The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple Non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

This paper thoroughly investigates needs and requirements for overhead distribution feeder inspection and develops models to investigate possible relations between short term inspections remarks and outages. The study was conducted in collaboration with Fortum Distribution AB that supplied extensive information about their overhead power feeders concerning both inspection and power outages. The investigated models where lognormal linear model, Poisson generalized linear model and negative binomial generalized linear model. All models were implemented utilizing offset terms to compensate for differences in feeder length and amount of overhead versus underground feeders. The Poisson generalized linear model was rejected at an early stage due to overdispersion and neither of the remaining models fit the data perfectly.

The non-linear film - a film telling a story using a reversed or scrambled chronology - has existed since the late 20?s, but just recently gained huge influence and popularity due to films such as Quentin Tarantinos cult-declared Pulp Fiction. In this essay I will analyze this form of narrative, and more specifically; how it?s used in my example film Memento. In my examination, I have seen the original version of the film, and then a re-cut version where the story is ?turned over? to form a ?normal?, linear narrative.

In this study a multiple linear regression was carried out in the interest of analysing a number of variables effect on the final prices of apartments in Stockholm?s inner districts. The result may be employed to predict and observe percentage changes on the final price of apartments in Stockholm in the future. Five models were constructed after which they were analysed and compared. The construction of these models were supported by data from the real estate agency Erik Olsson.

The linear televison have dominated the supply of moving pictures, but this is about to change with the possibility to consume it via the Internet.I n this thesis we have studied how the two Swedish tv-network companies, SVT and TV4 are working with their web TV and if their online services have affected the linear TV. To limit the size of the study we chose two network companies that provide the most popular tv channels and web services in Sweden. To gather data from these two companies we conducted qualitative interviews with people at the networks. We came to the conclusion that SVT and TV4 doesn't find that their web TV services (called SVT Play and TV4 Play) are competing with the linear TV. They rather regard them as assets to broaden their services.

In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

The jetengines of today are growing in complexity. Reliability for aircraft engines are of extreme importance, mainly due to safety reasons but also economical ones. This master thesis deals with faultdiagnosis in the turbine section of RM12, the engine used in Saab/BAe's Gripen. Three different faults which can occur in the turbine section was studied. These faults are: clogged fuel nozzle, hole in outlet guide vane and sensor fault.

In Sweden the breeding organization for the Swedish Warmblood horse uses a traditional scoring system when evaluating horses. The horse is scored subjectively in relation to how good each trait is in relation to the breeding objective. Other countries, for example the Netherlands, instead use a linear scoring system. The linear scoring system evaluates the horse on a scale between two, for the breed, biological extremes which makes the evaluation more objective since the judges personal values does not influence as much. The breeding organization for the Swedish Warmblood is today planning a change towards a linear scoring system.

Purpose: The purpose of this study is to investigate possible links between short selling and the stock market movements using econometric test models. Methodology: A quantitative study carried out on the time series stock lending and OMX Stockholm 30 index. Information is gathered through qualitative interviews with specialists in the field of stock lending, and studies of relevant newspaper articles and reports. Theoretical approach: The theoretical frame of reference is a further consideration of supply and demand theory. The empirical study is implemented by the simple linear regression model and a vector autoregressive model (VAR).

We have by Statistics Sweden (SCB) been given the task of using different dynamic regression models in order to forecast service price index for sea transport. The aim is to see whether these models provide better forecasts than those previously used. This essay aim to identify, estimate and evaluate the selected prediction models. Through our data material we were given access to 28 sightings of sea transport index during the period of 2004 q1 to 2010 q4. We have chosen to evaluate three different transfer function models, one ARIMA model and one naive forecasting model. The input variables we decided to test in our transfer function models were the price of petroleum products, the port activity in Swedish ports and the lending rate of Swedish Central bank. The results of our study suggest that transfer function models generally provide better models than the ARIMA model and the naive forecast model.

The purpose of this study was to develop two types of prediction models for Scots Pine and Norway Spruce. The first type for calculation of the stump diameter under bark the year the tree reached breast height (Dstubh130). The second type for calculation of the annual difference, e.g. the number of growth years between stump height (0.2 m) and breast height (1.3 meters above ground level). The primary thought with these prediction models is to obtain the breast height age in the trees on basis of the number of annual rings at stump.

Want to help making the world a better place? Do it with HypOCycle!HypOCycle is a bachelor thesis that started in September 2007. The project is owned byLars-Johan Hjertz and Erik Westerlund.HypOCycle is probably the only bike in the world that has a linear pedal movement. Themovement comes from a new engine technique that hasn?t even been brought to themarket yet.

En gren inom statistikteorin är den så kallade Regressionsanalysen där man studerar hur data från exempelvis ett stickprov kan anpassas till en graf. Skrivandet av denna uppsats har haft som syfte att studera några av de metoder som finns att tillgå vid bestämning av de ingående parametrarna i de enklare fallen av regression. Dessutom ges i de avslutande kapitlen exempel på den del inom regressionsanalysen som kallas Styckvis Linjär Regression eller Piecewise Linear Regression..

The field of work and employment is constantly undergoing changes. In order to help organizations to adjust to new conditions, different models for organizing have been developed. Many of these models are spread worldwide, due to the need for organizations to meet demands of flexibility and efficiency. In this study, a small number of models, which contains solutions of how to organize work in Human Resources, have been selected. The author and scientist Dave Ulrich, who has had a large influence on the development of the work in Human Resources, originally founded these models.The aim of this study was to examine how these models were functioning, in reference to the different departments of Human Resources labor within the township of Uppsala.

Computers together with Internet have been growing enormously, during the last decade and the area of information technology has been growing in the same speed. As long as the surrounding environment evolves, the business models must within the IT-area, keep the same pace. So, how do business corporations handle this change to attract customers? How do the dominant business models look like? In many cases, they are apparently much the same. But what differences can we see and what areas can be improved? We have showed that the IT area isn?t just one, it consist of several segments.