The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

The water tower in Uppsala city forest was built in the late 1950's in what is now a nature reserve. The unique place was supposed to be visited by people, which is currently not the situation. This bachelor thesis aimed to perform an analysis and make a design proposal for the environment surrounding the water tower. The analysis was performed using the methodology previously described by architect Arne Branzell. The methodology focuses on how a space is perceived by a person moving through it.

I have investigated the interaction between man and environment, between my inner reality and a physical place, using a camera as my primary tool. What conceptions do I have and how do they affect how I relate to the outer world? I am not a passive receiver of the surrounding world. Instead I actively (but usually unconsciously) choose what to take in and how I experience it. If we as landscape architects do not reflect upon our conceptions, they will unconsciously affect our decisions. Only when we accept our experiences as subjective, can honest communication take place. By means of literature studies I have connected my own conceptions with different definitions of place: place as enclosure (location, space), place as inner meaning (genius loci) and place as action (the place-creating process).

The purpose of this essay is to examine how a newly built library and an old library from the sixties work out of an experience and feeling oriented view. Are the fundamental conditions of an old library compatible with the library standards of today? To be able to carry out this examination we have chosen two rather small Swedish libraries. One is the public library of Hässleholm, which opened in the year 2000, and the other is the public library of Kristianstad opened in 1965. The material used to attain the purpose of the study consists of literature studies and qualitative observations and interviews.

The main purpose of this essay is to study ideas concerning the concept of ?art? within the discourse of the exhibition space that is part of a fanart community. In order to do so I have used a hermeneutical and to some extent structuralistic, discourse analysis. I have examined structure and rhetorics in two established and popular communities, Fanart-Central and deviantART.My conclusions states that personal ideas regarding artistic value are undermined the joint policies, because of a collective rhetoric somewhat inherent in the community structure.When a lot of works are being based on internal knowledge of symbolics and historical narratives, this may to some extent have consequences where unfamiliar observers might fail to notice elements of possible significance. Moreover, certain interests in keeping a united front of ?quality art? may also affect a general idea immediate to what signifies fanart.

What impact does the Swedish society have on the practice of Islam? That is the main topic of this thesis.As a result of migration, the distinction between a specific region and a culture or religion has been mixed. Islam is not just part of the Middle East but is more and more institutionalized in the Western, and the Swedish society. Sweden, which is one on the most secular countries in the world, has developed into a country where the view on religion have been privatized. Religion can be practiced, but not in public.

The subject-matter of the following essay is to investigate the relationship between what is commonly called Deep Ecology or Biocentric Philosophy, as articulated by the co-founder of the Deep Ecology Movement, Arne Naess, and later proponents of the biocentric school of environmentalist thought. I contrast Naess? concept of Self-realization as founded in his Ecosophy T to the ideas of american conservationist and co-founder of the radical green movement Earth First! Dave Foreman, and to the controversial finnish environmentalist and ecofascist Pentti Linkola?s ideological agenda of population-reduction respectively.According to some critics of the movement, especially the social ecologist Murray Bookchin and French liberal philosopher Luc Ferry, the Deep Ecology ideology is essentially misanthropic and totalitarian in structure. A central idea among deep ecologists is that ecosystems and natural entities have intrinsic value in themselves, even outside a human social context. This idea is thought of among deep ecologists to create a philosophically sound basis for counteracting the environmental global crisis.

The aim of this bachelor´s thesis ist to analyze the idea progress in the party programs in the swedish Centre-party during the time 1910-1959. The progress in the party program is compared with the evolution of society during the same period.The bachelor´s aim is also to analyze how each new program is described in newspapers, two newspapers were chosen to make the comparison; Arbetet (a social-democratic newspaper), and Skånska Dagbladet (a centre-party newspaper). The result shows that the party in the beginning was conservative and against both capitalism and socialism. The start of the party was a reaction against the new electionsystem which was introduced in Sweden in 1909.The party took a clear standpoint for the Swedish farmers, but after 1933, they were standing for the whole countryside. In the 1940´s and the 1950´s the party became more like a social liberal party rather than an agrarian party only for the farmers.The party programs are not given much space in the two newspapers.

