In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

The purpose of this project was to create a system which can handle issues, with other words an issue tracking system. The system must create issues, assign issues to a specific user and list all issues for each user. On top of that, each issue should have a log where users can log whatever they want.My part of this project was to implement a client which can fulfill this basic criteria (and a bit more if possible), and communicate with the server which has procedures to be executed by the client.This system is based on Android and has it purpose to be used by mobile devices which support Android. ?Ichnaea? as the system is called, is meant to be used by companies to have human interaction through the network..

Sahlgrenska Academyat University of GothenburgDepartment of Internal Medicine and Clinical NutritionAbstractTitle: The relation between alcohol and abdominal obesityAuthor: Anna Eriksson och Karin EdenholmSupervisor: Fredrik BertzExaminer: Ingrid LarssonProgramme: Dietician study programme, 180/240 ECTSType of paper: Examination paper, 15 hpDate: May 30, 2013Background: Abdominal obesity is a part of the metabolic syndrome, which has a worldwideprevalence of 20-25 %. The problem with abdominal obesity is the accumulation of visceraladipose tissue, which is an important risk factor for cardiovascular disease. Alcohol haseffects on metabolism, and can also lead to an increase in total energy intake; these twofactors can lead to an increase in accumulation of visceral fat. Besides this there are studiesthat show that a moderate alcohol intake could be good for your health. The context gets morecomplicated since different studies have shown contradictory results concerning theassociation between alcohol, different types of alcoholic beverages and measurements ofabdominal fat.Objective: The objective of this article review is to assess the evidence of whether alcoholintake is associated with accumulation of visceral adipose tissue, using the measurementswaist circumference (WC) and waist-hip ratio (WHR).Search strategy: The databases used in the literature study were PubMed and Scopus.

This thesis examines the municipalities of Västra Götaland and the way they are prepared for crisis communication towards people with a foreign background. Over the past years there have been several studies that have examined the issue of crisis communications towards minorities but these are often focused on the target group. In this study, I focus on the authorities' actions. The theoretical approach is primarily an intersectional one and in this way the thesis is centred on the creation of different categories, the relationship between these categories and the possibilities working with these at the municipalities.On behalf of Region Västra Götaland, this investigation began with a survey that went out to the communications officers in charge of the crisis communication in each municipality. The ambition was to clarify the preparedness of each one and show how they relate to one another.

Society and the workplace are two factors that are important for the individual's health status. It is important that the individuals has the right skills to take care of their health. For organizations, it is important to strive for the welfare of their employees. This has proven to have a positive impact on work performance, reduced absenteeism and reduced costs for rehabilitation. In 2007, the local authorities in Umeå implemented a wellness offering for all employees working in the municipality administration.

Earlier studies shows that democracy within the preschool is an important and on-going work, but could implicate certain consequences. For example that goals regarding democracy and influence in the preschool, rarely is done in practice but instead remains just words on a paper. It could also mean that the pedagogues lack education and knowledge within the area, but also how they react to the influence of children. Preschool is expected to be a place for all children, no matter what luggage the child is carrying. The luggage is filled with the life experience, the personality and in this case the needs that the child has. The needs could be anything from nearness to physical and psychological disorders that requires more pedagogical attention.

The Swedish government has made the decision to transform the talking book system from an analogue system to a digital system called DAISY by the end of 2004. The purpose of this Masters thesis is to examine how public libraries are affected by this system change. This is carried out by studying the current situation in public libraries concerning the transition to DAISY. This qualitative oriented study is primarily based on interviews with four librarians and three library managers at six public libraries. Management by objectives is here seen as a suitably theoretical framework since public municipal libraries are partly regulated by the governments goals and laws.

This thesis has been performed at International Aluminum Casting AB in Eskilstuna,Sweden.International Aluminum Casting is currently working with a number of improvementsin their production in order to achieve their vision of being the leading aluminum foundry in Sweden. As a step in their improvement efforts, focus was directed ondeveloping the company's fixtures for machining.Efforts were focused on two main objectives: to develop a complete proposal on afixture which leads to a more rational use of an assigned part and also form general design advice for development of fixtures in the future.During the work progress, discussions have been made with experts at International Aluminum Casting within the field of fixture design. The objective was to obtain sufficient knowledge about the underlying problems with the current fixture for the part. At this stage of the thesis, a number of essential criteria for fixture design were produced. Information and inspiration were obtained by examining the company?s currently developed fixtures.After gathering the necessary information the process of developing three different fixture concepts started.

