<p>Dagens robotindustri har som mål att bygga billigare och lättare robotar, vilket ger allt vekare robotar. Denna rapport studerar identifiering och reglering med en extra armsensor – accelerometer – på en flexibel industrirobot. Studien har skett både simulerat och experimentellt på en industrirobot.</p><p>Vid identifiering med accelerometer befinner sig accelerometern i ett roterande koordinatsystem. Denna rapport presenterar en kompenseringsalgoritm för att transformera signalerna från det roterande koordinatsystemet till ett rumsfast koordinatsystem.</p><p>I denna rapport presenteras regulatorstrukturerna I-PID, II^2-PID och LQG, vilka alla återkopplar motorvinkel och armvinkelacceleration. Som referens har PID-regulator med endast motorvinkelåterkoppling använts. Simuleringsmässigt studeras regulatorerna både på ett fyrmassesystem och på en treaxlig modell av roboten. Vid reglering av fyrmassesystemet ger LQG-regulatorn bäst prestanda med avseende på minimerande av överslängar och insvägningstid. Vid reglering av den treaxliga modellen uppkommer endast små skillnader mellan reglermetoderna. Experimentellt studeras endast I-PID-regulatorn, beroende på dess enkelhet i strukturen och den lilla prestandaskillnaden simulerat mot övriga regulatorer. Experimenten visar att prestanda (minskade överslängar och insvägningstider) förbättras vid användandet av en I-PID-regulator istället för PID-regulatorn och att I-PID-regulatorn har robust prestanda med avseende på modellvariationer i framkopplingsmodellen och robust stabilitet när återkopplingsförstärkningen kan ökas utan att instabilitet uppstår.</p> / <p>One of the goals for robot industry today is to decrease expenses of material, which makes more flexible robots. This thesis studies identification and control with an extra arm sensor – accelerometer – on a flexible industrial robot. The results are both from simulations and experiments of an industrial robot.</p><p>In identification the accelerometer is in a revolving coordinate system. An algorithm of compensation for transforming the signals in the revolving frame to the base frame is presented.</p><p>The introduced regulators I-PID, II^2-PID and LQG will be used, which all feedback motor angle and arm angle acceleration. A PID-regulator with only motor angle feedback has been used as reference. The regulators are simulated on a fourmass-system and on a three axis model of the robot. In control of the fourmass-system the LQG-regulator gives the best performance, according to minimized overshoots and settling times. In control of the three axis model only smaller differences appear. Experimental is only the I-PID-regulator studied, because of its simple structure and simulated small differences of performance with respect to other regulators. The experiments show that the I-PID-regulator has better nominal and robust performance (minimized overshoots and settling times) compared to the PID-regulator.</p>

<p>The aim of this thesis is to improve the control of urea injection at the combined power and heating plant Framtidens Gärstad (FTG). Tekniska Verken i Linköping AB is the owner of the plant.</p><p>The FTG plant consists of a boiler where garbage combustion is done. From the combustion nitrogen oxides are emitted. These nitrogen oxides are hazardous to the environment. To reduce the nitrogen oxides, injection of urea into the boiler is used. Urea is an organic compound of carbon, nitrogen, oxygen and hydrogen. When urea reacts with nitrogen oxides they transform into harmless nitrogen gas and water. In the plant the urea is injected by six lances.</p><p>The control of the urea injection at FTG could be improved which would save some money for the company. This is the main reason for the aim of this thesis. It is the control of the total flow of urea to the lances that is studied in this work.</p><p>Some literature about reduction of nitrogen oxides is studied, especially reduction using urea injection. There are a lot of factors that affect how good the reduction becomes. The most important factors are the amount of urea being used and the temperature of the flue gases where the reaction with urea takes place. A model with these two factors as inputs and the content of nitrogen oxides as output is derived. This is done with experiments in the boiler and system identification. The system is modelled as a linear system.</p><p>The proposal about the improved control uses the temperature from a temperature measurement just below the urea injection in the boiler. This is a parameter that the existing control does not use. The temperature is divided into three intervals. For each interval different parameters for the function of the system and the nitrogen oxide controller are used. The nitrogen oxide controller in the proposed control is derived with help from a new method of controldesign called AMIGO.</p><p>The identification models gave good results in two of the temperature intervals. The result for the third interval was not so good. This is probably due to lack of good data.</p><p>The proposed control structure could for practical reasons not be tested online but preliminary tests using measurement data gave qualitatively reasonable results.</p><p>In order to improve the results temperature dependence has to be treated more systematically.</p>

