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.

This Batchelor?s Thesis concerns 20 points at the MDA-program (People, Computers and Work) at Blekinge Institute of Technology in Ronneby, Sweden. 10 points concerns Computer Science and 10 points Human Work Science. The thesis is about the process of starting a new department of Blekingesjukhuset [Blekinge Hospital] in Karlshamn, Blekinge called Sjukvårdsrådgivningen [Health Care Advice Bureau]. The thesis starts with a description of the ethnographical methods used, followed by the process of establishing the department.

Subject: Independent essay in War Science (15 points) which debate the question if PrivateMilitary Companies is an asset or a threat to the Swedish Armed Forces regarding rerecruitmentwith focus on the soldiers of FS21.That which is investigated is the general attitude amongst soldiers who have completed theirconscript duty according to the old conscript system and now is employed in order to conducta tour abroad with Afghanistan as area of operations. Further investigated is their attitudeagainst the Swedish Armed Forces as an employer, as well as the private sector whichwant/could benefit from the skills the soldiers is possessing. Could the soldiers se themselvesleave the Armed Forces before the contract has expired in benefit of private companies whichclaim they solve similar tasks.Purpose: The purpose with this essay is to contribute with knowledge about a number ofemployed soldiers? attitude against Private Military Companies. Further; if the soldiersbelieve the Armed Forces provide them as they think they deserve/ want in order to stay andnot leave their job in favour of PMC:s, and through it clarify what the soldiers value asemployees.Order of Approach, Method and Material: The method I?m using is a survey in whichsoldiers and squad leaders have answered the questions.

Stress is commonly found in society today. This paper aims to examine how work performance, cooperation and team spirit are maintained in demanding work environments. By studying two departments in a public hospital that practises addiction care, our findings suggest the following: If the experienced stress is mainly connected to challenge stressors, it has a positive effect on work performance. By organising work through mechanistic and organic structure, the handling of qualitative and quantitative stress is facilitated. As a consequence, first and foremost cooperation can be maintained, but also work performance and team spirit.

The use of technology in today's society is frequent and often necessary, but how, when and where are we supposed to learn how to use it? And if it is such a big and important part of our society, then why don?t teachers get more training in how to use the technology? The purpose of this paper is to examine whether teachers attitudes to technology affects their use of technology in their teaching. In school technology can be a complementary to other material, if teachers have the necessary skills to use technology in a pedagogical way. I have chosen to do a qualitative study in form of interviews and observations at a school outside of Stockholm. The results show that both school and teachers must want to work with technology if anyone will be getting something out of it.

This study has a qualitative approach and deals with difficult issues that arise in connection to male violence against women in close relations. The purpose of this study is to bring clarity to why women stay in violent relationships. I have been studying two leading theories, one called the Normalization Process of Violence represented by Eva Lundgren (sociology and theology). The other leading theory is the Neutralization of Violence represented by Margareta Hydén (fil dr and leg psycho therapeut).I have also studied the fight between these two theories for the leading position in the research on male violence against women. Eva Lundgren presents her theory through a structural perspective.

We live in a society where we are not bound to one place. We are encouraged to be mobile and constantly moving between different locations. The life in a convent is a contrast to this; nuns live at a specific place they are bounded to by vows and can not leave. The sisters in the convent of St. Birgitta, Pax Mariae have promised to stay at the same place and live by the rules of the convent.

In the following essay I have read the drama Natten är dagens mor (The Night is the Day's Mother) by Lars Norén. My main focus has been on the older brother Georg. By using post structuralist gender theories I have sought answers to the following two questions: How is Georg's masculinity constructed and maintained, when seen from a gender perspective? What power structures arise between Georg's and the other men's masculinities? In my analysis I have approached Georg via three perspectives. First, I have by the help of Judith Butler's theory concerning gender performative actions tried to define the men's gender codes.

Platelets are small fragments, but they are of crucial importance for the coagulation. The risk of spontaneous bleeding increases when the level of platelets falls below a thrombocyte particle concentration threshold value of 50 x 109/L. In those cases a platelet transfusion might be compulsory. Ongoing research tries to improve the quality of the platelets and to increase the safety of the method used. However, we still need to better understand which factors that affect how patients react upon platelet transfusion.

Teaching preschool children about the environment. A comparative study of how two preschools work with environmental issues.My investigations are based on qualitative interviews and observations carried out at two preschools, one of which has a nature and environment profile while the other works in traditional ways with these questions. I sought to explore the ways in which pedagogues in each preschool raise environmental awareness and, more generally, awaken an interest in nature in the children. The consequences of methodological similarities and differences will be considered.This term paper concludes that the difference between an environmental profile preschool and a traditional preschool working on environmental awareness is not large. The knowledge gained by children in the latter preschool surpassed that gained in the former.

The purpose of the study was to review the current veterinary literature regarding gastric dilatation and volvulus (GDV) considering pathophysiology and treatment, and to evaluate the operative technique (incisional gastropexy) used during the years 2005 and 2006 at the University Animal Hospital (Universitetsdjursjukhuset), SLU, Uppsala, Sweden. GDV has a complicated pathophysiology which foremost effects the circulatory system. Progress is often acute and it is not unusual that patients are affected with shock. The initial treatment targets to alleviate the shock by fluid therapy and decompression of the stomach. There is a high risk of recurrence in the long term perspective unless the stomach is surgically fixated by gastropexy. The study describes two different techniques for gastropexy; incisional gastropexy, and funduspexy. Long term complications were rare among the patients that were treated surgically, while about half out of the eighteen dogs that undergo surgery do experience complications of various severity in the short term..

2. SUMMARY A small garden exposed to a harsh coastal climate can be difficult to design. Limitations in space and in plant varieties increase the needs of an in-depth knowledge to achieve wanted goals. In this degree project the challenge has been to create a functional and position adapted garden for a very small beach house lot in Mölle, a little harbour village at the south coast of Kullaberg. ?Villa Malm?, is situated directly on the bedrock in a close settlement where the gardens, in most cases are very small and exposed to strong salty winds.

Background: People are individuals who react differently when confronted with unexpected events. To miscarry is nature?s own way of sorting out the foetuses which could never become a fully grown child. The loss can without help be difficult to handle and can impact the couple negatively towards future pregnancies. The nursing staff ought to familiarize themselves with the experience, encounter their feelings and identify their needs.

Today automatic milking systems (AMS) are growing in popularity. In these systems the cows are loose and have to get to the robot and the feed on their own. The cows ranking in this system affect their welfare. In this study data from seven years in an AMS was used and analysed. The aim was to investigate how ranking could affect the behaviour of the cows at milking and at feeding.

The aim with the study is to find key factors relating to internal marketing and to improve the process between the operating organization and its customers. A qualitative study is carried out within an organization active in the Swedish healthcare. The qualitative approach is carried out by collecting empirical data through observations, personal interviews and group interviews.The Physiotherapy Clinic at the Karolinska University Hospital is in the focus of the empirical study. The study locates existing differences in perceptions and comes up with recommendations for actions to improve the process of organisations within the Swedish healthcare and their customers. The study's results are that internal marketing can bring a lot to service-selling organizations and that the organizations internal conditions are as important as the external ones.Communication appears to be a key factor for an organization that has applied internal marketing.