How do we perceive literature? In our times computer games and Internet have made us grow more comfortable to the usage of non linear storylines. But how does this apply to printed literature?In this essay, called ?From a to b through d h and o. Non linear storytelling in our time? I have focused on nonlinear literature from different time periods and I have studied novels such as James Joyce?s Ulysses as well as works by William S.

How do we perceive literature? In our times computer games and Internet have made us grow more comfortable to the usage of non linear storylines. But how does this apply to printed literature?In this essay, called ?From a to b through d h and o. Non linear storytelling in our time? I have focused on nonlinear literature from different time periods and I have studied novels such as James Joyce?s Ulysses as well as works by William S.

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.

In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

In this project we have used the theory of analytical mechanics to derive equations of motion for complex mechanical systems in order to study their behaviour over time. Even if the theory provides powerful tools to tackle tough problems which would be very hard to solve by methods of Newtonian mechanics, you are still relatively limited without running any computer simulations. One realises that in a faster rate it will be an incredibly difficult task to find an analytical solution when the degrees of freedom increases. Even if one would succeed to derive the equations, one still has to solve them to get the information of the systems behavior. Of experience one knows that the equations in general are nonlinear and hence must be integrated numericaly.

In this project we have used the theory of analytical mechanics to derive equations of motion for complex mechanical systems in order to study their behaviour over time. Even if the theory provides powerful tools to tackle tough problems which would be very hard to solve by methods of Newtonian mechanics, you are still relatively limited without running any computer simulations. One realises that in a faster rate it will be an incredibly difficult task to find an analytical solution when the degrees of freedom increases. Even if one would succeed to derive the equations, one still has to solve them to get the information of the systems behavior. Of experience one knows that the equations in general are nonlinear and hence must be integrated numericaly.

Simulation of different systems can be done using a graphical model description of the system based on block diagrams. The simulation software Matlab/Simulink offers a lot of possibilities to describe a huge number of systems, which can be linear as well as nonlinear. The simulation using Matlab/Simulink is done by integration based on different kinds of numerical methods.When nonlinear Simulink-models are simulated, it is often interesting to apply a Kalman filter to handle the noise that may occur within the process as well as corrupting the measurement. However, application of such a filter leads to an extensive time-consumption despite using fast computers. The reason is that the existing Matlab functions are not constructed for time optimal evaluation.

Modelica is a multi-domain and equation-based modeling language. Modelica is based on object-oriented principles and non-causal modeling. The language is constructed to facilitate reuse and decompose models. The models and the modellibrary can modified to design a new nonlinear components.Object-oriented modeling is an excellent way to analyze and study large complex heterogeneous physical systems. The object-oriented modeling approach build on reusing and decomposition of models and non-causal modeling.Modeling physical systems often leads to a DAE system with index 2 or 3.

This master thesis covers the seasonal planning of a small scale hydropower system. The system in this study is owned and operated by Mälarenergi Vattenkraft AB. The total system consists of 4 different main rivers with 24 hydropower stations and several dams. The total installed power in the system is 43.75 MW. Most of the hydropower stations are regarded as small scale hydropower stations and thus entitled to green certificates.In this report the issue of planning is formulated as an optimization problem.

Direkt viktoptimering (Direct Weight Optimization, DWO) är en ickeparamterisk systemidentifieringsmetod. DWO bygger på att man skattar ett funktionsvärde i en viss punkt genom en viktad summa av mätvärden, där vikterna optimeras fram. Det faktum att DWO har en inparameter som man måste veta i förväg leder till att man på något sätt vill skatta denna inparameter. Det finns många sätt man kan göra denna skattning på men det centrala i denna uppsats är att skatta inparametern lokalt. Fördelen med detta är att metoden anpassar sig om till exempel systemet ändrar beteende från att variera långsamt till att variera snabbare.

I Sverige tillverkas betong normalt med glaciofluviala grusavlagringar(naturgrus). På senare år har tillgång på naturgrus blivit starkt begränsade i vissa regioner och man vill av miljöskäl minska förbrukningen av det som återstår. Återvinnig av material som kan ersätta detta är både bra av miljöaspekt samt öppnar väg för produktion av betong med nya egenskaper.Med lättballastbetong avses betong i vilken ballastmaterialet helt eller delvis består av någon typ av lättballast som har en partikeldensitet som är markant mindre än vad som är normalt för normala bergartsmaterial såsom granit, gnejs eller kalksten. Lättballast är porös, dvs innehåller hålrum, och får därför lägre hållfasthet än normalballast. I lättballastbetong bestämmer lättballastpartiklarna många av betongens egenskaper, såsom hållfasthet, elasticitetsmodul och krympning.Examensarbetets inledande del är en state-of-the-art rapport som omfattar tillverkning av lättballastbetong i allmänhet, både i färsk och hårdnade tillstånd, samt dess beståndsdelar med fokus på skumglas som lättballast.

Fissurer och odislocerade frakturer hos häst kan ibland vara svåra att upptäcka utan avancerad bilddiagnostik. Det är dock viktigt att diagnostisera dem i tid för att hindra att skadorna förvärras. Röntgen, datortomografi, magnetresonanstomografi och scintigrafi kan ge bra information men metoderna är relativt dyra, inte alltid tillgängliga, innebär en del säkerhetsrisker och kräver erfarna tolkare. Ultraljud är en mobil metod som anses ofarlig men dagens teknik är inte så användbar för att undersöka skelett. Inom industrin har nya ultraljudsmetoder utvecklats som tar hänsyn till olinjära egenskaper hos ljudvågorna.

This report was written as a final thesis within the Department of forest economics at the Swedish University of Agricultural Sciences as a completion of the M.SC Forestry programme. The aim of this study was to create a model that, with respect to given stock levels, temperature, fuel usage and fuel price, would identify the optimal levels for purchase of bio fuels, optimal levels of incineration of bio fuels and the sum of the present values of all costs. The model would be applicable for a larger district heating plant. Data regarding temperature were received from SMHI. Information considering fuel prices was taken from the Swedish Forest Agency and the facts about fuel usage were collected from a large district heating plant, located in the southwest of Sweden. For the temperature, a sinus curve was adapted to describe the temperature over a year.

Efter introduktionen av Eurokoderna har mängden minimiarmering i betongkonstruktioner ökat. Denna ökning beror på skillnader i metoderna som nu används för att beräkna mängden minimiarmering i olika typer av betongkonstruktioner och de som användes tidigare då BKR var den gällande normen. Minimiarmering används i betongkonstruktioner för att omfördela tvångsdeformationer. I detta arbete undersöks om mängden minimiarmering kan minskas utan att dess huvudsakliga funktion går förlorad. I arbetet har ett antal metoder för att beräkna minimiarmering jämförts för att se hur stora skillnaderna i armeringsmängd blir, varför dessa uppkommer och vilka för- och nackdelar som finns med metoderna.