The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

Kärnkompetens kan ses som en av de mest centrala delarna av ett företag och insikt i detta är vad som bidrar till tillväxt, dominans och mästerskap. Vi likställer i denna uppsats kärnkompetens med överlägsen förmåga eller överlägset kunnande. I detta arbete försöker vi utreda vad som är Apotekets kärnkompetens. Med hänsyn till vad som definieras som Apotekets kärnkompetenser undersöker vi dessa närmare för att kunna prognostisera effekterna av den stundande omregleringen.Vi har genom att granska Apoteket och genomfört intervjuer på ledningsnivå identifierat tre möjliga kärnkompetenser:?    Den farmaceutiska kompetensen i kundmötet?    Kompetensen bakom kvalitetssäkringen av Apotekets egna varumärken?    Apotekets varumärkeSlutligen diskuterar vi vilka effekter omregleringen kommer att ha på de tre kärnkompetenserna som vi identifierat.

Introduction:Corporate limits becoming more diffuse due to the globalization taking place and requirements for analytical strategies are becoming more fundamental parts of organizations. Business Intelligence systems are hot and not without reason, today's world is spinning faster and with a flow of information that is constantly increasing Business Intelligence promises to introduce a support that will render a better decision-making, something that everyone wants.Problem Discussion:The local government business has today demands from the Swedish School-inspection to analyze and create adequate target images to the school and students meet curriculum goals and guidelines. Therefore, local government activities has increasingly begun to implement Business Intelligence tools, with the purpose to facilitate strategic and operational decisions were the result plays an increasing role in today's society.Purpose:This study evaluates how the analysis tool Qlikview fulfills the function of monitoring and controlling the improved student achievement in public schools.Method:The evaluation has been conducted qualitative interviews with staffs that have leadership positions in each municipality and management and possess a deep knowledge of the analysis tool and its processes.Conclusion:The evaluation has shown positive effects on the monitoring and control of student performance through better control of school operations..

The purpose of this study is to explain how shame can be experienced by women with the stigmatizing illness of alcoholism. Another aim is to illustrate how this shame can be affected in social interaction with others and by other circumstances. The following questions will be highlighted in this essay: How can shame be experienced by female alcoholics? What can affect shame in interaction with other people, from the view of female alcoholics? What other circumstances can affect the shame, from the view of female alcoholics?This study features interviews with women who have successfully gone through the process of rehabilitation from the illness of alcoholism, have a long going and stable sobriety and arecurrently part of the work force. The study also features interviews with therapists specializing in the field of addiction recovery and have considerable experience in their fieldof working with women suffering from alcoholism.The subject matters shame and stigma form the theoretical/analytical tools for this research.

The purpose of this qualitative study has been; how social bonds are interlaced between thesocial worlds contained within the analytical division of ?outside Internet? and ?withinInternet?. What happens with the social bond as the individual oscillate between this analyticbisection? This purpose raises important questions of the use of Internet in everyday life.A new stance is taken toward studying the Internets integration into everyday life. The focusis adjusted to the importance of emotions.

This report deals with activities that from a CSR perspective are considered to create a shared value for a medium-sized construction company in Sweden. The CSR definition used in the report is the European Commission?s since it reflects the valuecreating aspects of CSR, in contrast to the traditional philanthropic aspect of CSR.Companies in the building construction industry have difficulties identifying activities that create value in society and in the company. The aim with the project is to, from a CSR perspective, identify and evaluate value creating activities in a building construction company. The activities will be evaluated with respect to competitiveness and how they can be implemented into an organization.

AbstractTime after time the world is struck by humanitarian catastrophes, whether it is through a war or a natural disaster. Therefore, it is of utmost importance to have a functional and effective aid, as it is a matter of life and death. Thereby the actions of the humanitarian aid organizations are interesting. The investigation treats the three specific organizations Star of Hope, Sida and the Red Cross movement and the process from decision to action in times of war. The organizations are different from one another in many areas.

