This thesis deals with the concept of soft balancing, traditionally defined as the diplomatic means of restraining a dominant state's ability to exercise its military power. As the dominant power in today's unipolar system, the United States, and other states? behaviour towards it, is the focus of analysis. The aim of this thesis is to explore the possibilities of developing the concept of soft balancing so as to include strategies to restrain also the political and economic capabilities of a dominant power. The thesis also considers the possibilities of soft balancing that small states ? to a large extent overlooked in existing theories on the subject - can possess.As a state with policies that aim to reduce the U.S.

During spring 2012, six students at the Royal Institute of Technology in Stockholm carried out agroup project in the field of mechatronics as part of the thesis for the bachelor degree. The resultwas a robot with active balancing and the purpose of this report is to describe the development,manufacturing and problems that arose during the project. The finished robot has two wheelsmounted in line with each other, like a bicycle. Measurement data from an accelerometer and agyroscope are used together in a complementary filter for determining the angle from the verticalplane. For balancing, a PID controller was used to control the rotation of a reaction wheel, whenaccelerating causes a straightening torque.

This report is a Master?s Thesis performed by Andreas Adolfsson and David Jacobsson atChalmers University of Technology. The purpose of this master?s thesis is to evaluate anew method for load-shedding, the voltage controlled underfrequency load-sheddingdeveloped by ABB. This report presents a comparison between conventionalunderfrequency load-shedding and this new method for load-shedding.

The aim of this study is to evaluate whether the value of occupant load is over or under estimated when the Swedish general value for department stores, 0,5 person/m2, is used for dimensioning shopping centers. The data that was analyzed derives from seven shopping centers and one department store. A conservative method was used to calculate the occupant load factor. The analysis shows that two groups can be discerned: one group that is characterized by a lower occupant load factor that does not exceed 0,3 person/m2, and one group with a higher occupant load factor. Shopping centers with a higher occupant load factor are located centrally in large urban areas.

The need for roundwood transport capacity vary throughout the year. The need during a period is influenced mainly by the volume transported the period, the number of days during which transport can be carried out, seasonal variations in road conditions and the weight of the roundwood, and the origin of the wood (private forest owners/ forest companies). The need for transport capacity generally increase during the winter and in spring, after thawing. Lack of logging trucks combined with a lack of drivers for these trucks make it hard to hire extra help during periods of increased transport capacity needs. It is also very expensive to keep logging trucks for use only during these periods. In this thesis, two new concepts based on the partial transport by truck tractors have been examined, to find out the possibility for increased performance and flexibility.

This master thesis is a study of the Swedish hydropower capacity to balance wind power. The Swedish government has decided that it should be possible to produce 30 TWh from wind power in the year 2020. The Swedish municipalities have to have plans for wind power plants with total yearly generation of 30 TWh. Wind power is an variable energy source that needs to be balanced by other energy sources. In Sweden the Swedish hydropower can be used for balancing a large scale introduction of wind power.

This research explains and describes the role music notations may play in an unconventional way. The aim of this research is to show that by balancing composition, interpretation and improvisation, the performer(s) could produce or open the door to a reservoir of new sounds, which could emerge through a composer?s awareness of the need to balance these elements. That act of balancing depends on the musician?s interpretation through their interaction with the music notation, with their action process on the instrument and each other.

This master thesis is a study of the Swedish hydropower capacity to balance wind power. The Swedish government has decided that it should be possible to produce 30 TWh from wind power in the year 2020. The Swedish municipalities have to have plans for wind power plants with total yearly generation of 30 TWh. Wind power is an variable energy source that needs to be balanced by other energy sources. In Sweden the Swedish hydropower can be used for balancing a large scale introduction of wind power.

