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Detta examensarbete fokuserar på PLC-programmering av en loggningsfunktion med structured text för HKM-robot. Syftet var att skapa en förbättrad och användarvänlig lösning för loggning av meddelanden på olika nivåer, inklusive trace, debug, info, error och warn för att underlätta övervakning och felsökning av PLC-program för HKM-robot. Genom en systematisk metodik och analys av befintliga loggfunkThis thesis focuses on the PLC programming of a logger function using structured text for the HKM robot. The aim was to create an improved and user-friendly solution for logging messages of various levels, including trace, debug, info, error and warn, to facilitate monitoring and debugging of PLC programs for the HKM robot. Through a systematic methodology and analysis of existing logging function

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Issue of study: Consumers interact with primary food packaging and the refrigerator on a daily basis, although the interaction and impact food packaging has on the design of refrigerators is not clear. The Swedish home appliances company Electrolux, manufacturer’s refrigerators with the consumer needs in mind. The food packaging market is diversified in terms of formats, dimensions, functions and

Computer supported gaming is an accepted methodology for the training of decision makers on several levels in crisis management. Commonly these tools are focused on two levels of training. One of them is training managers and leaders as if they had to do everything themselves, like training a general as a tank driver or a gunner, or a politician taking care of a car fire. The other level is aimed

Porous media can be characterized by studying the kinetics of liquid rise within the pore spaces. Although porous media generally have a complex structure, they can be modeled as a single, vertical capillary or as an assembly of such capillaries. The main difficulties lie in separately estimating the effective mean radius of the capillaries and the contact angle between the liquid and the pore. In

Kernel density estimation is an important tool in visualizing posterior densities from Markov chain Monte Carlo output. It is well known that when smooth transition densities exist, the asymptotic properties of the estimator agree with those for independent data. In this paper, we show that because of the rejection step of the Metropolis-Hastings algorithm, this is no longer true and the asymptoti

A celebrated theorem in operator theory is A. Beurling's description of the invariant subspaces in $H^2$ in terms of inner functions [Acta Math. {\bf81} (1949), 239--255; MR0027954 (10,381e)]. To do the same thing for the Bergman space $L^2_a$ has been deemed virtually impossible by many analysts, in view of the fact that the lattice of invariant subspaces is so large, and that the invariant subsp

The Advanced Resource Connector (ARC) or the NorduGrid middleware is an open source software solution enabling production quality computational and data Grids, with special emphasis on scalability, stability, reliability and performance. Since its first release in May 2002, the middleware is deployed and being used in production environments. This paper aims to present the future development direc

The demonstration of switches and logic devices made purely from carbon nanotubes, without the need for an external gate, puts nanotubes at the forefront of next-generation electronics.

An analysis of the backscattering data for the Schrodinger operator in odd dimensions n3 motivates the introduction of the backscattering transform [image omitted]. This is an entire analytic mapping and we write [image omitted] where BNv is the Nth order term in the power series expansion at v=0. In this paper we study estimates for BNv in H(s) spaces, and prove that Bv is entire analytic in vH(s

The existence of traveling waves for the original Whitham equation is investigated. This equation combines a generic nonlinear quadratic term with the exact linear dispersion relation of surface water waves on finite depth. It is found that there exist small-amplitude periodic traveling waves with sub-critical speeds. As the period of these traveling waves tends to infinity, their velocities approac

The PHANToM är en uppfinning från MIT, Massachussets Institute of Technology, som möjliggör kommunikation mellan en människa och en dator med hjälp av känsel. The PHANToM är utvecklad som ett allmänt känselgränssnitt. På CERTEC har vi sett möjligheten att

This paper gives a short review of the most requirements for the concrete to be used for the 3.510 m long immersed tunnel from Amager (outside Copenhagen Airport) to an artificial double island south of Saltholm (in the middle of Oresund). The basis for the requirements is shortly commented.

We study the origins of support for gender-related affirmative action (AA) in two pre-registered online experiments (N = 1, 700). Participants act as employers who decide whether to use AA in hiring job candidates. We implement three treatments to disentangle the preference for AA stemming from i) perceived gender differences in productivity, ii) beliefs about AA effects on productivity, or iii) ot