurements were made at the listening height of 1.2m. Measurements of background noise, field strength and frequency response were made at fifteen different measurement points across the room. The research measurements showed that there are differences in field strength and frequency response between these two conditions, whether the audio induction loop is installed in a wooden construction or the audio induction loop is installed in a reinforced concrete construction. The results had a significance level of p=0,05..

Introduction: Reversal of a temporary loop-ileostomy is the final step after a long treatment for rectalcancer, an event that the patient has been looking forward to for a long time. Studies have shown that patients often have a significant impact on the bowel function after reversal of the stoma.Aim: To describe how the patient experienced the first time at home after reversal of a temporary loop-ileostomy due to rectalcancer. Method: Qualitative semi-structured interviews, with 15-20 patients who have undergone reversal of a temporary loop-ileostomy due to rectal cancer, will be conducted. The interviewes will be analysed using qualitative content analysis according to Graneheim & Lundman (2004). The patients will be recruited from the colorectal unit at Sahlgrenska University hospital/Östra and from the surgical unit at Kungälvs hospital.

This thesis compares the impact on disk performance in a GNU/Linux  environmentwith three encryption algorithms: AES,  Serpent and Twofish in three different implementations: DM-crypt, Loop-AES and Truecrypt. For all three algorithms a key length of 256 bits is used.The thesis shows that the least performance impact during data encryption, and thus file writing, is reached by using AES or Twofish encryption implemented in DM-crypt or TrueCrypt. The thesis shows that some data operations with a sufficiently low processor utilization barely affects disk performance at all if encrypted using the optimal implementation and algorithm.It is also discovered that the performance impact during data decryption, or file reading, can be minimized by using the most efficient implementation and algorithm. The best results are met with the AES or Twofish cipher, regardless of implementation.An important conclusion that  is  drawn is that it is hard to determine a superior encryption solution for all purposes. However, by reviewing and examining the collected data from all aspects of disk performance the AES implementation in TrueCrypt is, with small marginals, determined to be the most optimal..