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.

In this study the speech of adolescents with unilateral cleft lip andpalate (UCLP) and delayed closure of the hard palate was evaluated.Evaluations were made with experienced speech-language pathologists(SLP:s) and lay listeners. The SLP evaluation consisted of typical cleft palatespeech variables and some of them were adapted for lay listeners. Attitudestowards the speech of the adolescents were investigated by asking laylisteners if the speech constituted any hindrance to vocational performance.The SLP:s mainly found nasal escape and velopharyngeal impairment (VPI),although to a small degree and extent. The lay listeners mainly foundresonance deviations and indistinct speech. The latter was associated withhindrance to vocational performance.

This thesis aims to examine the conditions for entrepreneurship in Taiwan by the occurrence of cultural phenomenon guanxi. Based on the concept of familiness and guanxi, the family is central in this study of family business. Traditional descriptions of the Asian culture claim that guanxi is vital in the business context. Though, recent studies indicate that significance of guanxi seems to be changing. Therefore the purpose of this thesis is to create an understanding of the importance and relevance of guanxi in the context of Taiwanese family business.By travelling to Kaohsiung, Taiwan to interview six managers of Taiwanese family firms this study?s empirical material was gathered for further processing based on a qualitative approach.

This study aims to examine how performance management is compatible with the operations at Sida, Sweden?s International Development Cooperation Agency, by performing interviews with representatives from Sida. The public sector is facing increased demands on accounting, which has emerged as an institutionalized social norm in society. The nature of Sida?s operations, however, proves to be highly complex, rendering results based management difficult to implement.

Because of an increasing demand from customers and changing external environment, there is a need for continuous improvements, for both manufacturing and service organizations, to meet these demands. Manufacturing organizations have been working systematically with quality improvements for a long time, but it has not been as common for service organizations. Because of that the methods to use for implementation of the systematic improvements have not been designed to fit service organizations, and not either for public organizations. The purpose of this thesis is to explain if and why the Swedish Road Administration?s organizational culture and handling of ideas and deviation support an implementation of continuous improvement management.

Samarbetet mellan IASB och FASB med att ta fram en enhetlig redovisningsstandard för företagsförvärv har pågått några år. Den andra fasen av samarbetet har resulterat i förslaget Business Combinations fas II. I denna undersökning tas fasta på de mest omdiskuterade förändringarna som förslaget medför jämfört med nuvarande IFRS 3 Business Combinations. Studien belyser förändringarnas påverkan på balans- och resultatrapporten och huruvida de finansiella rapporterna kommer att ge bättre information till intressenterna tack vare förslaget. En av de mest diskuterade förändringarna i förslaget är tillämpningen av full goodwillredovisning, som blir resultatet av att ett striktare enhetsperspektiv anläggs.

This thesis aims to explore the use of costumed interpreters at museums. Firstly the thesis examines how extensivethe use of historical costumes is in Sweden, along with some international comparisons. Later on the differentways that the clothes are used is examined, and the costume as a resource for learning is discussed. In the lastpart of the thesis the ?function? of the costume is examined.

Inledning Corporate Social Responsibility har under senare år uppmärksammats allt mer, inte minst inom energibranschen som blivit kritiserad för sin stora miljöpåverkan. Arbetssättet med CSR leder till en ökad samhällsnytta men allt fler företag väljer också att arbeta med konceptet i förhoppning om ökad lönsamhet. Genom att koppla ihop CSR med företagets övergripande strategier skapas förutsättningar för samhälls- och affärsnytta. Trots att CSR blivit ett allmänt accepterat uttryck råder dock en begreppsförvirring om vad konceptet faktiskt innefattar. Syfte Studiens syfte är tvåfaldig; dels ämnar studien konkretisera konceptet CSR för att studera hur kommunalt ägda energibolag kan arbeta med prestationsmätning för intern styrning av CSR-åtaganden, dels ämnar studien bistå Nogap med förslag för vilka prestationsmått som skulle kunna användas i deras koncept Hållbar lönsamhet. Metod Studien tog i ett ursprungsskede form av en litteraturstudie vilken mynnade ut i en konceptuell modell och en teoretisk referensram. Modellen låg sedan till grund för fördjupad förståelse av CSR inom tre kommunalt ägda energibolag.

