In this master thesis a robot arm belonging to an automatic milking machine from DeLaval is investigated. The robot arm is controlled by a pneumatic cylinder and a valve. The goal of the master thesis is to investigate instability problems and to find out if it is possible to solve them by using gain scheduling. Gain scheduling is a type of controller where the parameters of the controller are changed during operation, for example depending on the working point. First a nonlinear mathematical model of the system was made.

Wood pellets are an upgraded product of residuals from several wood processing industries, for example saw mills and pulp industries. The pellets are produced by pressing the milled and dried sawdust to cylindrical units with a higher density than the initial raw material. Pellets have great benefits compared to the raw material: high energy per volume, good transport and storage properties and homogeneity. Several parameters collaborate in the whole process, which makes it complex. Wood is a heterogeneous material, chemically and structurally dependent on wood parts, habitat and storage procedures.

Henriksson, Kristina (2009). Assessing student teachers through conversation - an interactional analysis of student-teaching conferencesThe aim of this study is to identify the characteristics of student-teaching conferences. During a school-based education for student teachers, teacher educators from the university visit the student teachers. They also have conversations, so-called student-teaching conferences, with the students school mentors to assess the student teachers knowledge. These conversations aim at assessing the student teachers professional knowledge at the end of a shool-based education.

A growing number of cities and municipalities in Sweden begin to work with city models in 3D. For the most part the models are used for visualizations of ongoing planning processes, but also for the analysis of noise, shadow studies and environmental disaster simulations.Gothenburg continues to develop the use of 3D maps in municipal operations and is demanding a way to create building elements (walls), which generates in 3D buildings, from roof constructions that are mapped from the primary map. A method has been investigated in the present study. The results are then presented as a 3D model of buildings, along with a terrain map that will facilitate the localization of the area. The created 3D buildings are then compared with roof-data from the primary map to see how well they harmonize with each other.

This master of economics paper discuss that the globalization has lead to increasing internationalization among small Swedish IT- companies in the service sector. Sweden has a long history of foreign trade but in the beginning of the industrialization only large companies that produced goods answered for the foreign trade. Before, the Swedish companies begun their operations abroad in fairly nearby markets and only gradually penetrated far-flung countries. Now this is no longer possible. When small companies nowadays seek growth in other countries there is no time internationalize with the same approaches as before, especially when the company offers a service.

With background in the acknowledgement of the current period of major change in the characteristics of traditional Swedish foreign policy, considering the membership in the European Union, as well as the new contextual scenarios that Sweden has been situated in after the end of the cold war, this thesis aims at scrutinizing the Swedish Foreign Policy from 1991 to 2010. The purpose of the thesis is further to localize continuity and change in the ideas which Sweden has explicitly stated in its foreign policy. Based on the theory of institutionalism, the thesis also aims to bring forward plausible explanations built on the main empirical findings. This has been done by identifying different types of goals and means within realism and liberalism as well as categorizing each theory within three ideal types.The chosen research method has been a qualitative text analysis with focus on an ideational analysis. The material on which the descriptive analysis is based upon is constituted by the annual statements of government policy in parliamentary debates on foreign affairs.The results of the thesis show that the ideas that are related to solidarity, consensus and active foreign policy are constant through the period of examination.

This thesis examines and measures differences in effciency between L1- and L2 language use for solving referential problems. Quantitative measures used in the study were time and error frequency. Qualitative measures, such as how the tasks and the participants own performance were experienced, were measured by an post interview and two questionaires. Two different tasks, a sorting task and a construction task, in which each informant was given the role as a constructor or instructor, were used for data gathering. A total of 20 dyads, divided in two language groups (English and Swedish) participated in the study.

Accounting has been critized for being one of the leading factors in the latest financial crisis. One of the primary problem areas was identified as delayed recogonition of losses on financial instruments. Consequently, a new impairment model is being developed and is to be namned expected loss model. The difference from the present model, incurred loss model, is that it takes losses into consideration on an much earlier level. Even though the model may be theoretically feasible, in practice it may implicate a number of issues.

