Arbetet har utförts på Saab Bofors Dynamics i Karlskoga och dess syfte var att undersöka om det är möjligt att använda modellbaserad prediktionsreglering, MPC, vid slutfasstyrning av en viss typ av robot. Som referensram används linjärkvadratisk reglering, LQ, eftersom denna reglermetod har undersökts tidigare och visat sig fungera bra vid slutfasstyrning, dock för en annan typ av robot. Anledningen till att man vill undersöka om det är möjligt att använda MPC är att styrlagen enkelt tar hand om begränsningar på systemet på ett direkt och intuitivt sätt.Styrlagarnas uppgift är att styra en robot i dess slutfas då det finns krav och önskemål på roboten som bör vara uppfyllda. Till exempel finns det begränsningar på styrsignalen samt önskemål om att träff ska ske i en viss träffpunkt och även med en viss träffvinkel. För att utvärdera resultaten undersöks och jämförs de två styrlagarnas prestanda och robusthet.För att kunna utvärdera styrlagarnas egenskaper och jämföra dem implementeras de båda i en befintlig detaljerad simuleringsmiljö, som har utvecklats på Saab Bofors Dynamics i Karlskoga.De prestanda och robusthetstester som har utförts uppvisar små skillnader på de två styrlagarna och slutsatsen blir därmed att det är möjligt att använda modellbaserad prediktionsreglering vid slutfasstyrning av en viss typ av robot eftersom det sedan tidigare är känt att linjärkvadratisk reglering är en bra styrlag att använda.

This thesis aims to examine how the quality of data that is entered into and retrieved from a corporate group's ERP and Data Warehouse systems can be improved. The corporate group has already taken several measures that will improve the quality of data. For instance the corporate group has updated and merged the previous ERP systems into one. At the same time the corporate group adjusted the settings in the updated ERP system, so that it will be harder to register incorrect data in the ERP system. With regards to the processes and routines, the studied department has efficient written routines and processes.

Background: Breastfeeding frequency decrease in Sweden and infants born preterm is a particularly vulnerable group to not be breastfed according to current recommendations. Mothers of preterm infants have an extra need of support from the health care system. Mothers' self-efficacy in breastfeeding affects the outcome of breastfeeding. Health professionals' attitudes to breastfeeding have an impact on the breast feeding support they provide to the mothers.Aim: To investigate whether an intervention could strengthen self-efficacy in breastfeeding among mothers of premature babies. A further aim was to investigate whether the intervention influenced health professionals' attitudes to breastfeeding.Method/Design: An experimental study with quantitative approach in the form of questionnaire survey was conducted.

By means of group contributions the legislator has made it easier for company groups to transfer profits from a parent company to a subsidiary. A parent company can choose to reconstruct by acquire a company, create a subsidiary or perform a partial fission. The choice can affect the possibility for a parent company to perform a group contribution with deduction right.The parent company has to own more than 90 percent of the subsidiary?s shares for a whole taxation year or since the subsidiary began to carry out any economic activity in order to perform group contributions with deduction right. If a subsidiary is acquired, it has to be owned for a whole taxation year before group contributions with deduction right can be made, unless the acquired company never has carried out any economic activity before.

The purpose of this Bachelor Thesis is to examine what happens when the solitary reading experience becomes a social activity. The study is based on semi-structured interviews with three women belonging to the same reading group. I have used Sten Furhammar?s reading dimensions and categories to explain their reading experience, and Jenny Hartley, Elizabeth Long and Immi Lundin to explain the function that the reading group has for them, and the relationship between reading experiences in a book-discussion.My result shows that they started the reading group because they lacked an opportunity to discuss their readings with people that had the same interest in books. They do all have different ways to read, which is displayed by Furhammar?s categories personal and impersonal reading for experience.

The existence of social networks on the Internet is today seen as broad, and the number of users of the network is increasing. There seems to be many reasons to which people are using the social networks. Within the network, users can for various reasons create groups with different objectives. One of the reasons is that groups are created in order to influence a company. With a perceived feeling that companies handle the problem differently, we assume the source is the uncertainty about what the groups really are.

