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.

With the advance in computer and network technologies, multimedia systems and Internet applications are becoming more popular. As broadband network is prevailing, more clients are able to watch streaming videos or to play multimedia data over the Internet in real-time. Consequently, there is an increasing demand in the Internet for streaming video systems. As the run-time environment of such applications tends to be dynamic, it is imperative to handle transient overloads effectively. The goal of this work is to develop an algorithm that would provide a robust and controlled behavior of the video system so that important data is delivered on time to the video clients.

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 need for snow-free surfaces at squares, bus stops, platforms, car parks and sports facilities increases and at the same time energy price rise and the environment is becoming a hotter issue. The construction of the ground heating systems often lack thermal insulation under the heating pipes, which means that the heat from the pipes not only warm up the soil surface but also heats the surrounding soil. The insulation also has more features, by insulating the risk of frost damage is minimized. The goal of this report is to demonstrate the large heat loss and energy costs in the absence of insulation under the heating system.The report begins with a scientific way to study and treating the soil heating system uses, and the theory involved. Furthermore it also deals with different routing principles of heat pipes depending on the facility.All calculations are made with so called finite element method (FEM), in COMSOL Multiphysics 3,5a, where models are created with different conditions.

Knowledge organization is perceived as a central, constituting activity defining the notion of libraries. Critique calling for a new theoretical foundation voiced by active researchers within library and information science concerning the current knowledge organization has been utilized as a point of departure. Specifications concerning a new theoretical foundation implied by these critiques are considered within this thesis and theory found in The Order of Things by Michel Foucault proposed as an alternative theory for understanding knowledge organization as a human science where meaning, value and representation, by which the ordering of things is possible, is acknowledged as a result of human activity and history. Thus meaning, value and representation must be perceived as dynamic. An example of implementation of the proposed theory has been achieved by the use of bibliometrics.

The last couple of years the use of Internet has changed in the way that the web pages can be affected of the person that uses them. Because of this dynamic Internet technology has emerged that makes it possible for a web page to receive information from a web browser. This information can then be used to affect the appearance of the page. PHP and ASP are two dynamic Internet technologies. They are integrated in HTML and are executed on the web server.

Vi har gjort en kvalitativ studie om hur lärare arbetar med gruppdynamiken i klassrummet. Vi utförde fyra intervjuer vilka utmynnade i fyra huvudområden: definition på gruppdynamik, synen på ledarskap, lärares strategier och kopplingen mellan inlärning och gruppdynamik. Informanternas bakgrund varierade från att enbart ha arbetat några år i yrket, till att ha 40 års erfarenhet. Vårt syfte med studien var att undersöka vilka strategier lärare använder när de arbetar med en grupp elever för att åstadkomma ett bra gruppklimat. Vi ville även synliggöra lärares tankar kring sitt ledarskap samt deras syn på kopplingen mellan inlärning och gruppdynamik.

Abstract Author: Robert Andersson & Oskar KarlsjöTitle:?My first thought is a girl that cuts herself? ? A qualitative study about professionals in human service organizations description of self-injurious behavior.Supervisor: Ann OttengrimAssessor: Rickard Ulmestig The purpose of this study has been to understand how professionals in human service organizations (HSO) describe self-injuries behaviour, how they describe the individuals that self-harm and if the professionals describe any possible differences in how men and women self-harm as well as how professional?s knowledge concerning self-injurious behaviour is contructed. The study answers three questions;- What kind of actions do professionals in HSO describe as being self-injurious behaviour?- How is knowledge constructed by professionals in HSO concerning self-injurious behaviour?- How are people who engage in self-injurious behaviour being described?- How do professionals in human service organizations describe potential differences between men and women´s self-injurious behaviour? Qualitative interviews have been chosen as the method in this study to gather empirical data and the social constructionism theory has been implemented to analyse the empirical data.The result of this study shows that self-injurious behaviour is a complex and at the same time a dynamic phenomenon. There are a lot of different actions that are being describes as being self-injurious behaviour.

The aim of this thesis is to investigate how a valuation of a company preceding an acquisition can be affected by the fact that a strong brand is attached to the target company. Techniques to value a company and theories of brands are well developed, but the link between them is partially missing even though the needs to value brands have increased. A case study of five Swedish acquisitions is conducted to identify possible complicating and simplifying factors and how these are handled in the context of a valuation of an acquired company with a strong brand. Important findings are that a decreased volatility of future earnings can lead to more accurate prognoses and valuations due to the existence of a strong brand. A strong brand can, on the other hand, also make the valuation of the target company more difficult due to the fact that it is a subjective asset which increases the overall risk of the company.

Increasing volatility and less political intervention from the CAP in the market price of wheat is making it more difficult than in the past for Swedish farmers to determine the price at which they should sell their wheat. In the past, the Swedish farmer-owned company Lantmännen has traditionally set a guideline price for Swedish wheat every year to which farmers could adapt, but ceased doing so last year. Therefore this study sought to identify the parameters on which the price of wheat is dependent on by using a reduced form model. The perspective adopted was that of farmers. The model proved able to identify the main factors determining the annual price fluctuations in wheat, with all variables included having an impact on the wheat price, except export quantity in the previous year.

Att skapa statiska länkar från dynamiskt JSP-innehåll.

I denna uppsats diskuteras sambandet mellan risk, marknadseffektivitet och volatilitet. En studie görs för att se om volatiliteten (kursrörligheten) har ökat i enskilda aktier under tidsperioden 1988-1999. Vidare behandlas vilka faktorer som kan ge upphov till volatilitetsförändringar, vilka konsekvenser en förändrad volatilitet får för olika typer av investerare samt om utvecklingen är förenlig med EMH (den effektiva marknadshypotesen).Studier av volatilitet är intressanta p g a den risk som uppstår för olika marknadsaktörer vid en ökad volatilitet. Uppstår felvärderingar på aktiemarknaden finns även risk för att kapital fördelas på ett sätt som inte är optimalt. I stora drag kan man definiera begreppet volatilitet som ett mått på hur stor osäkerheten är inför den framtida kursutvecklingen för en aktie.

This thesis describes how large Swedish companies finance their debt and identifies some factors that affect their decisions. The study is based on 10 well-known companies of which 9 are listed on Nasdaq OMX Nordic. The results show that the companies display several similarities concerning their debt structure and the factors which their choices are based upon. All companies in this study primarily use corporate bonds for their long-term borrowing, commercial papers for the short-term borrowing, and bank-facilities as back-up. There is a tendency that smaller companies in larger extent use bank-loans for long-term borrowing due to larger emissions costs when using market financing.

Archbishop KG Hammar has attracted attention for his liberal position in theology. His view on the role of language and communication is central in several books and articles he has published as leader of the Church of Sweden. One of his main theses is the fact that meaning is created in the encounter between text and reader. He often reiterates: God is relation. This non-traditional dynamic stance has a broad impact not only on theology.

Saab Aerosystems has a long tradition and a lot of competence in the field of flight simulation. Their ambition to broaden the market horizon has led to a discussion about also selling vehicle simulation solutions, both for military and civilian use.The aim of this thesis is to investigate the driver?s experiences of the accelerations he or she is exposed to whilst driving in rough terrain. The results may be used as a basis for future decisions and can act as a platform for the construction of an effective simulation model.To investigate the driver?s exposure of acceleration, some kind of dynamic simulation is needed.