In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

The democratic conditions in national states have change radically at the same time as the society has changed. Because of social and economic globalization processes, the states and government has lost power for the benefit of transnational and global institutions. That affects the democracy since the nation state earlier defined the domain of citizenship. At the same time, citizens? confidence towards political parties and politicians has gone down.

This qualitative study involves the implementation of Lean and Kaizen methods in a Swedish service industry. Lean philosophy is based on a method to achieve more with less. In practical terms this means that the use of an organization's resources is improved. The origin of Lean is the Toyota Production System. Now, Kaizen methods give managers and employees a better more efficient system to reach their goals within the organization or company.

The aim of this work is to analyze if a change in the benthic community can be detected two years after a restoration of a small stream. The samples were taken in a small stream at Tinnerö Eklandskap just south of Linköping. In addition to the restored area, two reference sites upstream and downstream of the restored area were sampled to compare to the restored site. The method used for sampling of benthic fauna in the stream was kick sampling. ASPT, Berger-Parker and Renkonen-indices were used to find out if there was any difference between the reference areas and the restored area.

The number of LBOs in Sweden has increased during the last years and the current market trend is positive. MostLBOs involves private companies, but a few concerns public corporations on the national share market. In this thesis we will examine the conditions of a LBO of Cloetta Fazer AB. The purpose is to study existing conditions of Cloetta Fazer AB and to examine pros and cons with the deal. Based upon information presented in the Frame of reference and in the empirical part, two cash flow valuations have been carried out.

The aim of this thesis is to investigate new knowledge about how children search for library material and which strategies they use, and if the latest research gives any answers whether we should adapt systems and services or teach information seeking in a better way. In this thesis knowledge is understood as research publications but also results from projects in library practise, and studies concerning children 6 to 18 years old are included. The method used is a knowledge survey. We have gathered and evaluated documentation from different sources like citation and reference databases within the field of library and information science. The result implicates that there are, both in old and new documentation, three main search strategies children use in their search for information in a library context; they browse, they search in library catalogues and they use some sort of reference service.

The purpose of this study is to investigate how children search for and choose picture books while visiting the library together in a preschool group. How do children interact with each other and their teacher while searching for picture books? Which aspects of children's everyday lives are apparent in their choice of picture books? The theoretical Frame of reference consists of Brenda Dervin's sense-making approach to information seeking and William Corsaro's sociological approach to studying children's routine activities within a peer culture. To capture children's interaction, we have observed a preschool group consisting of six 3- to 5-year olds and their teacher in a library setting during three visits. Our study shows that children's search for picture books is a social activity that involves various verbal and nonverbal strategies in order to include and exclude each other when they find a picture book that interests them.

ABB is one of the world?s leading engineering companies in power and automation technologiesand their solutions improve performance while lowering environmental impacts for energycompanies and industries. ABB FACTS designs equipment and plants for series and phasecompensation.This thesis has been performed at ABB FACTS on the Mechanical Design (DM) department inVästerås, Sweden. The purpose of the thesis was to develop and design calculations andsimulation tools for ABB FACTS?s standard series capacitor platforms.

A new type of chartered holiday, fitness holiday, has evolved during the last years and has also been mentioned in different media channels. Despite this, fitness holiday is a relatively new and unexplored phenomenon, which caught our interest to further explore this. The desire to travel on a holiday of this type has also increased. Therefore, a study about this particular phenomenon with focus on the traveler?s motives behind the choice to go has been done.It?s a qualitative study and most part of the data has been collected during a field study to Playitas Resort, Canary Islands.

Ett gruvbolag har ansökt om tillstånd att få starta en gruva i Jokkmokks kommun. Detta har skapat en stor debatt om vad en gruvetablering kan innebära för Jokkmokks kommun. Frågan om nya gruvetableringar är ett exempel på en policykonflikt. Syftet med uppsatsen är att förstå aktörernas olika synsätt om gruvetableringsprocessen samt hur de olika synsätten i sin tur påverkar deras handlingsstrategier. Aktörerna som utforskas är JIMAB, Socialdemokraterna i Jokkmokk, Urbergsgruppen i Jokkmokk samt samebyarna Jåhkågasska och Sirges.

Six different Digital Proofing Systems from three different techniques have been evaluated as totechnique, printing quality, economy and usability. Digital proof from two paper qualities, coatedand uncoated, has been compared with references printed in offset, to see how good they match eachother. Only two Proofing Systems manage to print on reference paper. The other Proofing Systemsuse special paper for digital proof.Measurements and visuell judgement show that the Digital Proofing Systems visualise referencepictures with quite good quality. Proof optimised for coated paper visualise the colours with goodresult.

The number of firms adapting the concept of Corporate Social Responsibility is constantly growing. It is no longer enough only to supply your customers with demanded products and services since todays? customers have an increased awareness and are demanding more transparence when it comes to the manufacturing and responsibility for society.Along with a growing interest in social, ethical and environmental matters, many firms have received critique, consequently forcing them to start taking more responsibility for their activities. The clothing industry was among the first to get critized and therefore early in starting their work with CSR.The purpose of this paper is to investigate how firms in the clothing industry work with CSR today, and also how they choose to communicate this work, both internally and externally. The methodology of the paper is qualitative and aims to deeply investigate four different firms, along with an additional interview with a CSR-consult from one of the leading communication-firms in Sweden.The theoretical foundation includes a Frame of reference around CSR and the communication thereof, and also a few relevant theories around CSR and business ethics.After analyzing the empirical material the paper have reached a few conclusions.

The aim of this thesis is to study the conditions three public libraries have to be a resource for university students. The libraries are all situated at a distance from universities that allow the students to commute between the university and their homes. These students often make the same demands on the public library as they do on the university library. In order to conduct this study the frame factor theory has been used. This theory was developed by pedagogic scholars during the 1960s and focuses on how the framework surrounding the school affects the learning results.

Too high levels of noise lead to various health problems and cost society billions of SEK peryear. In this thesis we have examined a model of the A40E articulated hauler at VolvoConstruction Equipment in Braås. We have tried to reduce cabin noise in an articulated hauler,while also providing a way on how to proceed with a machine when the cabin does not measureup to the sound requirement. The best way to find leaks were with a reference source of model4205 and its speaker HP 1001 from Brüel & Kjaer in the cab and then walk around and listen towhere the reference source was more prominent. In this way, we found that the edges and theplugs were sensitive areas.

Background and problem: Financial reports are created for the users as decision support. Stakeholders are often subjects to information asymmetry. Banks represent one of the primary stakeholders and financiers of a company, and place great emphasis on financial reports in their credit assessment process. The question is, however, how useful the financial information actually is. According to previous research, banks consider accounting information as troublesome in some respects, mostly due to accounting choices and judgments.