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.

Parkinsons sjukdom drabbar 15 av 10 000 personer. Sjukdomen kan påverka gången genom freezing, då individen stannar upp och är oförmögen att fortsätta att gå. Detta är ett mycket besvärande symtom som kan behandlas med olika cueingstrategier. Även gånghastighet kan förbättras med hjälp av cueingstrategier. I den senaste litteraturstudien var evidensen för cueing oenig.

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.

Botulism is a serious disease with high mortality that can affect horses. Due to this about 20-30 percent of the horses in Sweden are vaccinated against botulism. The purpose of this study was to see how common botulism is in the Swedish horse population and to se if a connection between feeding with haylage and botulism could be seen. In addition to this, the study aimed to find how common vaccination against botulism is among Swedish horses and on what grounds the diagnosis botulism is made. Medical records of horses being diagnosed with botulism at all the major large animal hospitals in Sweden between 1995-2005 were searched. In addition to this the database where general practitioners report their cases as well as the cases with botulism reported to the insurance companies were included. The results of this study show that only 0,03 percent of the Swedish horse population has been diagnosed with botulism during the time period this study covers. In all the cases included in this study the diagnosis was made based on clinical signs and in none of the cases verification by isolating the toxin was possible. In all cases where forage is noted in the journals the horse has been feed haylage which indicate that there is a connection between the use of haylage and botulism. Three horses died despite being partially vaccinated against botulism type B which indicate that a correct vaccination has to be done before the horse get any protection or that the correct diagnosis was not botulism type B..

The flagellate Giardia intestinalis has been known to cause diarrhea in both man and dog. Results from epidemiological studies have indicated that transmission of the parasite from dog to man is plausible even though that route of infection has yet to be shown. Several international studies have shown that the parasite frequently occurs in asymptomatic dogs. In Sweden the prevalence of Giardia in healthy dogs is not known though. In this study, faecal samples were collected at two separate occasions from 21 litters and 21 bitches showing no symptoms from the gastrointestinal tract. The samples from each litter were pooled but the samples from the bitches were analyzed individually.

Träningsinducerad lungblödning, Exercise-induced pulmonary hemorrhage (EIPH), är ett stort problem hos travare och galoppörer i hela världen. Det får anses klarlagt att mekanismen bakom EIPH är så kallad stress-failure, utmattningsskador, i blod-gasbarriären vilket beror på att hästarna har en respiration och cirkulation som ger extrema påfrestningar på denna sköra struktur. En bidragande faktor till stress-failure tycks kunna vara att hypertension i lungvenerna leder till att dessa remodelleras och förtjockas, vilket i sin tur leder till ännu högre tryck i lungkapillärerna. Den här litteraturstudien handlar om hur inflammation i lungorna kan ge upphov till EIPH. Inflammation finns med i problematiken runt EIPH både som en bakomliggande faktor och som ett resultat av blödningen.

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..

Tissue factor (TF), a 47 kDa glycoprotein, is the initiator of the extrinsic pathway of blood coagulation and consequently of the upmost importance when damage to blood vessel occurs. The source of TF in circulation has been investigated. However, the source of TF is still not clear. One theory is that platelets express and increases the expression of TF after stimulation and the aim of our report was to investigate whether platelets really are a source for TF in circulation.Using specific primers for TF mRNA, platelets in plasma from healthy volunteers and from patients suffering from cardiac infarction were analyzed by using real-time polymerase chain reaction (PCR). Gel electrophoresis was performed after amplification of TF mRNA to verify the results.The samples were negative for TF when using real-time PCR and the few positive all had cycle threshold (Ct) values above 35.

The aim of this literature review was to describe how the literature presents parents? need for information and how parents perceive the information from care personnel when their child 0-18 years of age is diagnosed with diabetes. The literature search was performed in the databases PubMed and Cinahl. Thirteen articles that met the inclusion criteria were studied. The results showed that when a child is diagnosed with diabetes the whole family faces a new situation and the parents are in great need for adequate information from care personnel to be able to deal with the new life situation and participate in the care.