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.

AbstractParental participation is something that is included in school either we like it or not. Several studies have been done about this phenomena but not many of them have examined the pupils estimation about parental participation. Therefore did we get interested about the pupils situation because why haven?t almost anyone asked the pupils about this phenomena when it?s constructed fore them? To learn more about the pupils estimation did we a questionnaire in twelve different classes with children in the ages between 10-16 years. The results we got from the questionnaire concerning the pupils estimation about parental participation were both expected and unexpected.Keywords: Parental participationQuestionnairePupil estimation.

This Masters thesis work describes a comparison between two different methods for estimation of the down channel (base station to mobile subscriber) in Wide-band Code Division Multiple Access (WCDMA). The first estimation method, Optimal Feed-forward Channel Estimation (OFCE), is a conventional method that bases the estimates on data that is known to both sender and receiver, so called pilots. The second method, Decision Directed Channel Estimation (DDCE), is an elaboration of OFCE. It also uses user data for estimation. Simulations show that DDCE, in comparison to OFCE, does not attain an improvement in signal-to-noise-ratio (SNR) for high bit error rates (BER).

This Masters thesis work describes a comparison between two different methods for estimation of the down channel (base station to mobile subscriber) in Wide-band Code Division Multiple Access (WCDMA). The first estimation method, Optimal Feed-forward Channel Estimation (OFCE), is a conventional method that bases the estimates on data that is known to both sender and receiver, so called pilots. The second method, Decision Directed Channel Estimation (DDCE), is an elaboration of OFCE. It also uses user data for estimation. Simulations show that DDCE, in comparison to OFCE, does not attain an improvement in signal-to-noise-ratio (SNR) for high bit error rates (BER).

This Masters thesis work describes a comparison between two different methods for estimation of the down channel (base station to mobile subscriber) in Wide-band Code Division Multiple Access (WCDMA). The first estimation method, Optimal Feed-forward Channel Estimation (OFCE), is a conventional method that bases the estimates on data that is known to both sender and receiver, so called pilots. The second method, Decision Directed Channel Estimation (DDCE), is an elaboration of OFCE. It also uses user data for estimation. Simulations show that DDCE, in comparison to OFCE, does not attain an improvement in signal-to-noise-ratio (SNR) for high bit error rates (BER). An improvement is only seen when the BER becomes much lower than what is common in real situations. In conclusion DDCE is complicated, involves many mathematical operations and gives insignificant improvement of SNR when BER takes common values. It is legitimate to question if it is possible to use the method in a real mobile phone system..

This Masters thesis work describes a comparison between two different methods for estimation of the down channel (base station to mobile subscriber) in Wide-band Code Division Multiple Access (WCDMA). The first estimation method, Optimal Feed-forward Channel Estimation (OFCE), is a conventional method that bases the estimates on data that is known to both sender and receiver, so called pilots. The second method, Decision Directed Channel Estimation (DDCE), is an elaboration of OFCE. It also uses user data for estimation. Simulations show that DDCE, in comparison to OFCE, does not attain an improvement in signal-to-noise-ratio (SNR) for high bit error rates (BER).

I Kalmar kommun finns en datormodell över hela kommunens vattenledningsnät. Detta examensarbete gick ut på att med datormodellen samt med tryck- och flödesmätningar ge svar på ledningarnas kondition vad gäller råhetstal och eventuella dimensionsminskningar, samt framförallt läckagepotentialen i ledningarna. Målet var att få en så pass välkalibrerad modell att en avvikelse i tryck mellan det uppmätta och det beräknade värdet kunde detektera en flödesförändring, vilket i sin tur kunde bero på ett läckage. Modellen ska kunna användas som ett direkt läckageanalysinstrument. Beräkningsmetodiken som använts är State estimation, som baseras på minsta kvadratmetoden.