Introduction: Sleep is necessary for human survival. Difficulty sleeping occurs in about one in four adult person in Sweden, insomnia in every ten. There are several reasons for difficulty sleeping, where stress is one of the most common. The quality of life and health are affected negatively. Treatment with proven efficacy against insomnia is not only sleep medication, but also cognitive behavioral therapy, CBT.

Life is for us humans a social life. We are constantly in different social communities with various purposes. Throughout life we are part of different groups, for better or worse. The basic social communities, in our society, are the groups we live, work, learn and grow in. This essay deals with the groups children develop and learn in, in school and leisure time center.

The purpose with this essay is to explore how pupils in a special group of education experience how it feels to be part of this kind of group. Further I want to examine a special educationalist view of this kind of groups. To perform this essay I choose to interview four pupils and one special educationalist. Through the interviews I want to discover the pupils and the special educationalists thoughts and experience. The result has been compared with earlier research and the essay has its basis in different theories.

This master thesis is about amateur writing. To understand the writers needs and wishes about writing and access to information I have researched writing in a writing group. To answer my questions I have studied research literature and interviewed six of the members of the writing group. I also participated in their meetings for two years. The result of this study shows that writing had a therapeutic function for all of them in a period of their lives.

The empirical data that lies behind this survey comes from field work between 1992 and 1995. This field work represents work I made myself as a sales-man for the company, Malmberg Original Water. The task was to implement the Malmberg mineral water brand on the restaurant market of the South-Swedish area. Our aim was to reach the upper-scale, premium market of restaurants. The mission was successfully completed, and at 1996 we had completed the position as the most exclusively positioned mineral water brand in Skåne (Southernmost Sweden).

The purpose of this essay is to examine Prostitutionsgruppens ("Prostitution group") concrete operation, its organisation and how the group have changed since sexköpslagens ("sexbuy law") incorporated.Prostitutionsgruppen was founded in 1981 and have been working against prostitution. Their main goal is to reduce the damage of prostitution. Their work consists of treatment and reaching out to help prostitutes. Another part of their work is to change the public attitude towards prostitution. They act as intermediary of the knowledge they have gained through meeting people in prostitution.I have interviewed one social worker in the group and researched earlier literature.

This candidate essay aims to examine the possibilities occupational therapists (OT) have in order to support refugee children in Sweden. The authors find the subject of current interest because there is a constant and frequently debate in our society concerning refugees, which makes us question what role the OT could have with this group. Method: This study has a qualitative approach with focus group methodology as method. At two occasions, four respectively three OTs met to discuss an in advance given interview guide. The discussions were coded on the basis of person-, group- and society perspectives.

THE ROLE OF TARGET GROUPS IN FEEDBACK EFFECTSBrand extension is one of the most commonly used brand strategies since it reduces some of the risks involved in introducing a completely new brand. There are, however, several challenges associated with brand extensions. One of these challenges is the impact of a new brand extension on the parent brand image, which is known as feedback effect. Feedback effects are the changes in parent brand associations that are caused by a new brand extension, these effects can be both negative and positive. Several previous studies have investigated feedback effects and the antecedents of these effects.

Background: Breastfeeding frequency decrease in Sweden and infants born preterm is a particularly vulnerable group to not be breastfed according to current recommendations. Mothers of preterm infants have an extra need of support from the health care system. Mothers' self-efficacy in breastfeeding affects the outcome of breastfeeding. Health professionals' attitudes to breastfeeding have an impact on the breast feeding support they provide to the mothers.Aim: To investigate whether an intervention could strengthen self-efficacy in breastfeeding among mothers of premature babies. A further aim was to investigate whether the intervention influenced health professionals' attitudes to breastfeeding.Method/Design: An experimental study with quantitative approach in the form of questionnaire survey was conducted.