<p>This study examines the effects of credit risk and information disclosure in the new bank regulating system Basel II on bank and bank customer. The effects are then discussed in a perspective of the economic man and information asymmetric theories. Furthermore is the Basel II effects on the capital adequacy of Andelsbanken för Åland examined.</p><p>The approach of the study is qualitative and several interviews with individuals on different levels of the examined bank, Andelsbanken för Åland, have been carried out during the collecting of empirical facts about the effects of the regulating change from the Basel I system to Basel II.</p><p>The research findings are as follows:</p><ul><li>Andelsbanken för Åland have increased its capital adequacy ratio from 12,7 percent to 14,4 percent, mostly due to lower risk weights on housing mortgages compared to Basel I. </li><li>Andelsbanken för Åland have started to use a completely new credit risk and customer assessment system which classifies every customer and gives them a credit rating. The system cause a much heavier information gathering of the customers profile as well as a much better assessment of risk than the previous system, which the bank finds positive. The new system also cause differentiated pricing on loans. Additionally it has contributed to a renovation of the bank. The bank has also started to publish more information about its risk-taking and management. </li><li>Bank customers have to release much more information about themselves and their life, economically as well as personally during a more extensive interview in the credit process. The differentiated pricing cause interest rates to differ based on the customers rating. As an effect of the higher disclosure of bank information, customers can better compare banks. This effect is of greater importance for the bank customers that have depositions in excess of the government deposit assurance. </li><li>The new credit risk and customer assessment system is a rational development due to the new Basel II-rules. Without these rules the development wouldn’t have been rational due to high costs and the traditional pricing of loans. The higher disclosure on risk taking and management cause incentives for the bank to handle these better. </li><li>Bank customers today have higher incentives to better mange the aspects that are included in their rating due to the differentiated pricing on loans. Furthermore they, especially them with depositions in excess of the government deposit assurance, have greater incentives to compare banks due to the higher disclosure of bank information. </li><li>The more extensive information gathering of the customers profile as well as the higher disclosure of bank information have lowered the level of asymmetric information in the banks process of credit granting and the customers choice of bank, making these two more effective. </li></ul>

<p>The purpose with this essay is to examine if the Swedish government’s intentions regarding to the mental health care reform, have been fulfilled. We have classified the intentions into three categories, regulation, financing and responsibility for organizing the policy. The intentions have then been compared with the results of the reform.</p><p>Our theoretical framework starts with a model, developed by Evert Vedung (1998). We use this model as a tool to examine the fulfillment of the mental health care reform. A very important part in the Swedish mental health care reform, are the skeleton laws. The study therefore also gives a presentation of advantages and disadvantages with skeleton laws.</p><p>The result of the study shows that the intentions of the Swedish government have not been fulfilled in the process of implementation. Partly it is because the skeleton laws are vaguely formulated. This can be one explanation for failure. The conclusion of this essay stipulates that the regulation and the responsibility for organizing the policy need to be further specified and explained. Nevertheless the Swedish government’s intention of financing has been succeeded.</p><p>Keywords: LSS, skeleton laws, mental health care reform, responsibility for organizing the policy</p>

This thesis consists of two parts. The first part includes two essays that deal with the pharmaceutical market, and one essay that looks at strategic incentives that arise in optimal treatment involving untried drugs. The second part, consisting of two essays, examines some implications of altruism. Part I: Two of the essays (joint with Mats Ekelund) are empirical studies of the pharmaceutical market in Sweden. We consider all New Chemical Entities (NCEs) introduced in Sweden between 1987 and 1997. In the first essay, we examine drug pricing in the price regulated Swedish market and compare the results with a previous study of the US market, where no such regulation exists. Similar to the US study, we find that relative launch prices are positively correlated with the degree of therapeutic advance. In contrast to the US study, the presence of substitutes has a negligible effect on both launch prices and price dynamics. In the second essay, we consider the empirical relation between therapeutic advance and market shares. We use a model of horizontal and vertical product differentiation to derive a hypothesis that is tested on the NCE data. Vertically differentiated drugs on average gain larger market shares and command higher prices than horizontally differentiated drugs. Moreover, as a general rule competing substitutes have less influence on the former than on the latter. In the third essay, we develop a simple model of strategic interaction in which two agents learn about a common payoff relevant parameter. The motivating example considers two physicians who choose between two treatments, one of which has an unknown success rate. The physicians learn about the unknown treatment by prescribing it (experimenting). We contrast two information scenarios, one in which the physicians can observe the outcomes of their own treatments only, and the other in which they also can observe the outcomes from the other physician’s treatments. The pure equilibria entail an efficient amount of experimentation in both scenarios. However, strong free riding effects arise in the latter case. These are likely to cause Pareto dominated outcomes in which learning is completely thwarted. Part II: The fourth essay (joint with Jörgen W. Weibull) examines the behavior on insurance markets in a large economy when individuals have altruistic concerns for others’ welfare. The main question we address is whether strategic incentives to free ride on others’ altruism can cause insurance market failure. We also study the interaction between altruism and the adverse selection effects that arise when there is asymmetric information about the individuals’ loss probabilities. We find that if the individuals differ in their risk, and if the individual risks are observable by insurers, the degree of altruism must be (perhaps unrealistically) high in order to cause market failure. A more complex pattern is found in the case of asymmetric information: low levels of altruism increase the number of equilibria (compared to the case without altruism), while high levels of altruism cause complete market failure. The fifth essay (joint with Magnus Johannesson) also considers behavior consistentwith preferences for others’ welfare. We are concerned with how subjects allocate moneybetween themselves and others in a dictator game experiment. Deviations from the standard game theoretic prediction of the outcome in this game have been observed in numerous experiments. One possible explanation for this behavior is that individuals have altruistic concerns for others; another explanation is that individuals are motivated by reciprocity. We perform a standard double blind procedure and another design in which anonymity is guaranteed between dictators and recipients, thus removing any remaining reciprocity from the standard procedure. We could not reject the null hypothesis of no difference between the experimental groups in the two procedures. We interpret this finding as evidence of other-regarding behavior not motivated by reciprocity. / Diss. Stockholm : Handelshögskolan, 2001

