The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

In this thesis I set out to study how the reading of fictional literature is viewed, legitimatized and operationalized in two educational domains: the recently revised steering documents that all Swedish teachers must relate to, as well as a selection of teaching materials designed for education in the Swedish language for upper secondary school. The teaching material I have studied has been recently updated in order to correspond with the new steering documents. I relate my analysis to previous research about the use of fiction in education, and I also combine my analysis of the two educational domains to see whether the underlying intentions of the steering documents have influenced the revision of the teaching material. The outcome indicates that the steering documents? previous focus on culture has diminished although a certain insecurity as to how to use the concept and deal with the issue of whose culture should be taught can be identified.

Att köra eller inte köra is a qualitative study aiming to show how environmentally conscious people who utilizes cars deal with their dissonant behavior, but at the sametime maintain an identity as environmentally conscious. The study is based on the fact that a third of those who drive cars in the municipality of Växjö would like to decrease their use of cars while at the same time having the infrastructural conditions to utilize other means of transportation. The study investigates inner obstacles in the form of habits and lifestyle, but also the different strategies the motorists use to reduce their cognitive dissonance and maintain a green identity. The indicators show that the reason the majority of the motorists continue to utilize cars is part due to inner obstacles (it's adeeply rooted habit, but also a big part of their lifestyles), part due to that the individuals have defenses for their use of their cars, defenses designed to have a dissonance reducing effect. The indicators also show that the motorists value their family higher than the environment, and in this way they can legitimize many of their car uses.

This report focuses on work schedules in the retail sector, where work schedules are dynamic and change according to the needs and work schedule is a requirement for an effective structure of the work. This structure is important for maintaining a good order and all this is a requirement for a profitable business for both long and short term future. Work schedule also contributes to safety at the workplace. The purpose of this study was to investigate the transfer of knowledge by work schedules. The HRM employee we interviewed worked in Reitan Servicehandel Sverige AB which includes 7-Eleven, Pressbyrån and Shell.

The main aim of this master thesis was to see the process of an interactive online reference service from idea to final product. The reference service we have studied is developed and used by the Library of the National Institute for Working Life in Stockholm, Sweden and goes by the name phibi. Our goal was to review the whole realization process from the reasons why a service like this was created, how the service was introduced and implemented inside the organisation and finally what the result and consequences were for both the library staff and for the users of the service. Phibi is designed to be a tool that fosters communication between the library staff and the remote users where the users get the opportunity to be helped with their questions by the library staff although they are not physically present in the library. To understand the process we conducted a case study with 11 interviews of the library staff, the superior and the initiator to phibi.

The purpose of this study was to explore the use of a blog in the classroom. This paper describes why the teacher created the blog and how the blog is used by teachers and pupils in and outside the classroom. The study also describes teachers? thoughts regarding future use of the blog. Seven primary school teachers were interviewed and the material was analysed using a multimodal design theoretical perspective on learning (Selander & Kress 2010).The conclusion of the study was that the teachers created and designed blogs to give parents, pupils, relatives and others an opportunity to have an insight into the pupils? school day.

This essay investigates and compares the readability in two different schoolbooks: Eko Historia (the primary school grade 4-6) and Epos Historia (the upper secondary school). The questions of the survey are:- Which differences in linguistic and layout can be found between books meant for the primary school and books meant for the upper secondary school?- Are the texts easy to read according to the former research in readability?In order to answer the questions structural dimensions as lexicon, syntax, bounds between sentences and narrative voices have been studied. Also the texts disposition and typography have been examined.The results demonstrate that the book designed for the primary school has a verbal structure with an explicit vocabulary, lots of verbs and short sentences. A clear narrative voice gives an impression of spoken language.

The main purpose of this essay was to study the program "Nationellt stöd för kunskapsutveckling inom socialtjänsten" ("National support for knowledge development within the social services") from the National Board of Health and Welfare on the basis of how such a development, as represented by the program, could affect clients' possibilities to participation and influence within the social services.To respond to the purpose I used the following questions at issue:* How is client participation and client influence defined in the program?* What arguments for and/or against client participation and client influence are stated?* Which patterns and similarities/differences are possible to discern between the municipalities and universities that participated in the program when it comes to client participation and client influence?The study was conducted as a document analysis. I studied documents from the program both on a national and a local level. The essay uses empowerment theories and theories concerning client participation and client influence. The main conclusions were that on the national level the authors of the documents spoke with caution about their view on client participation and client influence and expressed that it had to be balanced against the rights of the citizens and the social workers for example.