The ISO standard ISO/IEC 17799/SS-627799-2 is a guidance for organizations to realize their information security goals. In spite of this standard, studies show flaws regarding information security in organizations. In particular flaws regarding overall view, knowledge and clear roles and responsibilities have been observed. The ISIT (Information Security Integrated Three level) model and its guidelines, developed in this thesis, help organizations to identify the required processes and procedures as well as the logical process flow. The thesis is based on theoretical studies and a case study within a multinational company.

The results and the analysis of this essay are based on an empirical study of women groups in Babati District in Tanzania from 2005. The study has shown that the reason for women in Babati to organize themselves is to overcome traditional and structural obstacles that restrict women?s economical integration. Through the creation of social networks and a common source of income within the group, women are trying to strengthen their position within the household and in society. The significance of empowerment on an individual level is the sense of abilities in everyday life and the feeling of increased options.Social mobilization means that individuals come together and with united strengths and according to a common interest are trying to fulfil articulated goals.

This essay discusses the import of cod (Gadus morhua) in Sweden during the Middle Ages through isotope analysis of cod vertebrae. The isotope analysis is used to trace the cods origin to either the Baltic Sea or the Atlantic Ocean. The bones were subjected to d13C, d15N and d34S analysis; 64 of  the analyzed bones met the quality criteria. The isotop data showed that import of Atlantic cod was significant in medeval Sweden. The analysis suggests that there is no specific time or event that the sites start to import cod but this varies from site to site. .

The world's natural resources are constantly being reduced, which increases the pressure on companies to actively engage themselves in environmental activities. Meanwhile, stakeholders focus is being broadened and it is now important not only to supply a particular product or service but also show that they are actively pursuing an environmental agenda. Companies can use various tools to aid in environmental efforts, but also to demonstrate to the world that the company is actively engaged in environmental activities. One such tool is the environmental standard ISO14001 which provides the company with guidance and support on how the business must manage its environmental efforts. To show a business' progress in environmental performance, it is advantageous to use environmental performance indicators as they enable stakeholders to easily understand how the business works with environmental issues.Authors in the field explain that the environmental management system propagation is limited in service organizations.

This study investigates the concept of regionalism in the context of the Swedish middle-level political arena. The used method is qualitative theory and two cases are studied: Västra Götaland and Norrbottens läns landsting.The aim of the study is to see what the politicans think about Swedens regionalization process by compare the views of politicans that function in a region and in a county council. Do they have the same vision about what constitutes a region and which advantages do they see in working in a region or in a county council? Also dimensions about territorially and sectorial autonomy on the regional level, presented by King and Pierre are investigated in order to explain the different regionala organs functioning accordingly to these dimensions.The empirical material that have been analyzed is taken from 17 interviews, from government writings and reports from the SKL association, Sveriges Kommuner och Landsting, about the topic of regionalization and the effects and goals in Sweden.The conclusion of the material is that there is common opinion among the politicans about the goals of a region and also about which areas that can benefit the most from the perspective of beeing a region instead of a county council. When it comes to explaining the dimensions of territorially and sectorial autonomy the results have shown that the region has the most both territorially and sectorial autonomy, which is due to the regions rightfullness to taxation right, which is high in the region and ensured by a strong catchment area.

Background and aim: Organizations must be able to manage change in order to survive in today?s competitive society. To continue to develop and reach better results is fundamental. Case Company Parker Hannifin Corporation, Quick Coupling Division Europe, Tema Ingenjörsfirman AB, Skövde has an ambition to have an organization that manage changes and continuously improve its performance. That is the reason why this examination work arises.

Background: Type 2 diabetes is a disease which causes vascular damage, stroke and premature death.Oxidative stress may play a role in the development of insulin resistance and diabetes. Selenium is amineral involved in the protection against oxidative stress, and has been thought to be favorable in theprevention of the disease. However, this has changed since trials observed positive correlationsbetween high selenium levels and incidence of type 2 diabetes.Objective: To examine the studies that investigates seleniums effect on the incidence of typ 2 diabetesSearch strategy: Searches have been done in PubMed and Scopus.Selection criteria: Included studies were human studies in English/Swedish with RCT or cohortdesign with the aim to investigate the correlation between selenium and incidence of type 2 diabetes.Excluded studies were studies whose aim was to investigate the role of selenium in patients withexisting diabetes. Studies regarding pregnant women, animals or children and with in vitro design werealso excluded. Of the studies found in Scopus where MeSH terms were available, the ones who did notinclude relevant terms were excluded.Data collection and analysis: Studies were collected according to the aforementioned criteria.