In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

Animal welfare during transport has for a long time been a problem around the world. Many animals are transported in stressful environments for slaughter. Even during Roman and Antiquity times wild animals were transported from Africa to the amusement parks in Rome. The aim of our work was to compare how well Sweden and Denmark are performing their inspections of transports of cattle and pigs for slaughter. Today, overloaded transports and poor treatment is not uncommon in Europe and every year 22 million animals are transported between countries.

Background: The use of reward systems can be of strategic importance as well as an affective mean of control for the organization in its work to achieve its goals. The municipal sector is characterized by its transparency and its responsibility for the taxpayer?s money. We therefore wonder which possibilities the municipal sector has to use reward systems as a men of control. Purpose: We intend to research the possibilities that the reward system offer as a mean of control for employees at the higher municipal level, with a special focus on commitment and motivation.

The mouse (Mus musculus) is the most commonly used mammal in biomedical research and can easily be restrained by both hand and by a device. Restraining animals causes stress that not only decreases the animal?s wellbeing, but may also influence the research results. The first aim of this study was to train mice to voluntarily stand still using positive reinforcement training. Another benefit of teaching a mouse to stand still is that you can avoid anaesthesia for some procedures.

Numerous dogs are stressed during a stay at a veterinary clinic. Stress has an impact physically as well as mentally, and may influence animal care. There are different ways to prevent and handle animal stress. Dog Appeasing Pheromones (DAP) is sometimes used to reduce stress. The aim of this study was to investigate the potential need for stressreducers, explore the use of DAP and evaluate pheromonatherapy for dogs as a potential stressreducer within veterinary health care.

This thesis examines the approach for implementing strategy that has been applied by the study object, Svenska Spel. The specific approach originates from the theories of Elliot Jaques, whose key proposal is that individuals have different capability of carrying out tasks over different time-spans. The main purpose of the study is to analyze how the approach has influenced the management control systems in use, in order to ensure that the strategy is successfully implemented on corporate as well as operational level. Twenty in debt interviews conducted with employees, representing a vertical cross section throughout the organization, are the main source of the study?s empirical foundation.

Studien syftar till att se hur personlighet, söka-arbete self-efficacy och locus of control påverkas av arbetslöshet. Personlighet mäts enligt Costa & MacCraes fem-faktor modell och avser dimensionerna extroversion, neuroticism, öppenhet, trevlighet och samvetsgrannhet. Hypotesen är att det finns skillnad mellan nyarbetslösa och långtidsarbetslösa avseende personlighet, söka arbete self-efficacy och locus of control. Frågeformulär innehållande påstående om ovanstående faktorer besvarades av en grupp nyarbetslösa och en grupp långtidsarbetslösa. Resultatet visar inga signifikanta skillnader avseende personlighet och söka arbete self-efficacy mellan grupperna.

This thesis presents the results from a osteological analysis and a GIS-study aimed to examinedifferences in the located animal bones in different areas of the excavation site of Ajvde.The osteological material came from five excavated square meters on the site and was comparedwith osteological results from other researchers from different areas to create overview and try tosee differences between the areas.The GIS-study took data from all animal bone material excavated on the site, a total of about 2300kilos, and presented them in maps of spatial distribution for each layer (pictures 4, 5, 6 & appendixpicture 1) to see if there were any clusters of activity and changes between the layers. The dating ofthe culture layer and the burial field (pictures 7 & 8) were presented in maps to see if they could becorrelated with what was seen with the animal bones. Pictures of different shorelines were alsopresented (picture 9) to compare with the results that were seen in the changes of animal bones fromdifferent layers.The results of the GIS-study have shown that the activity on the site have moved over time alongthe hight differences of the land. The earlier layers show activity only on the higher elevation butlater moves down, and in the upper layers activity have been all over the excavated area. Clusters ofanimal bones were seen in the so called ?black areas? of the sites (shown in picture 2) but also otherareas contained a lot of animal bones.The results of the osteological analysis have shown that there are differences in what species arefound in different areas.

Background: Many companies have outsourced their IT-operations and their expectations of what this IT-outsourcing will contribute to the business are high. Cost cuts are not always a natural outcome of IT-outsourcing. Many companies that have outsourced their IT-operations consider it to be problematic and complex to exercise management control and reach cost control which was the purpose of the IT-outsourcing. Purpose: To describe and analyze what affect IT-outsourcing has on a company?s management control system and a company?s possibility to exercise cost control.

