The purpose of this report is to evaluate different methods for identifying states in robot models. Both linear and non-linear filters exist among these methods and are compared to each other. Advantages, disadvantages and problems that can occur during tuning and running are presented. Additional measurements from accelerometers are added and their use with above mentioned methods for state estimation is evaluated. The evaluation of methods in this report is mainly based on simulations in Matlab, even though some experiments have been performed on laboratory equipment.The conclusion indicates that simple non-linear models with few states can be more accurately estimated with a Kalman filter than with an extended Kalman filter, as long as only linear measurements are used.

This study aims to provide a picture of how fathers and mothers are produced in judgments regarding child custody and to investigate if any of the parties is aggrieved because of their gender. The material consists of six legal cases. The study is based on gender theory and social construction. It represents a qualitative method where we have used text analysis. The previous research is contradictory as on one hand it shows that there are different criteria related to the parents' gender when it comes to caring for children in both child welfare investigations and the courts.

Ever since the development of the pc and their software, in the early 80´s,architects way of work have changed a lot. Nowadays most of the architectspresent all their works digitally and not with hand drawn material, as they didbefore the pc boom.Digital visualisation technique pushes the limits, when it is about presentingarchitecture projects virtual reality.This report studies how digital visualization technique is used among thearchitects today.Together with architects from ABAKO architect firm in Gothenburg, Sweden,interviews has been made to give answers about what they think about digitalvisualization technique. What are the opportunities, advantages- anddisadvantage with this digital technique?The answers from the architects, together with work that has been done withdigital visualization technique in a project called Project Sofiedal, shows thatthis technique has big opportunities when it comes to create nice looking VRpresentations. The result in this report also shows that this digital technique ismore time demanding compared to hand drawn presentations.The investigation shows that digital visualization technique is a goodcompliment when it is about showing the citizens how future projects willaffect the surrounding.

In order to become even more competitive, a partnering with other niche players is essential in achieving a competitive advantage and it enables opportunities for reintermediation. From an intermediate perspective, there are great possibilities for those who become content coordinators to enter the market. By becoming a bundler of services and products, the content coordinators will become the actors that will capture the most profit in the value web. The value creating drivers that have been identified in the business landscape of intermediates concern owning the content or owning the customer relationship. We find the possibilities of an intermediate actor, such as a content coordinator to achieve competitive advantage through strategic fit is subject to the context and the ability of creating more innovative and co-creative distribution systems.

Instrumental conditioning, the use of reinforcement and punishment, is used when training horses and these procedures may have different consequences regarding animal welfare. The aim of this study was to investigate what kind of reinforcers that are used in training horses and when these reinforcers are used. This study has its focus on positive reinforcement and its advantages and disadvantages. Interviews of five A-level and B -level equestrian coaches about their training methods were conducted to complement the literature search and give a greater understanding to why certain methods are used or not in training horses. The results show that negative reinforcement seems to be the foundation of training horses whereas positive reinforcement is used but not to the same extent.

The purpose of the study, "Living in Two Worlds" is to try to find out how the professionals in social work reasoning and thinking about children 0-3 years living alternate residence and how children 0-3 years are affected by form of housing . Questions are how they professional reasons and think about the type of housing, what advantages and disadvantages they consider are and the conditions under the professional must be satisfied that the child will not get hurt. Study is a qualitative study using semi-structured interviews. The theory that the study is based on the attachment theory explaining the relational processes that occurs between the child and its care person.      The results of this study show that if the parents are in great conflict with each other is important for the child cope with the alternating form of housing well or not.

The youth of today grow up with all the new ways to communicate that new technology provides. A lot of young people chat on the Internet. Adults often lack experience and knowledge about this way to communicate. This is a study of teenagers and adults values and views on teenagers online chatting. It focuses on area of use, meaning and effects on young people.

Ever since the development of the pc and their software, in the early 80´s,architects way of work have changed a lot. Nowadays most of the architectspresent all their works digitally and not with hand drawn material, as they didbefore the pc boom.Digital visualisation technique pushes the limits, when it is about presentingarchitecture projects virtual reality.This report studies how digital visualization technique is used among thearchitects today.Together with architects from ABAKO architect firm in Gothenburg, Sweden,interviews has been made to give answers about what they think about digitalvisualization technique. What are the opportunities, advantages- anddisadvantage with this digital technique?The answers from the architects, together with work that has been done withdigital visualization technique in a project called Project Sofiedal, shows thatthis technique has big opportunities when it comes to create nice looking VRpresentations. The result in this report also shows that this digital technique ismore time demanding compared to hand drawn presentations.The investigation shows that digital visualization technique is a goodcompliment when it is about showing the citizens how future projects willaffect the surrounding.

