As automation increases in train services, this project resulted in making a driver-less train. The main purpose was to see how security can be increased. By using sensors, today’s technologies and rebuild the stations with walls on the platforms, the safety can increase for the better. This project designs a railway system consisting of a train, boom barriers and a station. The mechanical parts were made from scratch to get the system to work beneficially. The use of Arduino as a micro controller where electrical components could be programmed, became the control of all subsystems. Ultrasonic- and IR-sensors were used to detect if obstructions were located on the rails and to detect the oncoming train at the railway crossing. To increase safety, a wall was built on the platform with doors to prevent people from tracing the tracks. The platform door opened and closed simultaneously with the door on the train. As a result, all subsystems worked well separately. When connecting them with each other, some problems occurred. For example, door operations did not match up to 100 percent, which still was considered approved. The major problem was that the train became too heavy for the motor to drive it properly. As there was no time to implement a larger motor, the solution was to increase the voltage with two 9V batteries connected in series. The project demonstrated that an automated train system is to prefer, given its safety benefits. This model can not be materialized into reality as more sensitive sensors are required and the train systems are built more advanced, both mechanically and electrically.

Electric vehicle chargers and batteries installed on the electrical grid have increased in the recent years. EV-chargers can increase the power needed in the grid while batteries give costumers new possibilities to control their own power consumption. This opens up a new situation where synergy between the utility and the costumers can be achieved. Less maximum power drawn from the grid allows the utility to use the power elsewhere while the costumers pay less for their electrical bill. This master thesis proves that the potential for synergy is good from a technical perspective, both with current electric vehicle charger technology and with future technology that will allow power also can to be fed into the grid and not just drawn from the grid. Although the technical potential is good the practical potential is still limited due to a number of reasons. Currently, the economic incentive for the costumers is too small to justify an investment in batteries so the cost for batteries needs to decrease. Furthermore, the legislative situation is far from optimal with a legal framework that does not encourage batteries in any part of the electrical grid. The legal and technical challenges create a situation that causes further problems with possible business models and all of these problems need solutions in order to stimulate the market for batteries on the electrical grid.

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Enligt lag har renskötare i Sverige rätt att bedriva rennäring på mark som de själva inte äger. Beträffande mark som ägs, eller som tidigare ägts, av staten är rättigheterna mer långtgående och renskötarna får där exempelvis avverka skog för att tillgodogöra sig både virke och bränsle som behövs för rennäringen. När staten säljer mark till enskilda ska Lantmäteriet sedan 30 juni 1992 skriva in en notering i fastighetsregistret för att upplysa om att utökad renskötselrätt föreligger. Studien är en uppföljning av hur denna upplysning hanterats vid förrättningar gjorda i Arvidsjaur, Gällivare och Vilhelmina kommun mellan år 1992 och 2017. Genom att i fastighetsregistret leta reda på och granska utdrag för de fastigheter som staten överfört mark till ämnar studien ge en bild av hur inskrivningsarbetet skötts. Försäljning av statlig mark har främst skett genom det statligt ägda Sveaskog AB. Det härleder ett naturligt urval i form av de marköverföringar som skett från fastigheter ägda av bolaget. Fastigheterna som i sin tur erhållit statlig mark kategoriseras efter om de har inskriven uppgift om utökad renskötselrätt samt efter vem som är lagfaren ägare till fastigheten. Detta avgör om hanteringen har utförts korrekt eller inte. I Gällivare har inskrivning av uppgiften felaktigt uteblivit vid 65 % av tillfällena och inte heller i Arvidsjaur eller Vilhelmina har arbetet utförts korrekt. Resultatet ger också en inblick i förrättningslantmätarnas arbetsrutiner kring hantering av uppgiften. Resultatet visar att de har utvecklat en arbetsmetodik som går längre än vad Lantmäteriets handledande dokument anger. Detta är en av de företeelser som analyseras i studiens resultatanalys- och diskussionsavsnitt. Studien belyser bakomliggande faktorer till varför uppgift om utökad renskötsel kan ha uteblivit. Diskussion förs kring upplysningens tydlighet gentemot fastighetsägare samt hur uppgiften kan omformuleras och förtydligas så att alla ges möjlighet att förstå dess innebörd. De slutsatser som dras är att arbetet sköts olika bra på de respektive orterna, att förrättningslantmätarnas arbetsrutiner bör förtydligas eller införlivas i Lantmäteriets handledning och att lagstiftningen bör ifrågasättas då vi anser att den i vissa hänseenden inte överensstämmer med upplysningens syfte. Studiens konkreta förslag till förändring påvisar hur en tydlig och konsekvent redovisning kan uppnås i framtiden. / Reindeer keepers in Sweden have the right to pursue reindeer husbandry on land that they do not own. That is governed by law. The rights are more extensive regarding land that is now, or formerly was, owned by the Swedish state. The reindeer keepers may for example cut down trees in order to collect wood and fuel needed for their business. Lantmäteriet (the Swedish mapping, cadastral and land registration authority) shall since 30 June 1992 insert a comment in the real property register to inform about the existence of the extensive right of reindeer keeping, actuated when the state sells land to a private owner. The main focus of the study is to investigate how Lantmäteriet has handled the insertion of such information in Arvidsjaur, Gällivare and Vilhelmina municipality between year 1992 and 2017.  By finding and examining transcripts from the real property register on properties which the state has sold land to, the study aims to show how the task has been handled. The sale of land owned by the state has mainly been managed by the company Sveaskog AB. This derives a natural selection consisting of land transfers made from properties owned by that company. The properties that have received land are categorized with respect to whether they have information about the extensive right of the reindeer keepers and to who the owner of the property is. This determines whether the task has been handled correctly or not. The information has been incorrectly left out in 65 % of the insertions in Gällivare and nor in Arvidsjaur or Vilhelmina has the work been done correctly. The result also gives an insight into the working routines of the cadastral surveyors and it shows how they approached the task. They seem to have developed an approach that goes beyond what is written in the guidelines from Lantmäteriet. This is one of the phenomena which is further discussed in the analysis. The study analyzes the underlying factors to why the information is not inserted. A discussion is held about how the formulation of the information could be clarified to make it easier for everybody to understand it. The conclusion tells that the work has been differently managed in the different municipalities. The work routines should be clarified or incorporated into the guidelines from Lantmäteriet and the current legislation should be questioned since we consider that it doesn’t always follow the purpose of the information. Concrete suggestions show how to more comprehensively present the information.