Managementkonsulter talar om för andra vad de bör göra. Men de som försökt sätta regler för konsulterna själva har hittills misslyckats. Trots att det moderna samhället utmärks av ett ökande antal regler har konsulter än så länge lyckats komma undan regler för sin verksamhet. Den här boken bygger på flera empiriska studier av svenska managementkonsulters förhållningssätt till regler och av misslyckade försök att reglera konsulter och konsultation. Studierna belyser fundamentala aspekter av regler, regelsättande och regelföljande. I boken diskuteras viktiga frågor som: Hur gör man för att undkomma regler? Kan vem som helst och vad som helst regleras? Vad förväntar vi oss egentligen av ”riktiga regler”? Innehåll: I regelexplosionens gränsland ; Undflyendet på spåren ; Strategier för att undkomma regler ; Konsulter om regler ; Den ideala regeln ; Den undflyende konsult(ation)en ; Den ambivalenta regelsättaren ; En regelmotståndares drömregel ; Ett undflyende regelmotstånd Susanna Alexius är forskare vid Handelshögskolan i Stockholm och Score / Diss. Stockholm : Handelshögskolan, 2007

This study examines the effects of credit risk and information disclosure in the new bank regulating system Basel II on bank and bank customer. The effects are then discussed in a perspective of the economic man and information asymmetric theories. Furthermore is the Basel II effects on the capital adequacy of Andelsbanken för Åland examined. The approach of the study is qualitative and several interviews with individuals on different levels of the examined bank, Andelsbanken för Åland, have been carried out during the collecting of empirical facts about the effects of the regulating change from the Basel I system to Basel II. The research findings are as follows: Andelsbanken för Åland have increased its capital adequacy ratio from 12,7 percent to 14,4 percent, mostly due to lower risk weights on housing mortgages compared to Basel I. Andelsbanken för Åland have started to use a completely new credit risk and customer assessment system which classifies every customer and gives them a credit rating. The system cause a much heavier information gathering of the customers profile as well as a much better assessment of risk than the previous system, which the bank finds positive. The new system also cause differentiated pricing on loans. Additionally it has contributed to a renovation of the bank. The bank has also started to publish more information about its risk-taking and management. Bank customers have to release much more information about themselves and their life, economically as well as personally during a more extensive interview in the credit process. The differentiated pricing cause interest rates to differ based on the customers rating. As an effect of the higher disclosure of bank information, customers can better compare banks. This effect is of greater importance for the bank customers that have depositions in excess of the government deposit assurance. The new credit risk and customer assessment system is a rational development due to the new Basel II-rules. Without these rules the development wouldn’t have been rational due to high costs and the traditional pricing of loans. The higher disclosure on risk taking and management cause incentives for the bank to handle these better. Bank customers today have higher incentives to better mange the aspects that are included in their rating due to the differentiated pricing on loans. Furthermore they, especially them with depositions in excess of the government deposit assurance, have greater incentives to compare banks due to the higher disclosure of bank information. The more extensive information gathering of the customers profile as well as the higher disclosure of bank information have lowered the level of asymmetric information in the banks process of credit granting and the customers choice of bank, making these two more effective.

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. Then a test rig was built with a robot arm and sensors, identical to the ones mounted on the real machine from DeLaval. The different parameters of the nonlinear model were then tuned and validated against data from the test rig to make sure that the model is correct. After that the nonlinear model was linearized for a closer analysis of the parameters that seemed to have an apparent effect on the system behaviour. The result of the analysis showed that the probable cause of instability is a decrease of the viscous friction, which gives worse damping characteristics. It was more suitable to base the controller parameters on the valve opening instead of the working point for the robot arm, since the gain in the valve increases with increasing valve opening. To avoid deterioration in phase margin because of the increased gain, the controller is adjusted so that the total gain is the same regardless of valve opening. The result is a system with larger bandwidth, less sensitive to changes in the viscous friction.

