This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone path as to make the acceleration continuous will be presented.

Då mängden information bara ökar, så ökar även behovet att ha åtkomst till informationen lättillgängligt. Detta skapar då ett behov för ett gränssnitt som kan söka bland informationen. I detta arbete har det undersökts om en implementation av Vector Space Model ger mera relevanta resultat jämfört mot en enklare implementation som inte baseras på Vector Space Model. Sökningen utförs i en relationsdatabas med ett inverterat index, databasen fylls med data ifrån internetforumet Stack Overflow. Genom att bygga en sökmotor som returnerade två olika resultatlistor för varje sökning så fick tio användare testa och utvärdera resultatens relevans.

Hegel?s master-slave dialectic has often been used as a model or starting point for later theories about emancipation and subversive changes in society. But one often overlooks the fact that the chapter in The Phenomenology of Spirit ends in disaster, as Judith Butler remarks. Instead of realising freedom, the consciousness gets entangled in self debasing activities in its attempts to master the unrelenting principles of the abstract freedom. We get ?the unhappy consciousness?.

This essay intends to investigate the view on freedom of speech in Sweden. The expanding of the hate crime law rises the question if there is a current changing view on freedom of speech. By comparing motions concerning an expanding of the hate crime law from different periods, I am able to conclude if and how the view on the term freedom of speech has taken place. This is done in a descriptive analysis of terms, where the different values and arguments for a change is compared. The material is taken from the period 1991-1993 and 2000-2001.

Freedom of religion or belief is indisputable in Human rights discourse, more discussed is exactly what it is that is included in the concept of freedom of religion or belief (in Swedish: religionsfrihet). This thesis focuses on the freedom of religion or belief in a European context, in particular on the European court of human rights and article 9 in the European convention for human rights. Some criticism has been directed against the Court to the effect that its practice and verdicts don't answer to the pronounced desire to develop a pluralistic and inclusive form of freedom of religion or belief.My aim is to examine, analyse and test three different theories, which all try to develop alternatives to the expression freedom of religion or belief, in relation to six verdicts from article 9 in Europe convention. My basic purpose is to try to find new ways of talking about freedom of religion or belief that might lead to a more inclusive, pluralistic and equal interpretation of that concept.The three theories wich I use are elaborated by Richard Amesbury (associate professor at Claremont school of Theology); Hugo Strandberg (TD at Åbo Akademi) and Eberhard Herrmann (professor in philosophy of religion at Uppsala University); and Martha Nussbaum (professor of law and ethics at the University of Chicago). The six cases from the European court are: X v.

This thesis is a cultural theoretical case study of the art project (O)önskad samhällsförbättring.Via an analysis of the project, that is based on theories of power, resistance and contemporaryurban development, it examines the construction of urban space, its impact on public art including the ability of art to initiate evolvement of the urban public space.The last decades art has plaid an important role in what is called the creative city; to become attractive nodal points of the global economy, larger cities increasingly invest in art,culture and creative industry. Simultaneously the urban public space is limited to activitiesand expressions of art that are presumed to create economic growth. This introduces animpression of what is allowed and what is not allowed, possible and not possible, wished andnot wished which, as a consequence, evolves the public space. The events during the artproject and the reactions that followed enlightened these limitations. This tells a story, not only about the structuring process of the local urban space, but also important changes that are created as a simultaneous effect at different levels in society, as well locally as globally.

The purpose of this essay is to illustrate how the position of power / exercise of power are perceived in today's schools from the teacher's perspective. I have examined how students' freedom and democracy education interpreted in real life, and how this affects both teacher and student learning approaches. I would also highlight the need to set standards for children's psychological development related to the consequences will be. I have chosen to perform a qualitative research through individual interviews with five participating teachers from different experiences in different type of school. I have used the hermeneutic method of analysis to analyze the material.

The paper evaluates two housing proposals with Space syntax as method. The proposals are very different in a topological sense but are in a configural sense almost the same. This effect is because both proposals connect themselves to the existing configural structure of the city in the same way. Neither of them takes advantages of the most integrated streets in the existing structure and use them to concentrate pedestrian and car flows to the streets or points which are intended to be the most urban areas. The knowledge of Space syntax and this evaluation puts focus on the pour understanding among architects and planners of what effect urban design proposals will have..

The purpose of this essay is to illustrate how the position of power / exercise of power are perceived in today's schools from the teacher's perspective. I have examined how students' freedom and democracy education interpreted in real life, and how this affects both teacher and student learning approaches. I would also highlight the need to set standards for children's psychological development related to the consequences will be. I have chosen to perform a qualitative research through individual interviews with five participating teachers from different experiences in different type of school. I have used the hermeneutic method of analysis to analyze the material.

