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.

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 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.

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.

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.

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.

The goal with our research has been to describe how often and in what way female athletes are represented in the sport section in Sweden?s biggest evening newspaper Aftonbladet. The material we?ve used are the newspapers that we collected during two weeks in 2008, the 3rd of November to the 9th of November and the 11th of November to the 17th of November. We?ve conduced two qualitative researches ? a text analysis and an image analysis ? and one quantitative analysis on our material.

The aim of this study is to analyse and investigate a rather new field of LIS studies, i.e. link analysis which is a part of webometrics. Webometrics has been described as the quantitative study of web based phenomena drawing on bibliometric or informetric methods. Link analysis has its counterpart in citation analysis within the field of bibliometrics. The questions the study investigates are if webometrics can provide LIS with new knowledge and if there is a place for webometric studies in LIS research.

English title: "Motivated system technician wanted" A study of the relationship between two parts in job advertisements". The purpose of this study is to describe the linguistics of job advertisements. The focus is on discursive practice and how the relation between employer and the proposed employee is created through the process of communication in job advertisements. The method concists of two parts: A critical discourse analysis using the three dimensional model for critical discourse analysis by Fairclough and a text analysis inspired by Hellspong & Ledin. 40 job advertisements were examined and the analysis revealed that the majority belongs to the category traditional job advertisement and a minority uses more than one discourse.

The purpose of our essay is to examine if variation exists in the way that auditors try their independence, this so called analysis-model. We will suggest some factors that influence the way auditors practise the analysis-model. The institutional theory predicts no differencies since the normative pressure could be expected to be severe. But we found that among other things people?s qualifications, personalities and audit firm?s size and age influence the way auditors try their independence.

In this thesis I based on Fowler?s method of syntax analysis construct a flow scheme which I then use to make a syntax analysis of former State Secretary Lars Danielsson?s statements, in his autobiography, regarding his responsibility in the Swedish government?s management of the 2004 Indian Ocean tsunami disaster. The focus of the flow scheme is how grammatical constructions can be used in the interest of rhetoric?s to on the syntax (non-explicit) level of the text indicate and place responsibility with or outside of involved individuals. The main conclusion of the syntax analysis performed is that Danielsson in his autobiography in fact does not use very many of the constructions described in the flow scheme, whereby it can be concluded that the syntax analysis in this case wasn?t so ?revealing?.

This essay contains a comparative analysis of Erik Olin Wrights Marxist class analysis and Michael Hardt and Antonio Negris post-Marxist class analysis as presented in their books ?Empire? and ?Multitude: War and democracy in the age of Empire?. I discuss the shift in analytical focus from state level to global level that Hardt and Negri's analysis represent and the ensuing relevance of this for contemporary class analysis. The essay also address the challenge and implications posed to class analysis by the ever increasing economic globalization, from a material production to an ever growing immaterial service economy and the decrease in state power in controlling capital and labor movement. I propose that analytical understanding of class conflict help us to a better understanding of the mechanisms and dynamics that generate social and economical inequalities and that an updated Marxist class analysis still have much to contribute to our understanding to how these issues not only shape our society but also our capacity to counteract them..