The change of control clause is nowadays a well used covenant in the Eurobond market, with the aims to protect bondholders in case of a leveraged buyout. This thesis intend to evaluate whether the change of control clause is a new phenomenon in the Eurobond market today and to estimate what have been the driven force for the popularity of it. The thesis found that the change of control clause already existed before and thus it is not a new phenomenon. Several factors where found though to explain the extended use of the clause today. Starting in 2005 the LBO activity increased rapidly, exposing almost every company to the risk of LBO.

The purpose of the present study was to explore if blood lactate levels are increased in bitches with pyometra, and if the lactate measurement could be used as a prognostic indicator and to determine outcome. The present study included 16 bitches with pyometra that were admitted to the University Animal Hospital, Swedish University of Agricultural Sciences, Uppsala, Sweden. For comparison, a control group consisting of 14 healthy staffowned bitches was also evaluated. In all bitches, a physical examination was performed and blood samples for analysis of haematological and biochemical parameters were obtained. In all bitches with pyometra, surgical ovariohysterectomy was performed and a uterine sample for bacteriological culture and identification was collected.

Background: Running economy is one of the key factors to achieve top performance in endurance events. Little evidence exists for improving running economy using high-intensity interval training while running. Objectives: The purpose of this study was to examine how HIIT affects running economy and VO2max. Method: 14 well-trained athletes (age 35 ± 8,9 years, height 175 ± 11,7 cm and weight 69 ± 12,2 kg) were divided into two separate groups (HIIT and Control). HIIT group performed 3 HIIT exercises every week for 4 weeks and Control group continued with their separate training programs consisting of mostly traditional endurance training. Results: Running economy showed no improvement in HIIT (pre 38,62 and post 38,62 ml/kg/min, p=1.00) but Control improved (pre 45,41 and post 43,37 ml/kg/min, p=0,03). VO2max decreased in HIIT (mean 61,32 to 60,84 ml/kg/min) and in Control (mean 61,99 to 58,47 ml/kg/min)..

In order to facilitate testing of anesthesia machines a patient simulator has been required by Maquet Critical Care AB. A patient simulator has been developed to reduce expensive and time consuming animal experiments and temporary lab arrangements. The patient simulator has been developed and designed to simulate human lungs with regards to anesthetic uptake, production of carbon dioxide and heating and moisturizing exhaled air.The system comprises a container and a test lung to simulate the volume and the dynamic of the human lung. The simulation of uptake of anesthetics has been implemented by pumping a fraction of the gas from the container through a bypass circuit with an active charcoal filter that adsorbs volatile anesthetics. The flow through the bypass circuit is generated by a pump and is controlled by a linear valve.The resulting performance of the patient simulator has fulfilled the requirements.

This work is about euthanasia and how to use it on horses, dogs and cats. A description for each animal is done, about when it is time, why, which methods can be used and who is allowed to use them, how and where it shall be done. The methods we have concentrated on are: - Chemical destruction and the most common drugs for euthanatize horses, dogs and cats. - Physical disruption of the brain activity by a captive bolt, only for horses. The captive bolt only makes the horse unconscious and must always be followed by cutting off the vena jugularis. Then the horse dies because of loss of blood. No matter which method used for euthanizing, the animal must be declared to be dead by the operator before other measures. The testing criteria for death: muscle relaxation and cyanosis, cessation of reflex activity and pupillary dilatation, cessation of respiratory activity and cessation of all cardiac activity.

Africa is expected to go through a rapid urbanization over the next four decades and the demand for food is increasing in the rapidly growing urban and peri-urban (UPU) areas. Keeping livestock in urban areas is in particular associated with health hazards. This is due to close interaction between humans and animals, and it has been shown that zoonotic diseases are increasing in urban areas. The benefits of urban and peri-urban agriculture (UPA) are related to improved food security, in particular among low-income groups. Apart from the negative public health impact of zoonotic diseases, animal disease could have a devastating impact on the economy and food security of many households in these areas. In the present study, three important endemic diseases, including brucellosis, salmonellosis and Bovine viral diarrhea (BVD), were analyzed in regard to seroprevalence and risk factors.