In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

SammanfattningSyftet med denna uppsats var att ge en bild av hur ett antal studie- och karriärvägledare inom universitet/högskola förhåller sig till begreppet breddad rekrytering.Uppsatsen ville också visa vad en högskola och ett universitet har för strategier för att bredda sin rekrytering och om man medvetet använder sig av studie- och karriärvägledning för detta ändamål.Metoden var kvalitativ och resultaten byggde på intervjuer av tio studievägledare fördelade på en högskola och ett universitet, samt två personer som arbetar övergripande med breddad rekrytering på dessa lärosäten. Det som framkom är att studievägledarna överlag anser att breddad rekrytering är en viktig uppgift som ingår i deras yrkesverksamhet, vidare att vägledningen är mer psykologiskt än socialt inriktad, på så sätt att vägledarna fokuserar mer på psykologiska aspekter som t ex studentens intressen, värderingar och förmågor snarare än den sociala kontext studenten befinner sig i t ex klasstillhörighet eller genus. Det finns inslag av processtänkande men fortfarande mycket av "trait and factor" tänkande. Högskolan/ universitetet anser att studievägledning är en viktig verksamhet och använder sig delvis av den för att bredda sin rekrytering, men kunskapen om vad vägledning är och kan användas till känns delvis outvecklad.En framtidsvision är att vägledning har mer av samhällsförbättrande karaktär. Vägledaren skulle då vara en person som uppmuntrar till val utanför normen: Gränsöverskridande val.

This is a qualitative study about unaccompanied refugee?s support that they can get from Social Services and Migration Board. It?s a survey that is made in Skellefteå Kommun by interviewing four professional workers, two at the Social Services and two at the Migration Board. The questions in this study deals with the social support and how age may affect this support.

The aim of this study is to gain an understanding of how dyslexic adults experience the library, their meeting with a librarian and how they feel they are being helped with finding literature. To answer the purpose of the study I have conducted six semi-structured interviews with dyslexic adults.. Two theoretical models were used as an analytical tool in this study. One was Michael Buckland's aspects of access to information. The other is four aspects that explains the significance of personal encounter at the library.

This master thesis deals with questions concerning facts and fiction in the world of Beatrix Potter's rabbits. The purpose is first and foremost to find the connections between the pet rabbits, that she used as art models, and the rabbits that came to life through her "tales".The method has been to gather facts through biographic reading, and to analyse Beatrix Potter's rabbit tales, using tools developed by Swedish picture book experts. The rabbit characters are thoroughly examined and so are the settings where the tales take place. Matters concerning Beatrix Potter's painting technique and illustration style as well as her literary and pictorial inspirations are dealt with.Conclusions are, that the fictive rabbit characters have indeed a lot to do with the fact that Beatrix Potter was interested in natural history and studied animal behaviour and anatomy in detail. For a long time rabbits, both wild and domesticated, were her favourite study objects which provided conditions for her rabbit fantasies.

All companies wants? to be as profitable as possible. The company in question is one of the leaders in it´s field in Sweden. In order to increase profits as much as possible it is important to identify and eliminate eventual quality defect cost as far as possible.This study was performed in Huddig AB, and the purpose of this study is to try to develop a routine for monitoring the quality defect costs, and to improve communication and create feedback between production and aftermarket.In addition to an extensive literature review on quality defect costs most of the work have been conducted at the company. Own observations and interviews have been done with the staff to get a picture of the current situation and to try to come up with improvement proposals.During the study it was proved that much of the quality defect costs in essence, derived from the production, which is seen as positive because it is the easiest part of the company to improve.

This thesis aims to develop proposals and models for a modular electronics construction to a future D250S Dual battery charger. The aim also includes investigation of possibilities to use some of Texas Instruments C2000 microprocessors. The reason for this is that CTEK SWEDEN AB wants to renew the present D250S Dual battery charger and lower the manufacturing costs. The thesis work has involved gathering theoretical facts for the development of a design on the modular electronic construction, the choice on which microprocessor to use, the choice of electronic components and facts about peripheral equipment to the D250S Dual. With the theoretical there has been developed different solutions to the proposed hardware and software solutions with comparisons in aspects of positive and negative.

This essay describes my work as a director in a specialized orientation within psychodrama, surrealistic psychodrama. Using the language and performance techniques of theater and under the guidance of a director, psychodrama creates an improvised narrative or story. The essay describes several dramas I have directed, reflecting on my actions and choices as a director and group leader. I examine whether my working method has allowed me to be spontaneous and creative, which I believe the example of "The dangerous bear" demonstrates. The process enabled me to establish trust and receptivity so that a newly constituted group dared to investigate conflicts in symbolic ways associated with illness and death.

