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.

The aim of this paper is to see if Sweden has implemented the recommendations and taken notice of the guidelines for employment that the Commission and Council set up every year and from this see the role of the Commission and Council for the national employment politics. The years that I focused on in the paper are year 2000- 2004. The method that is used is a case study research that is exploratory and explanatory. The theoretical starting points are theories about delegation, cooperation and a variation of control and autonomy. This is recognized in the Principal- Agent theory and the Principal- Supervisor-Agent model.

The aim of this report is to discuss computer security in handheld computers and to find out the appropriate security level that must be implemented to be able to use handheld computers within the Swedish healthcare system. Most healthcare centers are using some kind of electronic journals for their patient´s data today, but there are still a number of clinics that are usingthe old paper-system. On a few places in Sweden the use of handheld computers at the clinics has already started, but in the United States the use of handheld computers in the medical area is already widespread and from this we can see a lot of different situations where it is useful and effective to work with handheld computers. The security demands on patient´s journals are high and regulated in both Swedish law and regulations from the National Swedish Board of Health and Welfare. The law does not have any substantial demands, but states that there should be an adequate security level based on the nature of the information and the costs.

The EU guarantees the free movement of persons. The citizens of the EU Member States have the right to move freely without barriers within the EU borders and this result in an integration of the peoples in Europe. The integration result in several international family relationships. It is not unusual in the present situation that families have international relations. For example, spouses in a married couple may have different nationality.

In Sweden the work of reducing acidification and its prime cause; emission and deposition of sulphur dioxide, has been going on for decades. Despite of all the work that has been done the positive progress in the acidified areas is slow. This is partly due to a long recovery time for the acidified areas but also because the reductions of emission and deposition of sulphur dioxide have not been large enough. Emissions of sulphur dioxide from land based source in Sweden are estimated to 34 000 tons in the year of 2010. During the same year, approximately 182 000 tons of sulphur dioxide will be deposited over the Swedish territory.

The aim of this paper is to see if Sweden has implemented the recommendations and taken notice of the guidelines for employment that the Commission and Council set up every year and from this see the role of the Commission and Council for the national employment politics. The years that I focused on in the paper are year 2000- 2004. The method that is used is a case study research that is exploratory and explanatory. The theoretical starting points are theories about delegation, cooperation and a variation of control and autonomy. This is recognized in the Principal- Agent theory and the Principal- Supervisor-Agent model.

This essay explores the economical and social paradigms surrounding one of the most influentialNordic border dynastic noble families in the second half of the fifteenth century - the AxelssonTotts. How mercantile possibilities and opportunities offered to them, reflected on their politicalactions and social bands. The Axelsson brothers of the Tott Dynasty would become of one of themost powerful noble families within the Nordic Union between 1444 och 1487.Axel Pedersen (Tott) would through well chosen marriage alliances into the noble families of bothDenmark and Sweden, and with political prowess lay the foundation for one of the most dynamicfamily empires of the fifteenth century. In the year 1442, the Axelsson brothers swore loyalty toeach other; to protect and defend their mercantile and economical interests in Denmark andSweden. They would eventually control the trading routes in the border areas of the Union, and byexploiting the political chaos within the Union they would gain access and influence to the landtrading routes for export and import within the Union and the shipping export routes in the BalticSea allowing them access to the Russian market through Finland and Estonia.The island of Gotland, with its tactical and important geographical position in the Baltic Seabecame the key to the Nordic Union.

Imperialism has for a long time been an important concept in international relations. The literature identifies many different types of imperialism. After the great de-colonization scientists stopped discussing ?classic? imperialism, i.e. using physical strength in the form of conquest and occupation to subdue weaker states.

