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Batch high-shear mixers are used in a variety of different processing industries,such as the pharmaceutical, chemical and food industries. One company that utilize this type of mixers is Tetra Pak. High-shear mixers can be used for many different mixing scenarios, but only liquid-liquid mixing is discussed in the thesis. The batch high-shear mixer is constructed with a rotor-stator at the bottom o
A new pharmaceutical product suitable to act as a negative contrast agent for Computerized Scan (CT-scan) of the abdomen is under development. At the moment the product has the form of a powder, which when dispersed in water and whipped, gives a stable foam. The foam is ingested by individuals who are about to undergo a CT-scan, as a prior preparation step. The powder form has disadvantages such a
The aim of this master thesis was to develop adaptive control for a quadrotor using Gaussian process regression (GP). Online regression with GPs can provide many benefits as it is a flexible non-linear regression model that can provide uncertainty measures of the estimate. However, online GP regression may also gives rise to problems. Because of the high numerical complexity of GPs, sparse approxi
This paper undertakes an examination of the concept of international law of jurisdiction to assess the extent to which the Corporate Sustainability Due Diligence Directive (CSDDD) aligns with the principle of territoriality. Since international jurisdiction is based on customary principles, the paper explores the traditional concept of international jurisdiction. It highlights the growing recognit
Palm recognition is a biometric authentication method that uses the unique patterns of the palm for identification. The system requires users to position their hands accurately for biometric data to be captured. This thesis aimed to design an interface that supports accurate hand placement. The design process was conducted in three iterations, each including needs assessment, idea generation, prot
Kidney transplants are the most common type of organ transplant globally. While immunosuppressants targeting the adaptive immune systems have been successful in improving short-term outcomes, the role of the innate immune system is relatively less studied, and has come under attention as a potential driver of the inflammation causing poor long-term outcomes. In this thesis, sparse statistical meth
This thesis evaluates three interest rate models the HW1F, HW2F, and CIR++ from a risk management perspective. Through simulation, we examine their ability to generate realistic yield curves, as well as their impact on exposure metrics and CVA in different market environments. The CIR++ model consistently produces the highest and most conservative PFE estimates while also maintaining calibration
The anterior cruciate ligament (ACL) is the most frequently injured ligament in the knee, mainly due to its role as a primary joint stabiliser. In sports science, non-contact ACL injuries are commonly linked to change-of-direction (COD) manoeuvres, especially in multidirectional team sports. Given the long rehabilitation times and risk of long-term consequences, ACL injury prevention remains a maj
Merging of maps, such as 3D point clouds obtained from Structure-from-Motion or visual SLAM, can enhance robustness and expand covered areas in applications like multi-robot systems or augmented reality. When direct data fusion is difficult, an alternative approach is to align pose trajectories. This work investigates the use of rotation averaging as a method for indirect map merging, especially f
This thesis presents the design and implementation of a web-based simulator, developed to support students in the introductory course in automatic control at LTH. The simulator is meant to serve as a preparatory tool for the laboratories that revolve around two interconnected water tanks, and provides an interactive environment for students to explore system dynamics and PID control prior to atten
Climate change is intensifying globally, leading to rising temperatures. The Arctic being a vulnerable and extreme environment faces an enhanced warming effect, referred to as the Arctic amplification. In this rapidly changing environment, high amounts of carbon (1,460 – 1,600 Pg C) are stored in permafrost. This is four times the amount of carbon being emitted by humans in modern times. Increasin
This thesis investigates how high-level planning principles can be deterministically and algorithmically incorporated into a sampling-based motion planner by modifying the structure of the RRT* algorithm. In particular, the requirement to always end a planned route by a reversing maneuver can be directly imposed through the expansion and connection logic of bidirectional search-trees, rather than
The test-fixture is a device used for testing of electronic circuits in production, that is produced by the Lund based company mikrodust AB. In the test-fixture, cameras are both used for supervision of products-in-testing and in the products themselves. This poses a challenge due to the compact size of the test-fixture and the number of mechanical elements. This thesis aims to investigate how c
The concept of social sustainability is difficult to define and is often perceived as broad. The aim of this thesis is to narrow it down, in a perspective concerning the Right to the City. The thesis also aims to examine how planning for the Right to the City in conjunction with social sustainability, through planning for social mix, might lead to a process of gentrification. The object of the stu
This master thesis has evaluated the possible use of a spray dryer to produce powders suitable for use as inhalants and whether the addition of liposomes to the solution to be spray dried would improve the properties of the powder. The powders created consisted of Lysozyme as model drug, Lactose as filler and stabilizer, and different types of phospholipids to create liposomes using an ethanol inj
When testing for means there are two classical assumptions to be considered, normality and equal variances (equal covariance matrices). Historically more attention seems to be directed towards violation of the assumption of equal variances, which is referred to as the Behrens-Fisher problem, than the assumption of normality. Our attention is equally directed to both the issues. We propose a bootst
Denna rapport redogör för design och utveckling av ett medicintekniskt instrument för diagnos av kronisk obstruktiv lungsjukdom (KOL) eller emfysem. Arbetet utgår ifrån en ny diagnosmetod och ett instrument i form av en funktionell prototyp som används för att testa den nya diagnosmetoden. Med utgångspunkt i den funktionella prototypen har arbetet fokuserats kring att förstå vilka problem och utmThis thesis presents design and development of a medical device for diagnosis of emphysema or COPD by controlled lung deposition of nanoparticles. After purging the lungs with particle free air the subject inhales a controlled aerosol mixture and holds his breath for a determined period of time, before exhaling. The degree of lung disease is calculated by measuring and comparing the concentration
This master thesis is about improving the accuracy of a Gantry-Tau robot by identifying the key parameters in the kinematics of the robot. This is done using a vision system and then estimating the parameters by minimizing the closure equation of the kinematics. The robot with improved control is then used for additive manufacturing. Furthermore, a prototype for a large plastic printer head is pre
