This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone path as to make the acceleration continuous will be presented.

This thesis is divided in to two different parts. The first part includes examination of the measurementsystem of an industrial robot using a resolver sensor. The main focus is on methods for suppressing noise in the angularvelocity signal without increasing timedelay. Five different methods are investigated. Three of these are based on oversampling: burstsamplingmethod, meanvaluemethod and correlationmethod.

AbstractThe aim of this study is to investigate the implementation process and the implementation steering of the social development aspects, gender equality and integration, in the program for regional development of the region Kronoberg in the period of 2004-2007.The study asks three questions: 1) How have the social development aspects, gender equality and integration, been implemented in the program for regional development of the region Kronoberg? 2) What has facilitated or hindered the implementation of the two social development aspects? 3) What possibilities to steer the implementation process of the two social development aspects exist at the governmental and at the regional level?In order to answer these questions a qualitative method has been used. To be able to analyse the empirical material, which consists of documents and interviews, the theoretical framework comprehends the policy process and implementation steering. The conclusion is that the incorporation of the social development aspects in the regional development program does not fully correspond with the central intentions, and that is due to circumstances at the regional level..

The development of IT systems is usually accomplished by some form of system development methodology. It can be performed as the waterfall method, where each phase is completed before the next begins. One of the reasons to follow a development methodology is that the process is more structured, faster and that the product will have higher quality. One risk of not using a system development approach is that the code can be unstructured and difficult to maintain.This paper describes an alternative method in which the development occurred without the use of any system development methodology. This has been possible because there was a clear goal of the program that should be developed.

Sweden introduced a development assistance policy in 1952 and thirteen years later Sida, Swedish International Development Cooperation Agency started, in 1965. But in 1995, five separate development assistance authorities came together and established the new Sida as it is today. Sida is Sweden?s representative in the development assistance policy field and they work through projects that have to be presented through a Country Strategy Process (CSP). The aim of this paper is to point out Sida?s perspective on the conducted development assistance policy and what guide lines that are followed.

This study examines how and why organizations evaluate training and development within the organizations. The study has a qualitative approach based on semi-structured interviews, with office and organization development managers. The purpose of the study is to contribute with knowledge about how three large Swedish organizations evaluates training and development programs for staff members. Another purpose is to describe why the organizations evaluate training and development programs and to research if there is a further need to develop the organization evaluation methods. Therefore the research questions are Why and how do organizations evaluate training programs? What further need is there to develop organizations evaluation methods?The conclusion of this study shows that evaluation of the training and development programs are not a high priority among the selected organizations.

My thesis is a combination of theory and practice, where theory is meant to create a context and a background for my interpretation proposal. I wanted to ?access? the ideas that are always in the background of the reasoning which underlies both planning in a larger scale, and the design of a place. I wanted to make a ?work of ideas.? In the process of shaping the proposal, I wanted to be deleted from the site itself.

Even though Sweden is a small country which has a low rate of inhabitants is it one of the worlds leading nations of exporting products from the forest industries. The Importance of a sustainable use of the Swedish forests has been known for many years. In 1903 the first law of forestry were establish. Today the National Board of Forestry carry out inventories of regeneration result. The result of the latest inventory showed that especially the non-industrial private forest owners did not full fill the regeneration work after a clear cut.

The construction and real estate industry represents a significant part of Sweden's total impact on the environment and mainly affects the following national environmental objectives: reduced climate impact, a good built environment and a non-toxic environment. By establishing internal rules, companies within the industry can reduce their environmental impact. SMT (AB Sandvik Materials Technology), a part of the industrial group Sandvik AB, has set a target that during 2014 develop a guiding document with special consider to the environmental impact during construction of office buildings, that they establish at the Swedish regional capital Sandviken, for both internal and external tenants. This study therefore aims to clarify which environmental aspects that the construction and real estate sector mainly are responsible for, and therefore should be part of a guiding document for a company for establishing office buildings, and to present arguments regarding the use of such a document. The study is based on literature studies and personal contact with other companies, in the form of e-mail conversations and a telephone interview.

Background: Companies and organizations of today spend large amounts of money on IT-based business solutions. Such business solutions normally include business- consulting and software-creation (IT-related services). Due to the rapid development of the technology within this field of business the IT-customers find it difficult to select among potential suppliers on objective grounds.Purpose: To increase the understanding for the professionl approach of the people involved in the sales- and purchase process of IT-related services in a business-to-business context. The study is taking the buyers'as well as the sellers'perspective into account when analyzing the process. Method: The empirical findings were collected from eight companies in Linköping and Stockholm.

ABSTRACTWe have chosen to write an essay about competence because we think that it is an important and a current subject of interest, both to us as future team leaders, but also to all activities within the community. We have a background working with eldercare and we have noticed that there are continued changes going on. This made us want to study what team leaders and their staff think about competence and the development of competence. The purpose of this study is to analyse how team leaders work to develop competence with their personnel working in home care. We also want to analyse how the personnel experience their competence and their need for development of competence.

The aim of this study was to investigate a health intervention at a Swedish telecom company, with regards to behavioral, cognitive and somatic stress, experienced health, and absence due to illness. A further aim was to investigate the employees' perceptions regarding the health intervention. Questionnaires were collected from 139 employees at the customer service departments.Results indicated that the health activity bowling to some extent could predict lower behavioral stress. However, the most important predictors of stress and perceived health were lack of meaningfulness and quantitative demands. Lack of meaningfulness was also a predictor of absence due to illness.

AbstractThe signification of the eyesight for children?s development and learning- how do pedagogues support and stimulate children with defective vision in their development and learning in pre-school?These issues are based on my purpose of the field survey investigations, where I have interviewed three pedagogues and also performed an observation.My main conclusion and results describe that the vision is the high-powered engine in children?s development and learning. It also tells us that those around the children are very important for optimum development and learning, especially when it comes to supporting and stimulating children with defective vision in their necessities. Our other senses are a compensation to make it easier for children with defective visions in their lives. But all our senses are equally important for children with defective vision as they are for seeing children in their development and learning with their whole body in pre-school.Keywords:Eyesight, children with defective vision, development and learning in pre-school, pedagogues, pedagogical support and stimulation.

A study to optimize insulation thickness for stock-, industrial- and office-buildings for external walls and roof in an economical perspective has been conducted on behalf of DynaMate. DynaMate?s role is to maintain all Scania?s buildings. Analysis has also included other parts of the building envelope, such as windows, exterior doors and industrial doors. In this thesis, three different types of exterior wall constructions has been investigated, these are a sandwich design consisting of sheet metal and a another one consisting of concrete, as well as a wall of concrete with a coating of plasters.

The worldwide industrial demand of energy, often in form of fossil fuel, is continuously growing and at the same time these resources are coming to an end (Hamamre, 2013). The interest and focus in renewable sources are then more important than ever and plants are suggested to be a good alternative for production of raw material for industrial purposes (Nilsson et al., 1998). But the world is also facing an increasing world population which also increase the nutritional needs, plants therefore need to be suitable for both industrial and nutritional purposes. To achieve this, common plants need to be improved but it also need new potential crops to be developed and introduced (Carlsson et al., 2009). Modern technology like gene engineering is an important tool to achieve these challenges (Carlsson et al., 2011). This work focused on analyzes and evaluation of different transgenic lines of field pepperweed (Lepidium campestre L.).