Baselregelverket är en samling rekommendationer och riktlinjer som syftar till att skapa global finansiell stabilitet. Det gällande regelverket, Basel II, riktar sig till kreditinstitut och andra värdepappersbolag i de länder som har valt att införliva regelverket i nationell lag. Basel II införlivades i svensk rätt i början av 2007 och därmed har regelverket blivit bindande för svenska banker.   Basel II stipulerar att banker ska använda internt utvecklade modeller för att utvärdera risk och kapitaltäckning samt fastställer att denna utvärdering ska användas för beslutsfattande i den dagliga verksamheten. Regelverkets krav har bland annat resulterat i ökad bolagsstyrning då utvecklandet av strategier och kontrollsystem för sådana typer av riskmodeller är något som sker på hög organisatorisk nivå, vid bankens huvudkontor. Problematiken i detta är att implementeringen av ett regelverk som influerar bankens organisationsstruktur blir en svårhanterlig fråga och får stor inverkan på arbetet för anställda med operativa befattningar.    Denna studie syftar till att genom åtta semistrukturerade intervjuer med anställda på operativ nivå vid fyra svenska banker skapa insikt i vilket inflytande regleringar, som Basel II, har på motivation i arbetet. Fynden indikerar att regleringar som medför förändring i arbete på operativ nivå kan influera motivationen om de anställda inte förstår syftet. Utifrån de anställdas uppfattningar kan vi påvisa att kommunikation och ledarskap spelar en avgörande roll för hur anställdas kommer uppleva sådana regleringars inverkan. Med avseende på detta resultat görs tolkningen att kommunikation och ledarskap bör anpassas utifrån de anställdas tidigare erfarenheter och kunskaper för att inte förändring i arbetet ska ge upphov till otillfredsställelse på grund av bristande förståelse. / The Basel Accords are a collection of recommendations and regulations aimed to establish a global financial stability. Basel II is directed towards credit institution and investment firms in those countries that have chosen to incorporate the regulations in national law. In Sweden the Basel II was incorporated in the Swedish law at the beginning of 2007, and since then the Basel II has became binding for the Swedish banks.   Basel II stipulates that banks must use in-house developed models to evaluate risks and capital requirement, and defines that the evaluations must be used in decision making in the daily work. The requirements defined by the regulations increase the corporate governance since the development of strategies and control systems for such risk models is done on a high organizational level, at the bank’s head office. The dilemma in this is that the implementation of the regulation, which influences the organizational structure of the bank, becomes a difficult question to manage, and it delivers a huge impact on the employees with operative tasks.   Through eight semi-structured interviews with employees with operative tasks at four Swedish banks, it is the purpose of this study to create an insight into what influence regulations, such as Basel II, have on the motivation at work. The findings indicate that regulations, which bring changes to work on operative level, can affect the motivation if the employees do not understand the purpose. Based on the views of the employees we can show that communication and leadership play a decisive role for how the employees will experience the influence of such regulations. Regarding this result the interpretation is that communication and leadership should be based on the employees’ previously experiences and knowledge, to prevent that change in work will cause dissatisfaction because of defective understanding.

Denna rapport behandlar utveckling av en tvåhjulig balanserande robot. En PID-regulator är implementerad i en mikrokontroller, som även AD-omvandlar en sensorsignal, samt styr motorer via H-bryggor med pulsbreddsmodulering. I rapporten förklaras framtagning av diskret PID-regulator, processorkort, motorkort, val av komponenter och sensor för att mäta robotens vinkel mot ett vertikalplan. Roboten kan balansera stillastående, men behöver kompletteras ytterligare med hjulåterkoppling för att kunna balansera medan den kör. Roboten balanserar med mätdata från en mekanisk golvavkännare (potentiometer). Andra sorters sensorer diskuteras också, t ex accelerometer, gyro och optisk sensor. / This report explain the development of a two wheel balancing robot. A PID-regulator is implemented in a microcontroller, which also AD-converts a sensor signal, and generate pulse width modulated signals to drive H-bridges. It is discussed how to develop a discretisized PID regulator, microcontroller and H-bridge circuit boards, as well as how to chose components and suitable sensors for measuring the robots angle against a vertical plane. The robot is able to balance on its own when standing still, but it need to have feedback from its wheel position if it should be able to maintain balancing when moving. The robot use a mechanical floor feeler (potentiometer). Other sensors are also discussed, e g accelerometer, rate gyro and optical sensor.