Multichannel-shopping has become a wide spread phenomenon in the retail industry due to a significant development of retail channels and formats. Consumers now shop for the same product category in many different retail settings and this trend is increasing. Therefore both the academic world and the retail industry are screaming for knowledge about the multichannel-shoppers. Several studies have focused on the characteristics of different channels and how multichannel strategies should be designed to minimize cannibalization. There is however a lack of research concerning what characterizes multichannel-shoppers and what drives them to shop in several channels.

In classic academic social studies of East Europe, terms as Communism and Post-Communism are commonly used to describe the main characteristics of this geographically imagined area. This paper makes a not so frequently seen attempt to apply Post Colonial Theory for the same field. With start point in Post Colonial theoretical writers, the author wants to find a East European Post Colonial version for the internal Europe which will supply tools for a discourse analysis of the European mind map divided into West and East. The material consists of interviews with three Swedish and three Czech officials, all working with European politics in their country's Ministry of Foreign Affairs. The analysis is carried out with inspiration of Ernesto Laclaus and Chantal Mouffes Discourse theory.

The aim of this paper is to investigate the subject matter of visual communication in presentation brochures of two Swedish regions: Region Halland and Region Dalarna. My focuses are the following questions: what is the aim of the brochures and in what ways does the visual material relate to that aim? How can strategic communication be defined through a visual perspective and in what ways is it useful in the context of presentation brochures of the regions? What sort of communicational functions are specific for the visual material in relation to the written language of the brochures? Lead by these questions, I start by analyzing the brochures through a textual analysis and a social semiotic approach. The result shows that the aim seems to be both political and commercial, but that the visual elements relate more strongly to the commercial aim than to the political aim by the way they strive to present a positive image of the region. The visual elements work in strategic ways that I define as visual strategies.

In this literature review the characteristics of two free-floating macrophytes, water hyacinth   (Eichhornia crassipes) and duckweed (Lemna sp.), and two microalgae, Chlorella and Scenedesmus, have been examined regarding their suitability as efficient nutrient removers in the treatment of wastewater with high levels of nutrients and suspended solids from a biogas plant in Loudden. The needs required for the plants to be able to grow in wastewater and the amounts of biomass they can produce have also been studied. The results show that Chlorella is capable of a very high uptake of nutrients in photobioreactors with high nutrient loadings. With an ammonia uptake maximum value at 10900mg/m2/d Chlorella outshines the other organisms in this study. The test organism that performed the closest to Chlorella in terms of nitrogen uptake was water hyacinth with an uptake about 1602mg/m2/d.

This master thesis deals with computer game classics and a possible computer game canon. It looks closer at four computer game genres - adventure, RPG, action and strategy - in order to discern which games are considered classics and what characterizes them. To answer the first question a quantitative research method was used. 675 computer game reviews from 5 Internetsites were examined in order to see which games are mentioned most often in this context and therefore might be considered classics. To answer the second question a qualitative research method was used.

Background: ?Transitional care? is a new form of care in the Child and Adolescent Mental Health Services (CAMHS) in Sweden. The level of care, between outpatient and inpatient, has been developed to meet children/adolescents and their families in a different way than in the traditional outpatient and inpatient treatment. The contact offered can be intense with frequent contact and also with more time set aside for every occasion. The nurse, who is one of the categories of personnel involved in the multidisciplinary team works largely in other contexts than in the therapy room at the clinic or on the ward.

The purpose of this study is to give an insight in how music press is presented gender wise. The focus area lies in rock music and the study is made on British music magazine MOJO in the year of 2010. The study contains quantitative analyses showing how much room men are given compared to women. The study is also supplemented with image analyses of four covers spread out over the year. The main question is formulated as in, how much room do women get in music magazine MOJO 2010 and what output does this have on rock music?s gender characteristics? The main results show, amongst other things that 79% of all the articles are written with focus on one or more male musicians.