Vi betraktar syntes och grendefekten av fyrlänks-mekanismer utifrån ett bergänsat antal task-positioner, baserat på kinematisk teori härledd från duala kvarternioner. Grendefekten är definierad som situationen där alla specificerade task-positionerna inte är sammankopplade av en kontinuerlig rörelse av mekanismens end-effector. Arbetsområ det av en fyrlänks-mekanism är härlett som snittet mellan tWe consider a finite position synthesis and branching avoidance of four-bar linkages based on kinematic theory derived from dual quaternions. The branching defect is defined as a situation where all specified task positions are not connected by a continuous motion of the linkage end effector. The workspace of a four-bar linkage is derived to be the intersection of two hyperboloids in the kinematic

Ett antal flodskärningar undersöktes längs Logatafloden och dess omkringliggande områden för att ge en ökad förståelse om de senaste istiderna för denna del av världen. De påträffade sedimenten vittnade om en marin miljö efter en isframstöt och därefter en landhöjning som ledde till dagens flod- och tundralandskap. Det finns många teorier angående hur utbredd inlandsisen var över arktiska SibirieA number of sites were investigated in river sections along the Logata River on the Taymyr Peninsula, Russia, and its adjacent areas to shed more light on the glaciation history over the last glacial cycles. The sediments exposed at the investigated sites are correlated and put into a local stratigraphic scheme divided into five main units. Unit 1 is positioned lowest in the stratigraphy and con

The Baltic Sea is one of the most studied seas in the world and has been in the spotlight due to its wide range of environmental problems. Human impact and climate influence on the Baltic Sea is of major concerns. This study aims to reconstruct the environment of the south east coast of the Baltic Sea and also analyze the human impact and climate influence in changing the landscape and its impact

The aim of the thesis is to provide a solution for a new dome camera housing that fits Axis' P33 camera model so that it can be placed on ships. Extensive research is done into the maritime environment, corrosion, surface treatments and the state of Axis' current cameras. Detailed analysis is done regarding aluminum, stainless steel and plastics and their respective manufacturing methods.

De flesta makar och sambor bor tillsammans i en fastighet eller i en lägenhet som de vanligtvis betraktar som deras gemensamma bostad. Inte ovanligt är att fastigheten utgör en lantbruksfastighet eller att någon av parterna bedriver näringsverksamhet i bostaden. För makar och sambor finns i äktenskapsbalken respektive sambolagen ett par skydds¬regler som kan bli tillämpliga vid en separation mellaThe majority of married couples and co-habitants live together in rented or owned accommodation which they usually consider to be their joint property. It is not unusual that the property is an agricultural property or that one half of the couple use the property for business purposes. There are protective provisions in The Marriage Code and also in The Cohabitees Act which are relevant in case of

In today´s society it seems to be increasingly hard to make long-term relationships last. Divorce statistics in Sweden show that almost half of the marriages today end in divorce (SCB, 2012). Why then is it so difficult to make love work? Are we just harder to please, or can the trend be understood on the basis of the modern society we live in, where self-fulfilment and individuality clash with th

During this thesis work, a frequency stabilization system for an External Littrow Cavity Diode Laser (ECDL) at 370 nm has been set up and tested. The goal of the frequency stabilization is to achieve a long term frequency stability of less than ±50 kHz within 8 hours, which will be used for the single Ce ion detection project in the quantum information group. The system design is centered around a

Sepsis is a serious clinical syndrome and one of the most common causes of death. It is defined as a microbial invasion and excessive immune reaction. There is no common cure for sepsis, and mortality in sepsis is high and rises quickly, so it is important to start precise treatment quickly. Sepsis is, however, hard to diagnose, as it has no symptoms specific to it alone, and thus new ways to diag

Metallic hip prosthesis is an implant that gets more common and comes with problems like metallosis (inflammation due to metallic debris). Magnetic resonance imaging (MRI) which is a superior method when imaging soft tissue (compared to other medical imaging techniques) is affected by metal implants and will result in a distorted image. View Angle Tilting (VAT) and Slice Encoding for Metal Artifac

I Sverige är diabetes typ 1 en av de vanligaste kroniska sjukdomarna hos barn. Den största incidensökning finns bland barn yngre än fem år. Övergripande mål för diabetesbehandling är en god metabol kontroll med egenvårdskunskaper som föräldrarna och barnen får i samband med insjuknandet. Syftet med studien var att undersöka föräldrarnas tillfredställelse med vården 6 månader efter att deras barn d

Abstract Type 1 Diabetes is an autoimmune disease characterized by chronic hyperglycemia that results from a selective loss of insulin secreting pancreatic beta cells. The aetiology of T1D often involves both genetic and environmental factors like viral infections. In T1D, insulin is regarded as primary autoantigen that becomes one of the targets of autoimmune attack and is found to be expressed i