Freedom of religion or belief is indisputable in Human rights discourse, more discussed is exactly what it is that is included in the concept of freedom of religion or belief (in Swedish: religionsfrihet). This thesis focuses on the freedom of religion or belief in a European context, in particular on the European court of human rights and article 9 in the European convention for human rights. Some criticism has been directed against the Court to the effect that its practice and verdicts don't answer to the pronounced desire to develop a pluralistic and inclusive form of freedom of religion or belief.My aim is to examine, analyse and test three different theories, which all try to develop alternatives to the expression freedom of religion or belief, in relation to six verdicts from article 9 in Europe convention. My basic purpose is to try to find new ways of talking about freedom of religion or belief that might lead to a more inclusive, pluralistic and equal interpretation of that concept.The three theories wich I use are elaborated by Richard Amesbury (associate professor at Claremont school of Theology); Hugo Strandberg (TD at Åbo Akademi) and Eberhard Herrmann (professor in philosophy of religion at Uppsala University); and Martha Nussbaum (professor of law and ethics at the University of Chicago). The six cases from the European court are: X v.

The purpose of this thesis is to investigate the employees´ duty of loyalty to their employer when making statements on social media networks and if this opposes the employees´ right to freedom of speech. Another purpose of this thesis is to investigate freedom of speech from an EU juridical point of view. Also a discussion concerning gender issues on this subject takes place is presented in the thesis. The questions to answer the purpose of this thesis are the following: Where is the line drawn for what an employee can publish on a social media network without breaching their duty of loyalty towards their employer?, and How does an employee´s freedom of speech relate to these types of statements on a social media network? The method used for this thesis is the classical legal method.The legal inquiry shows that duty of loyalty is a hidden clause in all employment contracts, and it must be respected by the employee.

The proponents for conscience wants to get a clause that will allow the health professionals to due. scruples waive certain duties. Swedens decision makers has despite pressure from the Christian De-mocrats and the Sweden Democrats decided not to implement freedom of conscience in health care. The purpose of this paper is to investigate whether Sweden has the obligation to provide for freedom of conscience in health care. Furthermore, it must be examined, whose rights according to the law will go first, health professionals right to freedom of conscience or the patient right to equal treat-ment.

Freedom of religion or belief is indisputable in Human rights discourse, more discussed is exactly what it is that is included in the concept of freedom of religion or belief (in Swedish: religionsfrihet). This thesis focuses on the freedom of religion or belief in a European context, in particular on the European court of human rights and article 9 in the European convention for human rights. Some criticism has been directed against the Court to the effect that its practice and verdicts don't answer to the pronounced desire to develop a pluralistic and inclusive form of freedom of religion or belief.My aim is to examine, analyse and test three different theories, which all try to develop alternatives to the expression freedom of religion or belief, in relation to six verdicts from article 9 in Europe convention. My basic purpose is to try to find new ways of talking about freedom of religion or belief that might lead to a more inclusive, pluralistic and equal interpretation of that concept.The three theories wich I use are elaborated by Richard Amesbury (associate professor at Claremont school of Theology); Hugo Strandberg (TD at Åbo Akademi) and Eberhard Herrmann (professor in philosophy of religion at Uppsala University); and Martha Nussbaum (professor of law and ethics at the University of Chicago). The six cases from the European court are: X v.

I have conducted a qualitative study were the aim was to understand how the freedom of choice act in eldercare is handled at a municipality level as well as a national level and the effects that can occur. The methods I have used for this study is a document analysis and semi-structed interviews.     I have conducted semi-structed interviews with three professionals in the eldercare organization in a large municipality in the south of Sweden, I have also conducted a phone interview with a representative from Socialstyrelsen. The professionals that I chose for my study was a chief of staff, an aid case worker and a person who worked in the municipality with the implementation of freedom of choice act.     The study shows that the work quality is expected to rise with the freedom of choice as a consequence of the customer and performer model and will give the caretakers a higher level of influence. The study also shows that the municipality will get a greater responsibility and the aid case workers will get extended tasks though they will have to inform the caretakers regarding the options and they will also be mediate between the caretaker and the performers. However the study also show concerns regarding rough traders whose aim is to make money and does not have the same rehabilitation agenda.     There are also concerns for those who can´t chose for them self though they will not be able to be a part of the freedom of choice act in the same way and that is something the municipality needs to work out a system for.

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