This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

THE THIN RED LINE ? Identity in theory and method With this essay I want to explore some possibilities with the term identity within archaeology. Identity is a term best understood in the light of different scientific approaches. For instance the anthropological and historical angel combined with the quality of archaeology, as is the case in this essay. By combining these approaches, I create a (clarification) method of exploring traces of identity.By analysing two different graves from Scania, having a negligible number of artefacts from the Viking Age, and three graves from Bornholm, known for its large number of finds from this period, I test the ability of my method.

Often, the green is handled as an opposite to the built, but if it could be seen as a part of the built and the society, the planning will be easier to handle. The thesis work wants to create a method that treats villages in an analytic way in a context; with green, blur, grey and all the other colors that together are the completeness.This master's thesis is made to be used as foundation in detail plannng in the municipality of Örkelljunga. Target audience is on one hand those who work with planning and green matters in Örkelljunga municipality, but also other planners who work with landscape.Literature in the field of green city planning has been studied and 30 methods for analysis have been valued. The method for analysis that has been used in this work is a merging of ten different methods and has included literature studies, sketches, interviews and work on spot. The ten methods are consciously chosen to together make one comprehensive and true image of the village, as far as it is possible.

Background: The development of the Swedish demography is one of the most important social and economic changes ever in Swedish history. Society as well as business is facing an age chock since almost every other company owner is over 50 years old. The complexity of managing a successful succession is pointed out as a major threat to the Swedish economy by the organization Svenskt Näringsliv.Purpose: The purpose with this master thesis is to identify and analyze critical success factors for a successful succession from a going concern perspective.Research method: By using the strong aspects from the quantitative as well as the qualitative method, high level of order and systematic could be reached, without loosing too much details and depth in this particular research. The empirical data was gathered by a digital survey sent to 3000 companies. The quantitative research was complemented by 6 qualitative interviews to increase depth and reliability.Results: The study shows that there is a great incongruence between the expected problems associated to the succession and the actual outcome.

The aim of this study is to investigate teachers? experiences of working with Writing to Read (WTR), and their perceptions of how pupils develop in reading and writing when they write on computers or similar devices. Another aim is to study teachers? motives for using the WTR method. The material used for analysis is four interviews with teachers who use WTR.

Purpose: my aim was to explore ways that teachers can support students with dyslexia and what/ which tools some teachers / special education teachers use to facilitate students.Method: I used a quantitative method by interviewing some regular teachers and special education teachersResults: In my study, I learned how some teachers can support students by reading loud to them; a main task for the teachers could be to create the love of reading for the students. That task was reinforced by students' self-image..

The CASA-paradigm, Computers Are Social Actors, was introduced in the book "TheMedia Equation" by Reeves and Nass. One of their experiments concluded that we tend to be polite to computers in the same way as we are to people. In this study I have replicated Reeves and Nass experiment but instead of a text-based interface I have used a virtual agentin order to find out if we are polite to the agents, or still to the computer. Two experimental setups was conducted. The two setups had a common first part that was carried out on onecomputer with one agent.

Aim: The aim of this essay is to study the external communication of Science Park Jönköping, how they want students in Jönköping to perceive them. Further we would like to compare thatinformation with how students in Jönköping actually perceive Science Park Jönköping. Do the both pictures agree?Method/Material: Together with literature studies, a qualitive method has been used.Two interviews with the managers of Science Park, and five focusgroups with students havebeen conducted.Main Results: The main result from the focusgroup interviews shows that the students perceived image of Science Park correlates in many ways with Science Parks profile. But the study also shows that Science Park do not apply many of the relevant theories that would benefit their marketing..

The essay deals with the patterns of storytelling in Selma Lagerlöfs novel "Körkarlen". The focus is on the relationship between idea and form. Selma Lagerlöf tries to show how the drinker David Holm comes to insight about his own shortcomings and faults without knowing that he is in fact educated by his old friend. The author of this essay tries to show that Selma Lagerlöf use the same method in relation to the reader of the novel. Selma Lagerlöf wants to enlighten the reader without actually preaching.

The purpose of this study is to investigate the reading methods that pedagogues, active in classes 1-3, use in the first stage of learning to read and how they consider their own choices of methods. In the theoretical background I sort out the basic differences between synthetic and analytic methods of acquiring the skills of reading. The analytic reading method means that the skills of reading starts with the complete text in order to later analyze the parts of the text. The synthetic method approach is based on a reading method where the parts are linked as a whole. The two methods are considered antipodes but can also be looked upon as complements in the current governing documents.

This project is focusing on a future park that will surround Hyllie water tower in the outskirts of Malmö. The water tower will be located in the central part of the new building area Hyllievång. The park will function as a town park with a special focus on water. The water council of the municipality, Va-verket, has for the last 7 years built up and been in charge for a pedagogical programme in the water tower, were schoolchildren come to learn about the cycle of water and how we use water in our daily life. In the park they want to build a new part that gives experience of water, as a compliment to the information in the tower. What will that park look like, and what shall it be constructed of? How do you bring water to the surface in a park? How can landscape architecture work to enhance the presence of water and make people more interested in water issues? In the search to find the answers to all my questions I have meet with people, read books and visited different places.

It has become increasingly common for a city or region to use sporting and media events to promote themselves. But what is behind these events? What kind of organisation is necessary to plan and run them? In the summer of 2009 the internationally known Volvo Ocean Race will arrive in Stockholm. The race is eight months long and will be hosted in Stockholm for almost the whole of June. The City of Stockholm is behind the event and Stockholm?s marinas will be responsible for making sure that everything runs smoothly and on schedule.

Objective: Our purpose with this study is to demonstrate the impact of natural disasters on banks' share prices.Method: Quantitative survey method, an event study.Conclusion: There is no association or a very weak correlation in this study between natural disasters and the Swedish banks' share prices..

Transfer pricing innebär i grund och botten att den vinst som företagsgrupper får ska fördelas på ett korrekt sätt mellan deländer där gruppen har aktörer.Armlängdsprincipen är den internationellt accepterade tillvägagångssättet att fastställa priser när närstående företag handlar medvarandra. Principen innebär att företagen ska handla med varandra precis som om de vore oberoende företag, påarmlängdsavstånd.Immateriella tillgångar har en rad egenskaper som gör dem speciellt svårvärderade ur armlängdsperspektiv. Marknadsvärdetbehöver inte vara samma som värdet för ägaren. I regel finns det heller inga transaktioner som innefattar immateriella tillgångarvilket gör det svårt att få en lämplig armlängdsvärdering med hjälp av de tre traditionella metoderna.De två vinstbaserade metoderna (Profit Split Method och Transactional Net Margin Method) är de mest lämpliga för atttillgodose armlängdsprincipen. Profit Split Method:s kanske största fördel är att man för att använda metoden inte behöver hajämförbara transaktioner till hands.

Benthic invertebrates play important roles as feeding resources for many organisms in different food webs. Shifts in predation of these organisms can generate cascading effects and potentially lead to the disappearance of one or more species from a site. Cascading effects can bring impacts to organisms who aren?t even directly involved, why studies in this field are important for understanding sudden changes in ecosystems. I examined the predation from fish and waterfowl on benthic invertebrates in the shallow and eutrophic Lake Tåkern in the plains of Östergötland County, southern Sweden.