Inom utvecklingsområdet haptic är det fria arbetsområdet för singulariteten viktigare änsjälva singulära punkten när det gäller haptic-mjukvaran, då användaren spontantförflyttar verktyget för enheten och inte fritt kan planera en bana för att undvikasingulära punkter. En singulär punkt i arbetsområdet tenderar att skapa komplexaförhållanden såsom oändliga krafter och moment i styr- o reglerteknik designen, som ären viktig del i haptic-applikationen. Det huvudsakliga syftet med denna studie var attupptäcka och undvika olika typer av singulariteter i olika delar av arbetsområdet ochsamtidigt optimera processtiden i ARES haptic enheten. För kartläggning av det friaarbetsområdet för singulära punkten används simulering och beräkning avarbetsområdet för ARES haptic enheten. Simuleringen beskrivs med hjälp av tvåmetoder, där den ena metoden är aritmetiska intervallberäkningar för parallellarobotstrukturer och den andra metoden bygger på att samla in stora mängderinformation om arbetsområdet genom simulering.

Vattenfall hedge its future electricity production in order to decrease fluctuations in theresult. Hedging can in a simplified way be described as selling the future electricity deliveriesin long-term contracts so that the future price of the delivery becomes fixed. The contractsused are electricity forwards traded at the Nordic electricity market Nord Pool. Animbalance between buyers and sellers can lead to a situation where the forward price notequals the expected spot price. The difference between the forward price and the expectedspot price is referred to as the market risk premium.

This essey discuss competence development for the employees in a unit of the Swedish police authorities. The purpose with this survey has been to show an understanding for how this unit within the Swedish police authorities works with competence development and what kind of competence investments they carry out and also why competence development is important in their organisation. To answer the purpose of the survey and the questions a qualitative method has been used remaining interviews with five involved respondents working in the investigated unit. The result shows that needs for competence development are made clear during meeting for personal development and during the local educational council inventories. Competence development for the employees is prioritated for the policemen comparing to the civil employees on account of that the policemen have a demanding work and they have to develop their work all the time because of the resisting circumstances.

This report is our Master thesis. Our work has taken place at a one-stop-shop in Sölvesborg during the spring of 2002. We have conducted ethnographical studies concerning the one-stop-shops frontdesk and telephone exchange. During these studies we became aware of some differences under which the daily work was to be carried out. When operating the switchboard the staff usually work alone and perform the tasks individually.

In the end of the 80´s the area of system development moved into a new era. As a consequence many new methods and development models emerged which in many cases resulted in problems when choosing system development models and methods. As a result of these problems the today standardized modeling language UML (Unified Modeling Language) was created. UML is tailored to support many different types of projects. This is possible because of UML?s capacity to be adjusted and adapted to a specific company environment.The purpose of this bachelor thesis is to investigate how and why companies use UML and what experiences and opinions those who use UML have of using UML in practice.

Today?s farmers are constantly affected by the fluctuating world market prices on grain and thereby the price risk that comes with the price fluctuations. The volatile prices of grain increase the price risk within the business, which in turn affects the profitability of the business. The fluctuating prices together with the increased price risk within the farm business have opened up the market for hedging instruments. In this master thesis project, the aim is to identify the underlying end-values of 30 Swedish farmers? related to their choice of using hedging and the product; forward contract.

?Games children play? is a study about the importance of playing with a focus on a group of disabled children. I have made some observations by participating in these children?s play at an accommodation. My interest arouse when I worked as holiday substitute at an accommodation for disabled children.The purpose with the study is to carry out participation observations and look for signs and events that show the importance of children?s play.

This report is our Master thesis. Our work has taken place at a one-stop-shop in Sölvesborg during the spring of 2002. We have conducted ethnographical studies concerning the one-stop-shops frontdesk and telephone exchange. During these studies we became aware of some differences under which the daily work was to be carried out. When operating the switchboard the staff usually work alone and perform the tasks individually.

Why is the hare afraid? And what is the proud peacock so proud of?What does the sly fox do in the daytime and is the fast weasel fasterthan his friends? Who is that strong bear?!ese are the type of questions that inspired and pushed my creativeprocess forward in the work with my collection of illustrationsbased on swedish metaphors that relate to animals. !e collection isaimed at children between two and six years..

Background: The latest development within the business world has been characterized by deregulation and globalization which has made the company bigger and even more influential. The increased power has resulted in a shift of responsibility for the community from the public to the private sector. (Steinholtz och Löhman, 2003) There have been many trends regarding what accountability includes and how financial accounting can be complimented in a useful and reliable way. Some trends have come to stay whilst others have shown to be less successful or the world has not been ready for them. (Larsson, a, 2002) Purpose: The purpose with this paper is to look at the historical development towards accounting for sustainability and to investigate what factors that might have hade an impact on this development.

AbstractThe object of this study has been to analyze how companies within the music industry can successfully market their artists, this due to the complexity of today?s marketing environment, where technology has rapidly changed the way of communicating, and therefore contributed to a highly competitive market. The vast change of technology has resulted in several possibilities as well as difficulties breaking through, what could be seen as, a media sorl. Our purpose has been to outdo how companies market, as well as which factors that are vital, for a successful promotion of their artists. To be able to carry out our aim, we have created one key question; How can companies within the music industry market their artist to make them reach success?We have used a qualitative research approach for this study, this to be able to generate more depth concerning the chosen topic.

Stress and burnout are two words that are commonly occurring in many contexts today. More and more people experience that they are stressed and that they does not feel well. The long term sick -leave increases as a consequence of people being burned out. These phenomena prolong over all ages, sexes, classes and professional categories, which probably means that the construction industry would not be spared.  In the construction industry, stress and bad health are no new phenomenon, already during the 1970s and big parts of the 1990 s, the construction sector were exposed to the phenomena.A sector that has a large turnover annually cannot presumably be faultless.

2013. The brave new time.We constantly look forward in time. There is a need today to constantly renew, replace and update almost everything in our lives. Although often stressful, these continual changes and upgrades can open up new possibilities and even be seen as enjoyable and stimulating.Values, opinions, and everything we create, is based on an experience of the past and predictions of what the future might be. I want to take advantage of these thoughts and find out how they relate to our exchangeable culture.

I denna uppsats skapar vi en modell för forwardkurvan på den nordiska elmarknaden. Vårt mål är attskapa en modell som är lättanvänd och inte kräver kunskaper om dynamiken hos elpriset. Vår modellär baserad på en modell av Benth, Koekebakker & Ollmar (2007) men justeras med avseende på vårakrav om en lättanvänd modell. Vi validerar vår modell och nner att den har möjlighet att föutspåpriset på ett kvartlaskontrakt med en felmarginal på 1.1 procent. Vi lyckas förutspå en säsongsvariationutan att specikt ange en funktion för säsongsvariationen..

This term project addresses how to develop construction drawings for a general contract. The project contains supervision, including blue prints as support as needed.Apart from directions on how to carry out the actual work, the supervision also discusses regulations governing all construction drawings. The supervision is created as guide for similar projects.The construction drawings is a complete construction guide, hence it includes all construction drawings. In addition, a room description and a general description is included..