Abstract: The present invention relates to a method and an arrangement for controlling drilling parameters when rock drilling. The arrangement is arranged such that a drill tool is connectable to a drilling machine by means of one or more drill string components, wherein the arrangement comprises means for rotating the drill tool during rock drilling and for providing a tightening torque for tightening joints between one or more from the group: drill tool, one or more drill string components and drilling machine. The arrangement is arranged to control the rotational speed of the drill tool based on available tightening torque.

Abstract: An arrangement for determining positions of the teats of an animal is provided in a milking system comprising a robot arm for automatically attaching teat cups to the teats of an animal when being located in a position to be milked, and a control device for controlling the movement of the robot arm based on determined positions of the teats of the animal.

Abstract: Each cylinder of a hydrostatic hydraulic machine of the displacement type is preliminarily pressurized after the inlet port of the cylinder has been exposed to the low pressure side of the machine and before the inlet port of the cylinder is exposed to the high pressure side of the machine. The preliminary pressurization is effected by use of a separate pressure chamber containing a pressurized fluid that is rapidly discharged into the inlet port of each cylinder before the cylinder inlet port is exposed to the high pressure side of the machine. The separate pressure chamber is recharged from the high pressure side of the machine at a rate that is slower than the rate at which pressurized fluid is discharged from the chamber into the inlet port of a cylinder.