This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

An important task for project managers in multi-project environments is to effectively choose the right people to the project team. For organizations, it means being able to prioritize and plan human resources among the various projects running in parallel. The purpose of this paper is to describe how a project manager in multi-project environments looks at the allocation of people in their projects. We did our research through literature reviews and interviews with seven project managers.The research shows that the studied organizations highlight both the expertise and the personal factors in an election. They do not use any specific personality test to identify their staff.

ART, Aggression Replacement Training är en multimodal behandlingsmetod som bygger på tre samverkande komponenter. Dessa är: Interpersonell färdighetsträning där sociala färdigheter tränas, ilskekontrollträning som lär individen att handskas med sin ilska samt moralträningen som ska höja det moraliska resonerandet. 1987 började ART att användas på ungdomsvårdsskolor i USA, metoden har spridit sig och idag används ART inte enbart inom den institutionella vården utan allt mer i skolans värld.Syftet med uppsatsen är att undersöka vilket eller vilka teoretiska perspektiv på inlärning som metoden stödjer sig på och hur väl dessa stämmer överens med skolans styrdokument (Lpo 94). Studien är baserad på en kvalitativ textanalys av ART Aggression Replacement Training A Comprehensive Intervention for Youth, en bok av grundarna till metoden, samt skolans styrdokument (Lpo 94).Reultatet visar att ART vilar på flera olika teorier om inlärning, och att olika teorier finns representerade inom de olika komponenterna. I förhållande till Lpo 94 visar de delar jag analyserar på en överensstämmelse, även om någon punkt kan tolkas annorlunda..

AbstractIt is unclear how L2 students acquire vocabulary ? how is it taught ? or wheather it can even be taught. In an SSL (Swedish as second language) program for young adults the ambition has been to integrate the L2 students? into the national high school (gymnasium) courses as quickly as possible, in order to meet the students? demands for subject education and to challenge them on an appropriate knowledge level. Teachers noticed quite early that the course ? integrated L2 students seemed to have a deeper understanding of words and an easier flow in their speech.

Oilseed rape is an important crop in Sweden and is grown on about 90000 ha today. The interest in oil seed pro-duction is increasing because of growing demand and high prices for oil seed both in Sweden and Europe. However, an increased intensity in the oil seed production can bring higher risk of yield losses due to fungal diseases. The purpose of this study was to investigate what different fungi are associated with oilseed rape under field conditions and if their incidence is correlated to crop establishment problems. This study was carried out in three parts: 1) investigations on fungal community structure in roots and rhizosphere soils from young spring- and winter rape plants sampled in failed respectively good establishment patches in four fields, 2) investigations on the pathogenicity of fungi isolated from oilseed rape in controlled environment and 3) investigations on the effect of different fungicide seed treatments on germination and early plant development in a field soil naturally infested with damping off- and Verticillium wilt pathogens. The studies on community structure using a combined approach of standard fungal isolation techniques and DNA based methods revealed a high fungal diversity in three out of four studied fields of spring rape and winter rape. For some unknown reason, very few fungal species were identified from the fourth field.

This study aims to investigate how participants in a companys traineeprogram describe that the programmes educational tasks has prepared them for their future work. The study also examines how participants perceive that they have developed skills that are specifik to their profession and how they became part of a community. The following questions were formed to make it possible to investigate the purpose further; ?Do the participants feel that the interaction within the trainee group has promoted their learning??, ?How does the participants describe the training elements in relation to their development of competencies that they use in their professional role?? and ?How does the traineeprogram contribute to the participants becoming part of a community??. This was examined by taking part of what previous research has highlighted as important for learning and socialization in relation to traineeprograms.

Tidigare studier hänvisar till bristen av forskning som berör funktionell träning såsom corestärkande bålstabilitetsträning för att öka idrottslig prestation. Det är dessutom omdiskuterat om träning, som skapar instabilitet i anslutning till träningsövningar, förbättrar stabiliteten som i sin tur ska verka prestationshöjande. Den mest likvärda studie som har gjorts angående träningsprogram med slyngor för att stärka bålstabiliteten hos handbollsspelare med syfte att påvisa en prestationsökning i kasthastighet visar på signifikant effekt. Syftet med studien var att undersöka om ett sex veckors träningsprogram för bålstabilitet med träningsredskapet Func.Gym training bands gav en förbättrad kasthastighet hos manliga elithandbollsspelare.Två grupper användes i studien, en testgrupp bestående av sex testpersoner (n=6) med en medelålder på 22,3 år och en kontrollgrupp bestående av tre testpersoner (n=3) med en medelålder på 21 år. Alla subjekten var aktiva elithandbollslaget HK Drott. Träningsprogrammet innefattade sex olika övningar och genomfördes med hjälp av det funktionella träningsredskapet Func.Gym training bands.För att mäta kasthastigheten användes Casio EX-F1 EXILIM, inställning på höghastighet (hs) med 300 frames per second (fps).

