This thesis Approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

AbstractThe purpose of this study is to illuminate if the preventive practices and the identification of early signals about reading and writing difficulties is different between two Norwegian and two Swedish teachers' work in preschool. Research questions focused on the differences as well as similarities between Swedish and Norwegian educators working preventively current literacy in preschool, and their efforts when they identify signals to reading and writing difficulties.The study has been conducted through interviews with four female teachers, two who work  in Norway and two in Sweden.Swedish and Norwegian teachers work preventively on reading and writing, analysis resulted in three categories; books in text and pictures, words and rhyming chants and songs. No differences between Norwegian and Swedish pedagogues? prevention methods could be identified, however Norwegian teachers put more focus on rhythm and rhythmic pat exercises than the Swedish educators.The conclusions are that the Norwegian teachers mention more preventative Approaches and early intervention for children with suspected dyslexia, than the Swedish teachers in the study makes. The Norwegian teachers also seem to have access to more expertise in connection with suspected dyslexia, compared to the Swedish teachers.

The purpose of this paper is to find out how a few different women with a Roma heritage sees their to succeed possibilities in Sweden.To illustrate these issues has an hermeneutical approach been used. Materials were collected through interviews with Romani women in a municipality in western Sweden. The material created during the interview sessions is based on the five interviewees' interpretations of how they look at their life and the recognition of Roma people.The interview results show that Roma women have gone through various changes linked to school, language, family, work. Young women and their parents have become more aware that education is an important capital to invest in, in order to later obtain a good job and future. When it comes to school the results show that Roma children have become better at reading but there is still some Roma children who do not attend school, even though there is their native language, Romani, in many schools.

Purpose: The main purpose of the thesis is to examine the consequences of applying IAS40 on the Swedish real estate companies? annual reports. How does its application affect the companies? stockholders? capital and how do the companies solve the problems that occur due to the application of this standard.Method: The authors use both the qualitative and quantitative Approaches to process the thesis. The primary data comprises of hard data in form of annual reports and the secondary data consists of the soft data as direct interviews and email interviews.Theory: There aren?t any theories on the subject.

Physical inactivity is the fourth leading risk factor for global mortality. To prevent and change this the society need to develop good Approaches and interventions to promote physical activity. The purpose of this thesis was to investigate which experience existing users have of smartphone training applications. Also to study if this can be a possible resource for health promotion. Six active users applied to participation after they had seen an ad in social media.

The aim of this Masters thesis is to deepen the understanding of how society affects literary criticism by studying the reception of two Swedish dystopian novels and their contemporary anchorage. The questions that we answer here are concerned with how critics have drawn parallels between the novels and events occurring in the contemporary society, and how the critics outlook on the future are connected to ideas about the future in the novels. The first novel, Kallocain 1940 by Karin Boye has been interpreted as a critical statement directed towards totalitarian ideologies. The second novel, After the Flood 1982 by P C Jersild, has been seen as a warning against nuclear warfare. This qualitative study is based on 41 reviews from Swedish daily press.

 Euro barometer surveys show quite an astonishing change in Turkish opinion towards European Union. In 2004, 73 % of the population considered EU as a good thing. In 2008, only 49 % were of the same opinion. At the same time, skepticism towards European integration is explained differently in earlier research. Some scholars claim that partisanship may explain attitudes of citizens better than ?cost and benefit? Approaches.

This qualitative interview study examines the shared and discrepant experiences that nine professionals, three from each field of psychiatry, social service, and housing have from working with people with hoarding disorder, and their view on help. The main difficulty when working with hoarding disorder is described as lack of insight and understanding of the severity and consequences of the disorder among people with the disability. Professionals highlight the importance of proper diagnosis and cooperation among disciplinary teams working with hoarding disorder. Approaches differ regarding the issue of how to best help a person with hoarding disorder, especially as the emphasis of autonomy becomes more prevalent. The landlords who were interviewed expressed the hoarders? need of help from the society, whereas the social service interviewees accentuated voluntariness and motivation as a favorable long-term management.