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The purpose of this master thesis is to develop a mobile and accurate positioningsystem used in the industry. The system is sensor-based, consisting of anaccelerometer (on a LSM9DS0 breakout board) and three gyroscopes(L3GD20) aswell as a microcontroller development kit(Teensy 3.5). This thesis project involvestheoretical study and the development of a prototype. In particular, the theoreticalstudy has been concerned with investigation of different positioning methods whichincludes sensor limitations, calibrations, sensor fusion and ways to implement thesemethods in an effective manner.A prototype has been developed that includes an above-mentioned sensor-basedunit and most optimal positioning algorithms. The prototype has been tested, andthe results have shown that the module is able to calculate a position on subcentimeter level accuracy.Suggestions for future work and research have been given, which includeincreasing the sampling frequency by using better gyroscopes, making thealgorithms more dynamic and using external coordinate inputs to increase theduration of usage time.

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Detta examensarbete behandlar hur ett beredningsarbete för ett lokalt lågspänningsnät utförs. TROLK El & Tele AB ska, på uppdrag av Ellevio AB, utföra beredning för att rasera det befintliga luftledningsnätet på ön Åstol utanför Tjörn och ersätta det med ett markbundet kabelnät. Många elnätsägare väljer idag att ersätta sina luftledningsnät med kabelnät då det ger en högre driftsäkerhet och gör nätet mindre väderkänsligt. Ett flertal fältbesök har utförts under examensarbetets gång för att ge en tydligare bild över de omständigheter och förutsättningar som finns kring projektet samt för att upprätta kundkontakt. Vissa ändringar har gjorts i beredningsunderlaget som ett resultat av dessa besök, till exempel ändrades placeringen av ett antal kablar som skulle dras ner för branta sluttningar. Detta hade potentiellt medfört ökad risk för arbetare, samt onödiga kostnader och tidsåtgång. Alternativa lösningar gällande exempelvis placering av kabelskåp har valts som följd av önskemål från boende på ön eller den lokala vägföreningen. Ombyggnationen av nätet omfattar rasering av 1180 meter luftledning och 25 stolpar, dessutom planeras byte av 11 kabelskåp och ombyggnad av en av de två nätstationer som finns inom det aktuella området. Hela arbetet omfattar totalt 59 kunder. En preliminär P2-kalkyl har utförts som i dagsläget visar en kostnad på cirka 1,2 miljoner SEK, men denna kan komma att ändras i framtiden då förhandlingar med olika intressenter fortfarande pågår. / This degree project concerns the different processes involved in the preparatory work for a local low voltage power grid. TROLK El & Tele AB will, at the request of Ellevio AB, conduct preparations to demolish the overhead power lines that make up the existing power grid on the island Åstol off the coast of Tjörn and replace it with an underground cable grid. Today, many grid owners opt to replace their overhead power lines with underground cables as it provides higher reliability and makes the grid less vulnerable to weather conditions. Multiple field visits have been carried out during the course of the project to provide a clearer perception of the circumstances and conditions surrounding the project as well as to establish customer contact. Some changes have been made to the preparation as a result of these visits, for example, the location of a number of cables that would be placed down steep slopes was changed. This would have potentially resulted in increased risk for workers, as well as unnecessary costs and would be time-consuming. Alternative solutions concerning, for example, the location of cable distribution cabinets have been chosen as a result of requests from residents on the island or the local road association. The reconstruction of the grid is encompassed by the demolition of 1180 meters of overhead power lines and 25 utility poles, as well as the replacement of 11 cable distribution cabinets and the rebuilding of one of the two substations located within the area. The entire project affects a total of 59 customers. A preliminary P2 cost calculation has been carried out, which currently shows a cost of approximately 1.2 million SEK, but this may be subject to change in the future as negotiations with various stakeholders is still ongoing.