Syftet med studien är att i relation till musik- och kulturskolornas verksamhetsidéer/planer få insikt i elbaslärares förhållningssätt till vad som är viktigt för nybörjarelever att lära sig. Utifrån detta syfte är avsikten att försöka förstå vilka lektionsmoment elbaslärare prioriterar i sin undervisning av nybörjarelever, varför de valt att fokusera på just dessa och deras syn på eventuella styrdokument för respektive arbetsplats. Jag har i min undersökning genomfört kvalitativa intervjuer med fyra elbaslärare från olika musik- och kulturskolor. Arbetets har sin utgångspunkt i historiska perspektiv på musikkulturskolornas framväxt och de pedagogiska traditioner som format dem samt det sociokulturella perspektivet på lärande. I resultatet framkommer att det viktigaste för informanterna är att eleven får komma igång och spela så snabbt som möjligt och att den huvudsakliga drivkraften i nybörjarundervisning för elbaselever är lust, glädje och upplevelser ? vilket går helt i linje med mycket av de tendenser som behandlas i forskning rörande musik- och kulturskolan samt dess verksamhetsplaner under senare år. Under diskussionsrubriken diskuteras informanternas syn på vad de tycker är viktigt för nybörjarelever att lära sig i relation till de traditioner, idéer och värderingar som enligt det sociokulturella perspektivet styr hur undervisningen formas.

International Contract Law presently offers three sets of principles: the UNIDROIT Principles of International Commercial Contracts (the UNIDROIT Principles), the Principles of European Contract Law (the PECL) and the Draft Common Frame of Reference (the DCFR). These sets of principles contain general principles which are intended to serve as model rules. The three sets of principles have been published, but they have not been adopted. The UNIDROIT Principles and the PECL are not meant to be adopted either. There are different opinions as to whether the sets of principles can be considered to be a source of legal status at all.The sets of principles have been referred to in Swedish law.

The aim of this thesis is to examine user experience and engagements in interactive cinema.A great deal of the research that is conducted today involves creating interactive films, toexplore and examine film structures. In this study, we build on this research by comparingthree different interactive film structures. To carry out our study, we have categorized threedifferent interactive films after three different models to define their narrative structureand interface. To examine the experiences of those structures we have performed anexperiment where we have collected data from the three different sources; interviews,observations and surveys.It is difficult to draw conclusions about how an interactive film should be constructed asdifferent structures apply to different narratives. Based on our research the conclusion canbe made that the combination between the narrative structure, the narrative content, theaesthetics, the implementation of interactivity and how the film?s interface is constructed ismore important than building a specific structure for an interactive film.

This is a qualitative study about unaccompanied refugee?s support that they can get from Social Services and Migration Board. It?s a survey that is made in Skellefteå Kommun by interviewing four professional workers, two at the Social Services and two at the Migration Board. The questions in this study deals with the social support and how age may affect this support.

This is a qualitative study about unaccompanied refugee?s support that they can get from Social Services and Migration Board. It?s a survey that is made in Skellefteå Kommun by interviewing four professional workers, two at the Social Services and two at the Migration Board. The questions in this study deals with the social support and how age may affect this support.

In this master thesis work, a new method called MultiScat, is compared with the conventional method with alfa-correction, for computing concentrations from intensities in X-ray spectrometric analysis. The conventional model is a linear model, which only takes the photoelectric effect into consideration. It doesn't consider Rayleigh and Compton scattering even though it has a great impact on the measured intensities. Here MultiScat differs a lot. MultiScat is based on a solution of the Boltzmann transport equation.

From a management point of view, enabling organizational creativity is often referred to as reducing immediate control, increasing autonomy and enhancing the access to slack resources. At the same time, the business environment of today is fiercer than it was only a decade ago, and this renders a quest for more efficient approaches to competitively run a business. This paper aims to examine creative industries and more specifically try to identify a set of elements that are common for successful companies. As this industry has not been subject to any considerable array of studies, this thesis seeks to establish a structure for how to take both organizational models and leadership theories into account when developing an understanding for the process, organization and leadership of the creative business. By studying six separate creative companies, our findings suggest that conventional theories on organizational creativity do not adequately account for all factors that contribute to these companies' creative success.