The crisis on Wall Street. This essay is a comparative study of how two business newspapers report on the bankruptcy of Lehman Brothers Holdings in September 2008. Seven articles from the Swedish European financial newspaper Affärsvärlden (Business World) and five articles from the Chinese-Asian news agency XINHUA FINANCE are examined. The aim is to analyze, understand and evaluate from a rhetorical perspective. My thesis is that rhetors storytelling can tell us more about how we cope with crisis in the global economic discourse. The texts can portray man as a narrative creature when identification as a rational actor is not enough. The analytical methods used are linguistic analysis with an emphasis on metaphor analysis, narrative analysis based on pentad - Critical dramatism, and discourse analysis with doxological outlook. The results show that both newspapers seek to defend the global economic discourse, but they do so in different ways. Affärsvärlden advocates calmness and conveys a cautious attitude. The heart of the crisis, as well as its solution, is on Wall Street. XINHUA advocates control and expresses confidence in authorities and the system. Asia is presented as Wall Street's savior..

Background: Brand strategy tends to become an important management issue. It is therefore interesting to reach a greater understanding about how companies work to make their existing brands stronger. The purpose of a brand is to influence the customers? view of the brand image. The literature is insufficient concerning how leaders handle the process of repositioning a brand, in order to change the brand image.

BACKGROUND: One of the nurse?s areas of responsibility is to relieve suffering. Research has shown that nurses give an indication of an emotional load in the interaction with dying patients. This means that patients need of relieved suffering gets disregarded because of nurse?s fear of the unknown.

The persecution of the Rohingya Muslim minority population in southwestern Burma has come to the fore in recent years. The aim of this study is to first analyse the degree and respects of biopolitical control in the case of political oppression. Secondly, the aim is to compare the similarities and differences when it comes to the causes, mechanisms and expressions of the two theoretical starting points in the case.Giorgio Agamben´s biopolitical theory, which tries to reconnect state control over life and death with modernity, forms the basis of the analysis. Will Kymlicka´s liberal theory on minority rights serves as a theoretical comparison tool. Methodological starting points to the specific bilateral purpose will be both of the textual and discursive analytical tradition.

This paper contains an analysis that sets out to investigate how sustainable development is portrayed in textbooks used in gymnasium level civics education. The study covers three textbooks, all in current use. The paper sets out to explore the relationship between the books chapters on economics and those about environmental issues. The sum of these two parts is in the context supposed to make up the books big picture of green sustainable development, i.e. the ecological aspect of sustainable development. An analytical model will be used to categorise and compare the three textbooks.The method chosen for this is analysis of ideas by use of ideal types.

Today, the catering personnel are an essential part of the safety organization on board Swedish passenger vessels in ferry services. Their responsibilities for the safety on board have increased in connection with the changes in regulations made on the shipping industry. These changes have been mostly related to human factors and structural leadership in the last 25 years.A well-functioning safety organization requires competence and commitment from every individual. Previous researches on Swedish passenger ferries concerning the safety organization have raised issues regarding the catering personnel?s perception of the safety on board.

Engelfors Trilogy is a three-part fantasy novel consisting of Circle, Fire and The key, written by Mats Strandberg and Sara Bergmark Elfgrens. Circle was nominated for the August Prize award 2011, which is a literary prize awarded each year. The book has also been translated into 25 different languages. Fire came out in August 2013 and is the part of the novel that I will concentrate on in these theses. What I will do in this paper is a queer feminist analysis of the novel's main characters in the book Fire.

In an effort to strengthen democracy in the union, the EU in 2005 took a new approach to communications policy to reach out to the citizens. The strategic document "Plan D for Democracy, Dialogue and Debate" was accompanied by two other documents, and the three of them were the core of this policy. Both democracy and communications work means at EU level a higher complexity than in the nation-state arena. Objective of this study is to examine how the implementation of Plan D has turned out in a democracy renewal perspective. To achieve that answers are sought to questions concerning the goals of Plan D, how they are still present today, what happened in practice regarding the efforts that are highlighted, and how the substance of the activities can be judged from a democratic theory perspective.