A future expansion of wind power in the Nordic power system makes the balancing for the transmission system operator Svenska Kraftnät (SvK) more complicated. Up to the hour of delivery the balance responsible parties? (BRP) makes prognoses and plans, for consumption and production, to help maintain the balance in the electrical grid. How well this is accomplished is affected by the setup of the market design. Therefore SvK has proposed the following possible changes in market design: Increase the imbalance costsIntensify the regulation of imbalancesIncrease the temporal resolution on the different marketsPresent the prices for balancing power in real-timeModify the balancing market to simplify auction of consumption bidsA mapping over the BRPs? processes within planning and trading on the day-ahead, intra-day, and the balancing market has been performed in this thesis.

Wind power is expanding rapidly in Sweden. Increasing amounts of wind power sets higher requirements on balancing power and grid expansions and would affect the whole Swedish electricity system. The aim of this report is to examine the factors affecting the wind power expansion in Sweden. How many wind power plants projects will obtain building permissions and what costs and revenues can be expected? How much balancing power will be required and does a changing geographical distribution of the wind power plants reduce the need of balancing power?A survey of the county board?s official applications has been made and out of all the applications, corresponding to 80 TWh produced per year, about half of the applications are expected to obtain a permit with a major portion of them located in the north of Sweden.Especially older wind power plants, deriving revenue from Nord pool, find themselves today in a complicated financial situation.

To conclude this year?s introductory course in Mechatronics the students, in groups of 6,constructed a prototype based on the technical requirements established by the course teachers.This year they consisted of the following: two wheels only, active balancing, remote controlledand able to stop when crossing a pre-determined marker on the ground. The project lasted for 7weeks and the result is a working prototype and this report.The report reviews the chosen solution, subsystems and the finished prototype as well assuggestions for improvements, discussion and analysis.The prototype constructed embodied most of the group?s earlier individual technical specialtiesand consists of the following: a flywheel for balancing, ultrasound for angle measurement, areflective photomicrosensor to detect the marker and Bluetooth for the hand control..

Syftet med denna undersökning har varit att underlätta för företaget Re-Load att presentera sin lastpall som produkt för potentiella kunder. Syftet har också varit att stötta Re-Load till att bli licenserad EUR-pall samt att successivt ersätta befintliga lastpallar och långsiktigt exekvera företagets affärsplan. Målet har varit att undersöka produkten avseende lönsamhet, miljöinverkan och hur den påverkade arbetsmiljön. Under-sökningen har genomförts med ett befintligt flöde där produkten använts och utifrån detta kunde en flödesstudie samt en komparativ produktstudie utföras med en alternativ lastpall. Med data hämtat ur detta flöde utfördes en investeringskalkylering, miljöberäkningar, subjektiva intervjuer samt dokumentation.

The aim of this study was to develop a load prognosis model for Uppsala district heating system to be used as a tool for heat production optimization. The methodwas to build three models for the different customer types; housing, industry andoffices and then scale them for the total system using data from Uppsala districtheating system. The heat load consists of two parts, one that is temperaturedependent and one that is dependent of the social behavior of the customers. Thetemperature part was modelled with an ARX model using an outdoor temperatureprognosis as input signal. The social behavior part was modelled using the mean ofthe social behavior from some days before and additionally by distinguishing betweenweekdays and weekends.

The purpose of this thesis has been to develop a tool for modelling and simulating the nuclear plant Ringhals 3. The model should be used to improve the knowledge on the dynamics of the plant. Ringhals 3 is being upgraded to produce more power and a tool for analyzing the new operating conditions is needed.The work in this thesis has consisted of improving and developing an existing model of Ringhals 3 made with the modelling tool Dymola. The model has been validated by comparing the results of a simulated house load transient with data from the actual plant. Validation shows good agreement with data from the real plant.

The purpose of this thesis has been to develop a tool for modelling and simulating the nuclear plant Ringhals 3. The model should be used to improve the knowledge on the dynamics of the plant. Ringhals 3 is being upgraded to produce more power and a tool for analyzing the new operating conditions is needed.The work in this thesis has consisted of improving and developing an existing model of Ringhals 3 made with the modelling tool Dymola. The model has been validated by comparing the results of a simulated house load transient with data from the actual plant. Validation shows good agreement with data from the real plant.