Lera bär på någonting ursprungligt och universellt. Jag har velat arbeta idémässigt enkelt och direkt,för att möta leran på det plan jag upplever den som bäst ? med kroppen. Lerans förmåga att mötaden mänskliga kroppen, ta avtryck av den och bära med sig spår av aktivitet har hållits som viktigtsamtidigt som jag förhållit mig till den starkaste keramiska traditionen ? krukan.

It is not uncommon for math difficulties and reading difficulties to occur simultaneously. Despite this, math and reading difficulties are thought to have different cognitive profiles where math difficulties are linked to number sense; an innate ability to understand, approximate and manipulate both quantities and numerical information, whereas reading difficulties are linked to phonological ability; an innate ability to understand, create representations of and manipulate phonological information. A possible link between the difficulties is that phonological abilities also could affect mathematical ability. Support for this comes from studies where comorbid math and reading difficulties are associated with more severe difficulties in arithmetic ability compared to those with isolated math difficulties. The purpose of this study is to examine whether isolated math difficulties, isolated reading difficulties and comorbid math and reading difficulties can be linked to deficits in number sense, phonological ability or both of these, and whether comorbid math and reading difficulties differ in performance in mathematical tasks compared to isolated math difficulties for children in second grade.

On a request from the water sewage plant Gryaab in Gothenburg a power quality survey was performed. The voltages and currents have continuously been sampled in the incoming 10 kV substation HSP01 from April-August 2008. Power quality measurements were also performed in Gryaabs other 10 kV substation HSP04 fed from HSP01 and at the terminals of the induction motor IN_PU4040 of 1.3 MW which controls one of the four large inflow pumps to the plant. The reason for the latter measurement was due to registered negative transients each time the motor was connected to the grid. The cause of the transients could be explained by the coupling in the substation, the ageing of the motor which could result in damage of the bearings or resonance in the motor circuit which amplifies high frequency harmonics.

A central discussion within society and businesses today, is the change of generations in the business market which occurs within the upcoming years. A change of generations is unavoidable and a natural step in business. The challenge of the forthcoming reform is the large number of people leaving the labour market and the grand entrance of new labour; Generation Y. The characteristics of Generation Y differ from the older generation which enhances the challenges for the businesses to attract a new workforce. It may also be necessary for the organisations to adapt to the younger generation.

Internet dating is a relatively new phenomenon that, in using the opportunities of the internet, has taken traditional dating to a new level. The business idea is simple as such. The company provides its customers with a platform that enables interaction, leaving the value creation to the customers. A qualitative study is conducted investigating and mapping the Swedish market for Internet dating. It is researched what the characteristics of the companies are, what the Internet dating businesses in Sweden offer, what the prevailing market conditions are, and lastly what challenges lie ahead for the industry and how they can be solved.

This thesis is about how the front-staff in two service companies experience empowerment. Competition for business in today's society is becoming increasingly fierce, which means that they must find a way to differentiate themselves from competitors. Service has become a way to compete. Front-staff competence and ability to offer a good service is a crucial factor when the company's success is being measured.Empowerment in business is used as a tool to create motivation and satisfaction of individuals at work. Companies using empowerment can create the freedom and opportunities for employees to act at their own intelligence and discretion.

Det traditionella styrmedlet, budgeten, har under de senaste åren blivit starkt ifrågasatt. Den största anledningen till detta är att företag har svårt att konkretisera sina långsiktiga mål via budgeten. Företaget som författarna kommit i kontakt med fokuserar starkt på tre finansiella mål, och risken finns då att de förbiser de icke finansiella måtten, som är lika viktiga för att bibehålla de goda resultat de haft de senaste åren..