The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600. The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox. A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace.

Denna 5 poängs rapport behandlar realisering och inställning av mjukvarubaserade PID-regulatorer. Den tänkte läsaren är en ingenjör som är intresserad av hur en PIDregulator implementeras och trimmas med AMIGO (Approximate M-constrained integral gain optimization) metoden. Alla matematiska resonemang förklaras stegvis och utförligt. Huvudsyftet med rapporten är att inhämta kunskap från referenserna, och formulera denna kunskap så att den blir lättillgänglig för ingenjörer som praktiskt arbetar med PID-regulatorer. Målet med denna rapport är att svara på frågorna: ? Hur fungerar en PID-regulator? ? Hur kan en PID-regulator implementeras? ? Hur trimmas en PID-regulator med AMIGO-metoden?.

Vehicle simulators are becoming more common in vehicle industries. Company earns lot of money on simulations instead of real tests. Real tests are necessary but not made so extensively as before.In this thesis the building of an vehice simulator will be described and a comparison between three different cruise controls. The three cruise controls are PI-regulator, a regulator who regulates after positions in the terrain and a MPC-regulator. The reason for choosing this three is to see the difference between simple regulation and more complex regulation with respect to fuel consumption, travel time and complexity.The vehicle simulator is made in Matlab/Simulink, Visual Studio and Open Scene Graph.

This report describes the construction of a climate-cabinet for testing of HV-cards (High Voltage) produced at VG Scienta. The main part of the report describes all the different components of the cabinet. The most important parts are a PID regulator from Eurotherm model 2408, a solid state contactor (SSC), a thermocouple, a finned resistor from DBK and different fans. The report even includes the connection between components by cable wiring, isolation, grounding, fuses and shaping of metal goods.As the cabinet also communicates with a computer, the report includes the solution of the data communication using the software iTools from Eurotherm. The communication part includes information about a converter that converts EIA422 to USB.The cabinet was produced at a company, called VG Scienta, in Uppsala during the spring 2010.

The increasing public concern regarding the government?s priorities in spending public resources puts pressure on public organisations to address quality issues in their practice. In United Kingdom both BRTF (Better Regulation Task Force) (BIS, 2005b) and the Hampton report (BIS, 2005a) highlighted management and quality problems in public organisations in UK. These reports revealed obstacles within institutions? intent to offer recommendations and appropriate solutions for agencies working with legal enforcement and control.

The Swedish government decided in 1996 that the governmental authorities are to implemementenvironmental management systems. Each year, the Swedish Environmental ProtectionAgency compiles the authorities? reports on their environmental management systems. Thecompilation shows that not more than 20 % of the authorities perform environmental audits.This study aims to investigate the authorities? view of internal environmental audits, the incentivesof performing them.

The world's natural resources are constantly being reduced, which increases the pressure on companies to actively engage themselves in environmental activities. Meanwhile, stakeholders focus is being broadened and it is now important not only to supply a particular product or service but also show that they are actively pursuing an environmental agenda. Companies can use various tools to aid in environmental efforts, but also to demonstrate to the world that the company is actively engaged in environmental activities. One such tool is the environmental standard ISO14001 which provides the company with guidance and support on how the business must manage its environmental efforts. To show a business' progress in environmental performance, it is advantageous to use environmental performance indicators as they enable stakeholders to easily understand how the business works with environmental issues.Authors in the field explain that the environmental management system propagation is limited in service organizations.

Denna rapport behandlar utveckling av en tvåhjulig balanserande robot. En PID-regulator är implementerad i en mikrokontroller, som även AD-omvandlar en sensorsignal, samt styr motorer via H-bryggor med pulsbreddsmodulering. I rapporten förklaras framtagning av diskret PID-regulator, processorkort, motorkort, val av komponenter och sensor för att mäta robotens vinkel mot ett vertikalplan.Roboten kan balansera stillastående, men behöver kompletteras ytterligare med hjulåterkoppling för att kunna balansera medan den kör. Roboten balanserar med mätdata från en mekanisk golvavkännare (potentiometer). Andra sorters sensorer diskuteras också, t ex accelerometer, gyro och optisk sensor..

Today?s political debate on environmental issues and environmental thinking, alongside the Swedish presidency of the EU and Climate Conferences shows that the environment is an important topic. Environment is important, not only in politics, but also for companies and the demand of environmental strategies and environmental reports has increased. This leads to an increased pressure on firms to begin to report on environmental concerns and to create active systems for environmental thinking.The aim of the present study is to examine why firms in the transport sector, mainly lorry transports, reports environmental aspects and what drives these companies to create these reports.Based on stakeholder and institutional theory we aim to examine to which extent stakeholders affects the environmental accounting and reporting. We also aim to explain how the organization is influenced to incorporate external and societal environmental procedures.

The environmental work in Sweden has developed a lot over the past fifty years. Today, most companies have some kind of environmental work. Environmental activities are regulated by the Environmental Code, which applies in parallel with other laws. This report is an environmental review for Bräcke Diakoni. The report aims to find out how much environmental impact Bräcke Diakoni has.

Is accountability possible in global environmental governance? The purpose ofthis thesis is to examine if accountability is possible in global environmental governance. From an accountability perspective the thesis tries to illuminate global environmental governance. An investigation about the conceptaccountability is made and the thesis also illuminates the possible problems that exist in global environmental governance which exist of such a large amounts of different and often private actors. By investigating and examine the concept of accountability from different aspects and by using Global Compact as a example of global environmental governance the thesis try to answer if accountability actually exist in global environmental governance and in what way it is possible to demand accountability.

An often encountered problem when implementing a mass flow regulator in a rolling mill is the one with measurement of speed. The most widely used solution is to fit a pulse counter to a wheel that is in contact with the strip. Common problems with this design are for instance scratch marks on the strip and problems with the flatness measuring system.  One way of circumventing the aforementioned problems would be a non-contact measuring system. The market of today only offers systems based on the Doppler principle.This report evaluates three different systems for non-contact speed measurement. Important areas in the evaluation have been the ability to operate under normal rolling conditions, integration in existing control system and how well the sensor can be fitted to the rolling mill.

An often encountered problem when implementing a mass flow regulator in a rolling mill is the one with measurement of speed. The most widely used solution is to fit a pulse counter to a wheel that is in contact with the strip. Common problems with this design are for instance scratch marks on the strip and problems with the flatness measuring system.  One way of circumventing the aforementioned problems would be a non-contact measuring system. The market of today only offers systems based on the Doppler principle.This report evaluates three different systems for non-contact speed measurement. Important areas in the evaluation have been the ability to operate under normal rolling conditions, integration in existing control system and how well the sensor can be fitted to the rolling mill.

Rapporten beskriver arbetet med att ta fram en regulator för värmning av luft i en ventilationsanläggning för gruvor. Den redan existerande anläggningen förser två gruvor med luft genom två separata schakt. För att inte riskera isbildning under den kalla delen av året så måste luften värmas till en specifik temperatur. Om det bildas is som sedan lossnar och faller ner så riskeras skador på både människor och på utrustning i schaktet. En simuleringsmodell för anläggningen och en modell att använda vid regulatorframtagning tas fram.

An environmental review has been carried out at FORIA AB, a transportation- and machine service company, to analyze the company?s environmental aspects from the transportation segment. This report describes the essential background and the methods of identifying and evaluate the environmental aspects. It also describes how the work with the environmental aspects often vary between different actors. The design of the ISO 14001 is intentionally broad in order to apply on all sorts of activities and organizations.