This paper presents the results from an osteological method study of the Ringsjöholm fishbone material. Ringsjöholm is located in Scania, southern Sweden and is 14C dated to 5960-5200 B.P. The aim of this paper is to critically analyse methods used on fish bone material in estimations of season. Three different approaches were used to estimate the fishing season at the Ringsjöholm settlement; 1) identified species, 2) size estimations of the pike based on Enghoffs (1994-95) regression formulae of os dentale, and 3) growth rings of the pike vertebrae.The identified species and the size estimations of the pike points to the fishing being active both during spring and summer. Growth rings analysis of the pike vertebrae didn?t give any quantitative results because of fragmentation.

In this master's thesis the problem of determining the uncertainty for an estimator of an unknown parameter is considered. The case we study is the estimation of gravity using a reversible pendulum. This involves the estimation of the point where two regression lines intersect. The estimated gravity is a function the coordinates of this point. One way to determine the uncertainty of this estimator is to use bootstrap methods.

With numerous applications in both military and civilian life, the demand for accurate 3D models of real world environments increases rapidly. Using an airborne laser scanner for the raw data acquisition and robust methods for data processing, the researchers at the Swedish Defence Research Agency (FOI) in Linköping hope to fully automate the modeling process.The work of this thesis has mainly been focused on three areas: ground estimation, image segmentation and classification. Procedures have in each of these areas been developed, leading to a new algorithm for ground estimation, a number of segmentation methods as well as a full comparison of various decision values for an object based classification. The ground estimation algorithm developed has yielded good results compared to the method based on active contours previously elaborated at FOI. The computational effort needed by the new method has been greatly reduced compared to the former, as performance, particularly in urban areas, has been improved.

Liberal theorists typically argue that state action should not favor any particular conception of the good or meaningful life. On this view the defining characteristic of the liberal state is neutrality among rivaling ideas of the good. This thesis argues that state neutrality is impossible to maintain in practice. Two different versions of state neutrality; neutral justification and neutral aims, are used to analyze a wide range of political issues. It is concluded that far from being neutral, the liberal state favors individualistic and market oriented conceptions of the good life.

What role does the state play in economic development? This thesis seeks to investigate the relationship between a strong state and economic development. To define the concept of a strong state I focus on the relationship between the scope of state functions and the efficiency of which these functions are implemented. The concept of a strong state is in this thesis defined as the efficiency of the state functions. By using a database constructed by three economists; David Kaufman, Aart Kraay and Massimo Mastruzzi as a measurement of a strong state I test the relationship with economic development empirically.

When Vladimir Putin in the year 2000 came to power in Russia many believed that the Russian civil society were weak and had very little influence and with Putin people say that the situation have deteriorated. The purpose of this paper is to establish what kind of relationship exists between the Russian state and the civil society and to analyze this from a top-down perspective. We are looking at Russia during Putins first term in office from the year 2000 until 2004. In order to establish the relationship we have used John S. Dryzeks theory of inclusive and exclusive state and whether it?s active or passive in this process.

The three post-communist states - Belarus, Moldova, and Ukraine ? have gone different ways in terms of freedom and democracy since the breakdown of the Soviet Union 1991. During these years, the state and the civil society have been fundamental actors in the struggle against, and even for, authoritarianism.A strong state with great capacity in Belarus has undermined the chances for the civil society to fulfil its task as a watchdog of the state and link between the citizens and the government.Failed authoritarianism in Moldova has led to a situation where both the state and the civil society are weak. The major problem is lack of organization and cohesion; both the state and the civil society have often been divided by ethnical differences and are therefore not strong enough to promote democracy.In Ukraine, the dominance of a strong state ended in 2004 when the Orange Revolution took place, sometimes called a ?peak of democracy? where popular mobilization and protests succeeded in it's opposition against the state.

This paper attempts to survey the debate in the Swedish parliament on state surveillance on the Internet, from 1994 to March, 2007. With a discourse analysis inspired by Foucault, we follow how the idea of state surveillance is viewed by politicians during the period. By focusing on the Internet, we expect to find how politicians in the parliament regard the idea of an unregulated forum for citizen communication and interaction, and how the need for state surveillance on the new arena that is Internet, is expressed and argued for. Theoretical framework is given by Foucault?s theory of the Panoptic state, as well as his thoughts on discourse, power and governmentality.