The purpose of this study is to understand and get increased knowledge about what it means to see artists as brands. What are the typical assets and what kind of advantages and disadvantages are distinctive when it comes to applying a brand perspective on artists. Brands are an important part of our lives today, and the benefit of seeing a company as a brand has made that not only big companies are interested in building brands. Beyond companies even persons now want to become brands. The new perspective in seeing persons as brands is interesting and something that made us curious to investigate.

Background: It has been shown that EDI can yield positive effects within companies. Which effects are possible for a company to direct assign to the introduction of EDI and is it possible to estimate the total effect.Purpose: The purpose of this study is to estimate and analyze the effects of using EDI in electronic business. We also want to contribute with a model for measure and estimate the effects of EDI.Accomplishment: We have studied literature concering EDI and realized a preliminary studie in form of interviews with experts to establish deeper knowledge of EDI. We have also tried to estimate the effects obtained in companies in three different businesses, power, government and transport industry.Result: To obtain as good effects as possible it is important that the co- oporation is built on trust and engagement. Before implementing the EDI-system a thorough overhaul of the processes in the company should be done, involving both the top managers and the staff.

The purpose of this Masters thesis is to compare classification codes and feature headings of three different universal classification schemes SAB, UDC and DDC, when classifying archaeological literature. The aim is to determine whether a subject analysis of a title generates similar feature headings in the three systems, and to find positive and negative things about each system from an archaeological point of view. The comparison and the analysis of the 22 chosen archaeological monographs showed that the subject analysis of the titles didnt always generate similar feature headings. This could depend on several things, for example different interpretations of the subject analysis of a document, less knowledge about the system and/or the subject, or the fact that its not the same classifier that creates the codes. The study also showed that the different classification systems did treat the subject archaeology a bit differently, and that its difficult to say that one of them is better for classifying archaeological literature.

The purpose of the study, "Living in Two Worlds" is to try to find out how the professionals in social work reasoning and thinking about children 0-3 years living alternate residence and how children 0-3 years are affected by form of housing . Questions are how they professional reasons and think about the type of housing, what advantages and disadvantages they consider are and the conditions under the professional must be satisfied that the child will not get hurt. Study is a qualitative study using semi-structured interviews. The theory that the study is based on the attachment theory explaining the relational processes that occurs between the child and its care person.      The results of this study show that if the parents are in great conflict with each other is important for the child cope with the alternating form of housing well or not.

The increased specialisation and complexity in products and services has created the need for Swedish companies to focus more on their core businesses. This has resulted in them opting to buy services and products that lie outside of their core business from consultancy businesses or other types of suppliers. When companies describe their offers in internal and external marketing it is done often in terms of company or service attributes that are not based on customer value or offered value for the customer. The reason for this is that companies have not adapted their services to the different needs of their customers. As a result of this, they run the risk of offering the same services as their competitors and communicate values that the customers either do not understand or experience as value adding.

One important issue faced by companies is to secure their information and resources from intrusions. For accessing a resource almost every system uses the approach of assigning a unique username and a password to all legitimate users. This approach has a major drawback. If an intruder gets the above information then he can become a big threat for the company and its resources. To strengthen the computer security there are several biometric methods for identity verification which are based on the human body?s unique characteristics and behavior including fingerprints, face recognition, retina scan and signatures.

The purpose of this paper is to examine the three main translation methods used in experimental Cross-language Information Retrieval CLIR research today, namely translation using either machine-readable dictionaries, machine translation systems or corpus-based methods. Working notes from research groups participating in the Text Retrieval Conference TREC and the Cross-Language Evaluation Forum CLEF between 1997 and 2000 have provided the main source material used to discuss the possible advantages and drawbacks that each method presents. It appears that all three approaches have their pros and cons, and because the different researchers tend to favour their own chosen method, it is not possible to establish a "winner approach" to CLIR translation by studying the working notes alone. One should remember however that the present interest in cross-language-applications of information retrieval has arisen as late as in the 1990s, and thus the research is yet in its early stages. The methods discussed in this paper may well be improved, or perhaps replaced by others in the future..