The purpose of this research is to identify how E-NGO and forest stakeholders, in the study referred to as non-state actors, have influenced the EU timber regulation; through participation and lobbyism towards the decision- makers (policy makers) at EU and national level, to achieve adjustments in the legislative text. The study also examines the relationships between the forest stakeholders, the E-NGOs and the EU-institutions, regarding communication, cooperation, informal and formal consultation where interviews were accomplished with decision-makers from the EU-institutions, forest stakeholders, E-NGOS and representatives from Swedish authorities that participated under the development of the EUTR during the period of 2008-2013. The participation and lobbying from non-state actors have most likely affected the outcome of the regulation, through alterations in the legislative text and through influencing the EU-institutions. Several factors that have affected the efficiency and timing of the influence have been identified through interviews as well as various Approaches to influence the decision makers. The findings of the study may be useful for forest related interest groups that are involved in decision-making procedures at EU-level and as substance and material for further research in the subject of forest policy making at supranational level..

The purpose of this study is to illustrate teacher humor by critically examining it from an interpersonal- and humor communicative-perspective; and to discuss teacher interpersonal humor communication-skills in relation to the Swedish high school curriculum, collegial relationships and pedagogical aspects. The study?s empiric material consists of semi-structured interviews with six high school-teachers currently working at the same school, but of different age and gender. The interviews indicate that the informants all have developed humor competence, an interpersonal communicative-skill that allows them to use humor efficiently. Moreover, the result demonstrates that the teachers have various humor Approaches but that they all use humor in the classroom for much of the same reasons.

The purpose of this essay is to explore how students in secondary school seek out and use information. More specifically, the essay examines how the search and use of information differs between students working in groups and students working independently. The essay draws on in-depth interviews with six students. Two different theories are used to analyse the transcripts from the interviews. The first theory consists of Carol Kuhlthau?s six different stages showing how the students? feelings, emotions and actions change during the information seeking process.

With an increased empowerment of the users, and a dependence on outside critics, one wonders what kind of role the librarians have in a context where qualitative literature is discussed. The aim of this study is to examine the relationship between librarians private and professional views on qualitative fiction, in order to be able to discuss their role as quality intermediaries in a user oriented context.The method used, is the qualitative, semistructured interview. This author interviewed seven librarians from three different libraries in Sweden. The theoretical emphasis partly relies on the ten words of qualitative value that Inger Elam and Bengt Brülde discusses in their respective texts, partly on David Garvins quality assessment theory, which defines several quality categories divided between an absolute and a relative quality view.Through the comparison between the private and the professional quality view, examined with the two theoretical Approaches, the analysis of the interview material shows that there lies a complexity in the librarians professional role. On the one hand, they are dependent of both the users and the critics judgements about the qualitative aspect in the work with purchasing new literature to the library.

This thesis aims to identify bottlenecks in the internal communication of aSwedish public library. Specifically, it addresses the behaviour of the library staff when they seekfor work-oriented information through interaction with their colleagues. A fundamental assumptionof this study is that the information-seeking process depends on organisational culture. I have madean exploratory case study in a medium-sized Swedish public library, where relevant issues areidentified and correlated with the culture of the organisation.I have used Schein's three-level model to describe the culture of the library; this model definesculture as a set of basic assumptions and the actions of people as expressions of their culture. Datafor the study were gathered using several Approaches, including interviews with the library staff andobservations of them.

The purpose of this thesis is to discuss how a Swedish public library Approaches their costumers. I will show how a library interacts with their costumers compared to a business, which has a different economic work frame, a building materials supplier. My aim is to pinpoint differences and explore new methods for the library in order to improve their service.The theoretical frame of the thesis is based on Richard Norman's notion the Moment of truth. The moment of truth is the moment when a business has to convince their customer that they offer both the product, proficiency and service that the customer needs. Service encounters at two organizations have been observed and their differences and similarities compared.

The purpose of this thesis is to show how a good approach can be designed, focusing on the southern approach to the Swedish town Vilhelmina. Prior to the car being part of everyday life, the approach was a road where the town showed itself from the very best side. When the amount of traffic increased, so did noise and other disturbances, and as a consequence industrial areas replaced the residential buildnings at the Approaches. Today, the pendulum is turning back and in recent years the approach is regarded as a place to introduce the town. The approach is also the place where cars should slow down from the speed of the main road to the speed of the city.