The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600. The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox. A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace.

Under vårt sista år var vi intresserade av att ta reda på de problem som vi kan stöta på i våra yrkesroller som fartygsingenjörer. Arbetet tar upp de tekniska problem som uppstår p.g.a. de allt strängare kraven på minskade svavelutsläpp från fartyg. De tekniska problemen härstammar från de olika bränslekvaliteternas vitt skilda egenskaper. Som svar på dessa problem har det utvecklats tekniska lösningar varav två stycken har tagits upp i detta arbete.För att ta reda på vilka tekniska problem som kan uppstå tog vi del av den berörda utrustningens tillverkares erfarenheter enligt empirisk modell.

This degree project concludes the Innovation and Design Engineering programme at Karlstad University. The project was carried out by David Brocker, Erik Hallberg and Andreas Hertzman during the spring of 2006 and corresponded to 15 weeks of work per student. Assigner was Martin Larsson at Arexor and instructor at Karlstad University was Monica Jakobsson.Arexor has a patent to a construction of an electrical skirting board with moveable wall sockets, called Electrical Track System. The lowest parts of the interior walls along the floor are today almost always covered by a conventional skirting board. Arexors patented product replaces that with the possibility to move and increase the number of wall sockets by choice along an electrical skirting board.

The Swedish sports retail industry has experienced extensive growth during the last decade, and this has attracted new entrants to the market, both start-ups and international followers. This has inevitably put more pressure on incumbents, which are now confronted with major challenges as how to retain their customers and market shares. Customer loyalty has been proved to be an important factor for customer retention and proposed to constitute inertia of switching behavior. In light of this problematization, the purpose of this study is to describe the underlying factors of loyalty and whether purchase habits could further explain customer loyalty. The aim is also to understand the strategic implications of the factors involved.

   Purpose: The Essay is written on behalf of a company called ?Uppdragsgivaren?. The purpose is to connect theory with the result of the survey and thereby find the critical factors for an optimal placement of the cargo holders in the company?s terminal.   Method: A qualitative case study has been carried out. The theory collection is completed with the result from the survey, which include the information ?Uppdragsgivaren? provides and the result from the survey.

Den organiserade handeln av öl från Tyskland till Sverige är ett stort problem. Dels genom försäljning till ungdomar, privatpersoner, krogar och arbetsplatser dels genom förlorade skatteintäkter. Det går inte lägre att kontrollera konsumtionen av öl genom Systembolagets monopol. Detta problem kommer i framtiden att öka på grund av de ökade införselkvoter som träder i kraft år 2004. Det är svårt att komma åt problemet då införseln av öl är laglig, men inte försäljningen.

In today?s computerized society more and more companies choose to utilize new applications that can ease the way of handling the information. For many of us is imperative that the process as efficient as possible if one takes in consideration the size of savings that this new application can bring.The developer of the evaluated system is SYSteam AB Huskvarna and they are the ones that gave us this assignment. The application that we evaluate is SCM (Secure Connection Manager). It is already used today by big companies such as Telia and Ericsson to search for errors in telephone servers placed all over the country.

ABB I-R Waterjet Systems combines the robotics and motion expertise of ABB Flexible Automation with high-pressure intensifier/pumping technology from Ingersoll-Rand to provide and continue to develop innovative waterjet cutting systems for global markets. The purpose of this assignment is to develop a process water purifier. The purifier should be applicable as an option to ABB I-R?s production cell Cutting-Box. At first hand the process water should be purified well enough to let out in the municipal sewage system, but the ultimate solution is purifying the process water to the range that recycling is possible.

This work is done to try to solve a scientific computer problem and its basis derived from the web, as there are a variety of ways to program to it. The most common languages used by developers, both private and corporate are PHP, .NET and Ruby. But why do companies or a private developer choose a specific programming language? Is it because it is better and has more features than the others, or because they are forced? This essay uses a questionnaire and through tests sees which is best and which one is the most popular/used. To illustrate the problem, a survey is conducted and sent to several companies and asked them to answer the questions regarding the issue.

This degree thesis is based on an assignment from BEOMAT in Storfors. BEOMAT is a company that constructs and sellsclay pigeons to both the national and international market.Our main purpose with this paper is to find a solution/system that can replace the expensive and space demandingOlympic trap facility. Our solution will replace fifteen clay pigeon throwers with one automatic thrower whosimulate all throwers together. The system will be provided with an appropriate control system for mass productiontherefore this system needs to be user-friendly so no previous knowledge is required.Totally 405 different throw coordinates will be stored in the programme in nine different subprograms. According tothe Olympic-rules the throwers should coincidence within certain specified conditions, this will be solved with anrandomizer in the programme.