Service Design is a relatively new, unexplored and exciting phenomenon that through an interdisciplinary work methodology designs services. A discussion has been going on for a long time regarding whether there is a difference between products and services. Services are often classified as immaterial, heterogeneous, non-storable and inseparable in relation to products. A question that arises is if something specific characterises the work methodology used regarding service design. The aim with this paper is thus to explain the work methodology when working with service design.

The main purpose of the culture is to serve people and represent the people's social will and freedom. Culture does not exist in a vacuum but shaped and framed by political and artistic structures that are not neutral, and this is why the artwork itself cannot be an independent business. The public function of art can be understood as a defense of the ideals of democracy. But today, when political power is often replaced by hegemony, the role of art and functions are changing. How these changes reflect to the identity, reality and truth of society? What political functions are fulfilled when art becomes ?public?? The issue of democracy is linked question of people?s power in a democratic society where power is legitimized in social space.

Tomtmarkerna i urban bebyggelse blir allt mer attraktiva. En minskning avbyggnadsarean medger positiva ekonomiska effekter på markkostnaden dåtomtpriserna tenderar att bli allt högre i stadsmiljö. En stor del av totalkostnadenvid nyproduktionen av ett enbostadshus är tomtpriset. Framtidens enbostadshusbör utformas med ett begränsat tomtbehov samt uppfylla framtida energikrav. Examensarbetet har utförts i samarbete med småhustillverkaren Eksjöhus, vilkatill följd av de ökade markpriserna upplever en minskad efterfrågan förnyproduktion av småhus. Likt övriga hustillverkare står Eksjöhus också införuppfyllandet av framtida energikrav. Syftet med examensarbetet är att utforma framtidens enbostadshus, genom atteffektivisera tomtutnyttjandet och förbättra energiprestandan.

En litteraturstudie om effekter av fysisk aktivitet på recept av Anneli Björk-Andersson och Jenny Bylund, Institutionen för hälsovetenskap Luleå tekniska universitet. Tanken med studien var att ta reda på effekterna av fysisk aktivitet, hur man arbetar med fysisk aktivitet på recept i Norrbotten samt hur det ser ut i övriga landet. En litteratursökning som innefattade 45 artiklar, rapporter och uppsatser samt fem olika läns landstings webbsidor genomfördes. Några av landstingen har kommit långt i sitt arbete med fysisk aktivitet på recept och eftersom det var lättast att hitta material om dessa valdes de ut. Resultatet var tydligt, man har mycket att vinna på att vara fysiskt aktiv.

Human T-lymfotropt virus (HTLV) är ett C-typ onkovirus som tillhör familjen Retroviridae som huvudsakligen angriper T-lymfocyter och orsakar leukemi och andra autoimmuna sjukdomar. I den nuvarande kliniska diagnostiken används Enzyme-linked immunosorbent assay och ibland vid screeningsmetoden uppträder ospecifika reaktioner. På senare tid har flera metoder baserade på real-tids PCR utvecklats för att bestämma halten av virala genom i patienter. Syftet med denna studie var att sätta upp och optimera en realtids-PCR för detektion av humant T-lymfotropt virus typ-1 och 2. Inför optimering av realtids-PCR extraherades DNA från MT-4 och MO-T cellinjer.  Under optimering av realtids-PCR användes SYBR Green och smältpunktsanalys där flera komponenter bl.a.

The purpose of this thesis was to examine teachers? perception of communication in the Mathematics lesson. I wanted to find out how teachers look at communication as a didactic manner and how they view their role in encouraging communication and discussion during the Mathematics lesson and what communication can contribute to students? learning in Mathematics, according to their beliefs. I have chosen a qualitative approach; I have interviewed six Mathematics teachers working in three different schools.

Private individuals can voluntarily buy EU Allowances (EUA) in order to remove them from the European Union Greenhouse Gas Emission Trading System (EU ETS). It leads to progressive reduction of total carbon dioxide emissions in Europe. Kalmar Energi offers customers to obtain one EUA (equivalent to one ton of CO2) per year by paying 25 SEK a month as a KlimatEl-supplement. The purpose of this research is to examine the customers? attitudes in the issue of climate compensation and trying to define the reasons behind their choices.The results of the quantitative questionnaire were analyzed by using descriptive and analytical statistical methods and have shown some correlation between customers? ages and decisions to accept or not the offer of KlimatEl.