The purpose of this study has been to investigate the prospects for identifying and prosecuting individuals suspected of war crimes, within the process of exclusion from refugee status under article 1F(a) of the 1951 Refugee Convention, and using subsequent mechanisms for extradition or prosecution in international criminal law. A number of principles within human rights law and public international law have been advocated by the UNCHR and several human rights NGOs as necessary for a thorough application of the exclusion clauses; one that takes individual responsibility into account and upholds the aims and purposes of the exclusion clauses. There is a discussion as to whether specialised or accelerated exclusion procedures are justified for reasons of security and efficiency, or if they put the rights of the individual at risk and limit the opportunities for gathering information to support investigation and prosecution of the crime in question. Apart from the instruments of asylum law and procedure that have emerged within the EU harmonisation process, there are no general, binding rules on the procedural aspects of the exclusion clauses. One principle that regulates the consequences for the individual of exclusion from refugee status and decisions on extradition is, however, the principle of non-refoulement.

This report is commissioned by the Water and Sewage Agency in The City of Mariehamn, Åland. The basic aim is to investigate positive or negative effects of a relocation of the sewage pipe from a wastewater treatment plant, Lotsbroverket. The environmental licence of Lotsbroverket is to be revised and The Environmental Appeal Board at Åland?s Government and Administrative Board has made demands that several possible locations in an outer water area should be examined. The present location of the sewage pipe is in Svibyviken, which has been classified as an ?inner water area?.The objective of this work is to study to which extent the nutrient loading from Lotsbroverket influence the environmental conditions in Svibyviken, and to investigate the suitability of different locations of the wastewater pipe from Lotsbroverket.The way a coastal area looks, i.e., its morphometry, determines to a large extent its ecological characteristics.

Today there are many students with behavioral and developmental disorders in schools. One of these disorders is ADHD. The medical designation ADHD stands for Attention Deficit Hyperactivity Disorder. I have chosen to research how two students with ADHD can be included in a fifth grade classroom.This research paper addresses the issues surrounding the student?s day-to-day life with a focus on the classroom.

This report is a risk- and vulnerability analysis of how the commercial ship and its goods can be a threat to the environement and to human health in case of a discharge. It present the most common dangerous goods that are transported with ship through Kattegat in the Baltic Sea..

Ever since Sweden joined EU on the 1st of January 1995 the auditing is regulated not only by our Swedish laws but also by EG:s directives. In the fourth directive the member states are given a possibility to dispense small companies from the duty to audit the accounts. It is up to every member state to decide whether they want to dispense the small companies or not and today Sweden is one of few member states who does not. The purpose of this essay was to describe how lenders and Skatteverket will act in case of a dispensation for small companies from the duty to audit the accounts. The study has been carried out by interviewing four lenders and Skatteverket. The study shows that the lenders and Skatteverkets acting in case of a dispensation for small companies from the duty to audit the accounts will part from each others. While the lenders stand before a big change Skatteverkets work will be next to unaltered. Half the lenders think that they will continue to demand that the companies? accounts be audited.

Ever since Sweden joined EU on the 1st of January 1995 the auditing is regulated not only by our Swedish laws but also by EG:s directives. In the fourth directive the member states are given a possibility to dispense small companies from the duty to audit the accounts. It is up to every member state to decide whether they want to dispense the small companies or not and today Sweden is one of few member states who does not.The purpose of this essay was to describe how lenders and Skatteverket will act in case of a dispensation for small companies from the duty to audit the accounts. The study has been carried out by interviewing four lenders and Skatteverket.The study shows that the lenders and Skatteverkets acting in case of a dispensation for small companies from the duty to audit the accounts will part from each others. While the lenders stand before a big change Skatteverkets work will be next to unaltered.Half the lenders think that they will continue to demand that the companies? accounts be audited.

In 2002, the euro as a common currency did replace the national currencies in the EU member-states that did choose to take part in the EMU. It was then viewed as one of the greatest accomplishments ever to be made by the EU. However, during the latest years, the economic situation has deteriorated in several EMU member-states. This affected the whole euro-area and the current situation is referred upon as the euro-crisis. In 2011, at the time of the euro-crisis, the Heads of State or Government of the euro-area did reaffirm their full commitment to strengthen EMU.