This study is about how to develop younger teens problem solving ability and their social competence. The study carried through by using a qualitative method, two observations and ten interviews. The observations where preparatory for the structured interviews. The respondents where pupils in a class were it is an ongoing project which purpose is to develop childrens problem solving ability and social skills with cognitive training and an empowerment based reasoning model that is called rahyab. Rahyab is a Persian word and it means path- finding.

Through the birth and arise of the Internet people has been given great opportunities to make selective selfpresentations online, which in the long run has resulted in an easier retaining of the self- esteem than in the offline world. Simultaneously, the self- esteem has been viewed as a cause for both success and failure since it plays a vital role regarding our attitudes, emotional reactions and behavior. On this basis I wanted to study the relation between self- esteem and self-presentations closer. The purpose of the study is to describe and analyze how some users who publish training photos of themselves on Instagram experience how they present themselves within this forum and how these presentations affect/ are affected by their perceived self-esteem in their everyday life. The study is based on theories regarding self- esteem through Maslows? hierarchy of needs, the inner and outer self-esteem, and social comparisons.

An important task for project managers in multi-project environments is to effectively choose the right people to the project team. For organizations, it means being able to prioritize and plan human resources among the various projects running in parallel. The purpose of this paper is to describe how a project manager in multi-project environments looks at the allocation of people in their projects. We did our research through literature reviews and interviews with seven project managers.The research shows that the studied organizations highlight both the expertise and the personal factors in an election. They do not use any specific personality test to identify their staff.

Detta arbete handlar om den tekniska utbildningen i Försvarsmakten, närmare beskrivet hur en kursbeskrivning för systemmekaniker och tornmekaniker genomförs praktiskt och hur den skall genomföras teoretiskt. Uppsatsen kommer inte att behandla hela utbildningen. Den kommer bara behandladen minsta delen av utbildningen - den del som innefattar soldatutbildningen. Syftet med att skriva detta arbete är att komma fram till om den tekniska utbildningen genomförs på ett kvalitativt sätt och kontrollera om en mekaniker kan agera i subarktisk miljö efter sin genomförda utbildning. Denna uppsats är uppbyggd på följande sätt.

This essay is about integration of theoretical subjects and practical subjects at the vocational training education in a Swedish Upper secondary school. The purpose of the essay was to examine if integration of the subjects increases the students` motivation for, interest in and knowledge of the subject Swedish. Other purposes were to examine how the teachers organize their teaching of Swedish in order to adjust it to the students? interests and to examine the students? attitude towards Swedish as a subject.The essay also describes the recent development of the vocational training education of Swedish Upper secondary school and presents theories about learning and other examinations about teaching of theoretical subjects at the vocational training education.The examination carried through with a questionnaire which was distributed to the students at three programs at the school and interviews with the headmaster and two teachers. The result of the study showed that a small majority of the students believe that integration increases their motivation in and knowledge of Swedish.

This study is about how to develop younger teens problem solving ability and their social competence. The study carried through by using a qualitative method, two observations and ten interviews. The observations where preparatory for the structured interviews. The respondents where pupils in a class were it is an ongoing project which purpose is to develop childrens problem solving ability and social skills with cognitive training and an empowerment based reasoning model that is called rahyab. Rahyab is a Persian word and it means path- finding.

This study will analyze and interpret the performance art piece The Last Strawcreated by the artist group High Heel Sisters. The aim is to search for potentialfeminist strategies in their deconstructive ways of incarnating gender and bodiesusing the notion of performativity and phenomenological theories.My study shows that the diversity of this art performance creates a complex platformwere discussions about gendered corporeality and spatial power relations are beingnegotiated..

The purpose is to analyze if the students have any use of their computer education at a senior high school level or if there is a demand for them to proceed studying. Does the students background have any importance or is it their own motivation that makes the student advance to higher education.In this report we ask ourselves the question, if the students have any use of the knowledge gained at senior high school in computer studies at a higher level. Do the students have any chance for employment based on their senior high school grades in computer studies after graduation?  Do the schools that follow the senior high school guidelines within programming and databases give these students an advantage towards those that have not received the same fundamental education?The method used for the survey is a group questionnaire.  The questionnaire was distributed at one and the same time and then collected to examine the results. The survey results showed that students who seek work based only on their senior high school grades, received only a temporary position for different lengths of time.