Detta examensarbete är genomfört i samarbete med Thorbjörn Birging. Birging arbetar med RFID[1] och är även VD för CombiQ på Science Park i Jönköping. Under lång tid har han velat skapa en produkt som hjälper människor med sömnproblem, depression, ångest och stress. Författarens roll som ingenjörsstudent blev att utveckla hans ide till en färdig produkt. Birging upptäckte efter att ha läst en artikel om sömnproblem att det finns studier som visar att det är enklare att somna med ett svagt ljud i rummet för att andra personer i rummet inte skall störas.

ABSTRACTTitle:Estate agent is a trusted profession - a study of how real estate broker working on Codes of ConductLevel:Final assignment for Bachelor Degree in Business AdministrationAuthor:Mikaela KarlssonSupervisor:Agneta SundströmDate:2012 ? JuneAim:There is a lack of confidence in the branch of real estate which makes me wonder: How do the bransch of real estate work with Code of Conduct to strengthen their confidence? The aim is to describe and analyze how the branch of real estate works with confidence and codes of conduct.Method:I have an qualitative approach in which interviews have been used to collect data and literature studies to collect theoretical information. The collected material have been analyzed from a hermeneutical perspective.Result & Conclusions:To some extent the real estate branch works with the establishment of Codes of Conduct to strengthen the confidence. This is shown by increased transparency to increase customers commitment in the bidding. As confidence has been risen for the part of the process this indicate that Codes Of Conduct has the ability to strengthen the confidence for the real estate as a branch.Suggestions for future research:One topic that is interesting to study is how the real estate brokerage companies could controll their stakeholders to follow the company´s guidelines for social responsibility.Contribution of the thesis:The thesis gives people involved in real estate branch suggestions on how a trust could be built up by working with Codes of Conduct.Key words:Corporate Social Responsibility, Code of Conduct, confidence, real estate broker, the bransch of real estate..

Syftet med föreliggande uppsats var dels att få förståelse för hur lärare respektive specialpedagoger ser på barn i socioemotionella svårigheter, dels att undersöka om socioemotionella svårigheter kan leda till problem i interaktionen med den övriga barngruppen. Vi ville också belysa om samverkan mellan hem och skola är en förutsättning för att komma till rätta med elevens problem.För att kunna nå denna förståelse har vi använt oss av kvalitativ intervju. Vi intervjuade tre lärare respektive tre specialpedagoger på två skolor. Forskningsfrågorna i uppsatsen är:Hur ser lärare respektive specialpedagoger på elever i socioemotionella svårigheter?Kan elevers socioemotionella svårigheter leda till problem i interaktionen med den övriga barngruppen? Hur ser samverkan ut mellan hem och skola avseende elever i socioemotionella svårigheter?Vårt resultat visar att synen som lärare respektive specialpedagoger har på barn i socioemotionella svårigheter är att det i första hand handlar om utagerande beteende.Vår undersökning visar också att barn i socioemotionella svårigheter har avsevärda problem i sin kommunikation och i samspelet med barn och vuxna.Intervjuresultatet visar vidare på hur viktigt det är med en god samverkan mellan hem och skola för att kunna komma till rätta med en elevs problem..

This report studies the possibility of using some sort of radio sender and transmitter in order to position skis lost in powder snow. It is concluded that a RF-solution on the 433 MHz frequency should be the most efficient. Different forms of directional antennas are examined and studies show that in theory the best suited is the so called ?Yagi-Uda antenna?. A solution based on using a Receive Signal Strength Indicator value together with the above mentioned directional antenna is developed.

The purpose of this study is to describe and analyze homelessness in a medium-sized municipality from an organizational perspective. Some of the central questions in this study are: How is the cause of homelessness explained? How do different actors in the community address, prevent and combat homelessness? Who is responsible for the homelessness?This study is based on four semi-structured interviews with organizations that work with homelessness. The analysis is based on problem definition theory.The result of this study shows that homelessness is a problem in this medium-sized municipality even if it is not a big one and that it is often closely combined with substance abuse. The responsibility for the homeless is on the homeless themselves and the social service because that causes is, according to this study, individual based.  .