Along with rising energy prices and increasing awareness of environmental issues, the criteria for buildings energy performance have been sharpened through the years. Today, ?passive house? and ?low energy house? are commonly used phrases in the construction industry and is expected to become increasingly common in the future.For houses with well-insulated building envelope the importance of well constructed details increases when minimizing the heat losses. Examples of these details are floor-wall junction and window openings in the wall. In such connections thermal bridges occur, which means that heat more easily is transported out of the building, compared to the rest of the building envelope.This report deals with detail solutions around windows and a comparison between a traditional slab and a foundation from Koljern consisting of foam glass.

This degree project has been carried out by Niclas Andersson and Sebastian Zwahlen, students of the Innovation and Design Engineering Program at the Faculty of Technology and Science at Karlstad University. The project was carried out during the spring 2010 and includes 22, 5 ETCS credits.Initially the group had contact with the company Mavis möbler AB. Mavis gave the group the task of developing a new bedroom product. To assess the needs and problems of bedroom behaviors, an extensive questionnaire and several interviews were made. This became the starting point for further work.According to the results uncovered during the market research a vast problem was found with temporary clothing storage.

Due to increasing regulations regarding new diesel vehicles particulate matteremissions the new Scania truck, Scania Euro 6, has been equipped with a particulatefilter. This component effectively stores the particles in the exhaust gas but must becleaned in order to prevent itself from clogging. The filter is cleaned through aprocess named regeneration which is a thermodynamic process in which thetemperature of the filter is raised through fuel supplied to the exhaust gas.The purpose of this thesis is to contribute to the development of improved controlstrategies of the temperature during the regeneration process through thedevelopment of model-based controllers. These controllers are designed in order tohave good performance in stationary as well as automatic regeneration.In order to develop these model-based controllers a model of the system isconstructed. The model is described as a linear thermodynamic grey-box model withflow varying parameters, showing good results in validation.The model provides a simulation environment during the controller design, which isfocused around the development of linear regulators with the exhaust gas mass flowas a scheduling variable whose size determines controllers? mode of operation.

?Childs pedagogic material ? A qualitative study of child?s use of pedagogic materials available at five nursery schools and about their teachers thoughts about the display of the pedagogic material?In the nursery preschool the environment and the educational materials have always had a central place. That's why it has been chosen to study and observe five preschools and interview sex teachers, in an attempt to understand the teachers thought about the choice of material and the choices of material that the children used. The reason I do this is to see what the underlying idea about the materials the children use is, and why educators choose to make certain materials visible. The purpose of this study is to examine the educational materials that are used to stimulate children´s learning and examine what determines the choice of educational materials.

To be able to feel a sense of belonging, people need to have the possibility to take part of the information from the society. Hearing-impaired don?t have the same possibility as hearing people when they want to take part of the information, therefore they don?t get the same benefit. This contributes to a feeling of not belonging and a sense of limitation in different social occasions. Therefore the society needs to be accessible to everyone regardless disability.

Automatic trimmerhead is an examination project for making an automatic trimmerhead for grass trimmers with the user and functionality in focus. Our perception is that a happy user is a user who can pick up his or her trimmer, use it and put it back to its place when the job is done. It should not be necessary to interrupt work and perform maintenance on the machine just to make it work as promised.The project has been made in collaboration with the company Husqvarna, which is one of the biggest actors dealing with garden machinery on the market. Together we determined the project goal, ?To invent, construct and test a brand new concept for how an automatic trimmerhead can look and function?.At this day there are several different automatic trimmerheads on the market, both semi and fully automatic.

Detta kandidatarbete undersöker hur digitala spel kan skapas med någon annans synsätt. Vi ville se vad som hände om vi försökte göra spel på ett posthumanistiskt sätt och om detta hade förändrat något. Det har uppkommit speciella möjligheter och konsekvenser under processen, det har även dykt upp frågor. En av dessa frågor är hur skapandet av varelser inom digitala spel kan utföras. Likväl har det under projektet skett diskussioner och tester runt hur ett verktyg för detta ändamål skulle kunna fungera.