Dagens industrirobotar är mycket mer komplexa än vad de var för några år sedan. Regleringen baseras på matematiska modeller och för att prestandan ska var lika bra eller bättre än förr krävs det att modellerna är anpassade till individen. Det krävs därför att modellparametrarna justeras för att stämma överens med den aktuella roboten.Rapporten handlar om hur de flexibla modellparametrarna ska trimmas för robotens leder så att verktygets svängningar minskar. På grund av att en rörelse på en axel påverkar de övriga axlarna, blir detta ett sexdimensionellt minimeringsproblem. Detta kan dock lösas genom att låsa vissa leder i olika positioner och på så sätt delas minimeringen upp i flera steg med som mest tre variabler att minimera över.

This essay seeks to analyze the consequences of modern information and communication technology for collective action within the framework of social movements. With references to the protests in Seattle 1999, the essay argues that the emergence of distributed collective action is closely related to the use of technology, for example cell phones and Internet. This distributed collective action can be characterized by its decentralized and self-organizing features, forming a global pattern emerging from local interactions. Whereas contemporary theories of collective action can be ´stretched´ to fit these aspects, they lack analytical tools to describe and analyze such systems. Further, their rejection of classical crowd theory is problematic, since it contains valuable insights.

In order to be a good teacher according to preferences from outside the school area, there are many different voices to listen to. The different roles that are assigned for teachers are colliding with the latest research from the pedagogical institutions and therefore the role as a teacher of today is in a Complex state of mind. Somewhere, between the traditional role of teaching and the moderating ideal image, reality is revealed in the ambivalent role of the teacher of today. In this pedagogical essay on advanced level we are focusing on obstacles that are hindering the moderating teacher?s role, to be fully developed in the classroom.

St. Jude Medical Inc is one of the worlds leading companies in the medical technology area with cardiovascular devices as its specialty.Manufacturing implantable medical devices such as Pace Maker Electrodes requires Complex design, safe processes and well trained operators. User friendly manufacturing operations are a necessity.Lately there?s been an increase of the manufacturing volume which also increased the number of operators. More operators need to be trained and cross-trained.

This thesis investigates techniques for stealth hydroacoustic communication using spread spectrum. The Swedish naval defense organisations have a vision that all their units should be able to communicate with each other, even between underwater vehicles. But the properties of water makes it a Complex channel to use for wireless communications. Radiomagnetic waves have very limited range in water, therefore acoustic waves are used. In this report the basics of wireless communication systems are described including source coding, channel coding, modulation techniques as well as different techniques for spread spectrum.

The implementation of a material requirements planning system is a Complex and demanding task. There has been much research into what factors are important in such implementations, but seemingly very little about the links between critical success factors and management control systems. This thesis attempts, through a case study, to answer the question of how management control systems affect the implementation of an MRP system in ASSA AB, a Swedish manufacturing firm. Data is primarily collected through interviews. Theory regarding implementation success definitions, critical success factors as well as management control systems is presented.

During my studies to become a guitar builder at Carl Malmsten CTD, I have found an interest in the construction of the classical guitar. I am fascinated by the simplicity of its construction. A simplicity that becomes more Complex when you start to study it in detail.In my final thesis I will not try to explain this Complexity. The subject is to investigate two different principles regarding its construction. I would like to find out if the sayings concerning one of the principles will yield a guitar with greater ability to produce volume and projection.At a close distance the difference between the guitar?s volumes is not to speak of, but a significant difference can be seen regarding one of the guitars ability to project its sound.

This essay looks into the concept of self-efficacy and its implications for work performance. The participants in this study work for a call center company situated in the southern part of Sweden. The hypothesis is that a high degree of self-efficacy exerts a positive effect on work performance. Furthermore, the study seeks to identify the factors that give rise to work satisfaction among the participants. The results of the study show that there is a negative correlation between high self-efficacy and work performance.

Burn out is common among people who work with other people and occurs in both ecclesiastical and non ecclesiastical context. In recent years, the phenomenon has attracted increasing attention in the Church of Sweden and among persons who hold a consecration service as priests.The purpose of this essay is to study the text material from the two authors (Lennart Belfrage 2009 and Martin Petré 2013) and to analyze and describe them. Another goal is to see how the coping theory may be helpful for this group of priests to handle the situation arising in the time of burnout.I have used the qualitative research and hermeneutics method for categorize and encode the material in order to interpret and understand the underlying causes that could explain burnout among priests in the Church of SwedenPargaments (1997) coping theory has been important for analysis and explanation of burnout among a group of priests in the Church of Sweden.In the result, I have found four components that may be useful in the understanding of the cause of burnout. The analysis shows that Pargaments (1997) coping theory is useful to manage Complex situations for example burnout, among priests in the Church of Sweden..

Background Satisfaction of life and wellbeing is shown to be important when the quality of life is to be understood. The nurse has a significant role in the care of the patient and in his/her experience of life. Aim The purpose of this study is to examine the quality of life, from a nurse perspective. Method The text analysis was carried out with qualified attempts, of a book, "Quality of life a challenge for the nurse" (in Swedish) by T. Rustoen, a nurse who also worked as a teacher in Norway. The book describes how quality of life is experienced from the patients and staffs view. Results The text analysis showed that out of the ordinary descriptions of quality of life, the author found four new themes. These themes where; the meaning of solidarity, confidence, activity and meaningfulness in the existence. Conclusion Quality of life is an important word, which means different to different kind of people.

Communication is a part of everyday life. The more sensitive information we handle, the more interesting the question around security of your information becomes. There are two ways of handling security around the information you want to communicate, either you control the means by which you are communicating. Or you control the way you communicate, making you able to use existing communication channels. Existing methods within cryptography enables two parties to communicate information securely.

AbstractThe purpose of this thesis is to analyse the basis of Russian diplomacy, and by doing that develop the analytical instruments available, in order to improve the comprehension between the parties in negotiations. Descriptions of the national characteristics of Soviet and Russian diplomacy are made by an analysis of memoairs and other examinations of their negotiating behaviour. To ensure the result of the characteristics two case studies of the non-nuclear proliferation negotiations are made, followed by a comparation between the Soviet and Russian diplomacy. From these results, I analyse the groundworks of russian diplomacy, using three theories about how ideology, national identity and prevailing self-image can affect the national negotiating behaviour. The results show that there have been changes in only some parts of the negotiating behaviour and that there is a need for all three theories to explain different parts of the Complex system of Russian diplomacy which is based on the plurality of culture, ideology, language, ideology and history..

In this paper, I am using a critical discourse analysis a la Fairclough to examin how various actors talk about the group of unemployed youths in the 52 articles from Dagens Nyheter and Svenska Dagbladet. What?s written in media often portrays different ideas that individuals use in social practice. My theoretical points are social constructivism, risk-, expert-, and media society. Four themes crystallized in the analysis; young and unemployed, education, jobbgaratin and youth and labor market.

The WT1 gene is a Complex gene originally known to suppress cancer in kidneys. Studies of WT1 knockout mice have confirmed the important role of WT1 in the pathogenesis of Wilms? tumour, a tumour which counts for 95% of all childhood renal tumours. In that case the WT1 gene acts as a tumour suppressor gene. Subsequent research has shown that the WT1 gene in many other cases acts as an oncogene, e g in leukemia or lung cancer (even though these cancer forms can emerge as a result of many other aetiological factors).

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.