The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

With the advance in computer and network technologies, multimedia systems and Internet applications are becoming more popular. As broadband network is prevailing, more clients are able to watch streaming videos or to play multimedia data over the Internet in real-time. Consequently, there is an increasing demand in the Internet for streaming video systems. As the run-time environment of such applications tends to be dynamic, it is imperative to handle transient overloads effectively. The goal of this work is to develop an algorithm that would provide a robust and controlled behavior of the video system so that important data is delivered on time to the video clients.

In Sweden exist a Swedish institute for children?s book which is a national information center. They have an annual "Book tasting" where they present statistics and trends from the latest publications of literature for youth and children.In their ?book tasting?? from 2010 a number of picture books had, as they say, children who descend from non-Swedish culture (Swedish institute for children?s book, 2010). The aim of this thesis is to investigate how the ethnical diversity describes in these picture books from 2010. To understand how the ethnical diversity describes in these books I had two questions which helped me in my research.

Europe has, since the economic crisis of 2007, gained increasing social segregation. The gap between rich and poor has increased and the large number of hidden statistics regarding people excluded from the labor market is greater than in many years. Social exclusion has thus taken a toll on community groups that already before the crisis had a hard time getting included. Groups such as young, elderly, immigrants and people with mental of physical disabilities. To curb this development, the European Commission have, since the 2004 directives, enabled public sector clients to, through procurement of goods, services and contracts, include measures that promote social consideration.Social consideration is a term that have been a part of Swedish procurement legislation since 2007, and was updated in 2010.

In today's fast-paced, intense and complex media environment, it is hard for non-profit charity organizations to reach out and get their messages heard.In this study we examine whether the theories of advertising signaling also applies for charities. Past studies of the signaling theories indicates that higher perceived advertising expense leads to more positive effects on purchase behavior and brand perceptions. However, we believe that this does not apply for a charity organization. We argue that since charitable organizations have a fundamentally different mission than commercial companies, they will need different ways to signal quality and credibility, and therefore the common signal-theories will not hold for these organizations.To test our hypotheses, we conducted two surveys where the respondents saw one of five versions of the same ad for a well-known Swedish charity organization, or one of two ads for a commercial corporation. The ads had been manipulated to simulate different levels of perceived cost.Our results shows that perceived ad cost only affects attitude towards the ad if a charity was the sender, whereas perceived ad cost affects intentions, attitudes and credibility if a commercial corporation was the sender.

The need for snow-free surfaces at squares, bus stops, platforms, car parks and sports facilities increases and at the same time energy price rise and the environment is becoming a hotter issue. The construction of the ground heating systems often lack thermal insulation under the heating pipes, which means that the heat from the pipes not only warm up the soil surface but also heats the surrounding soil. The insulation also has more features, by insulating the risk of frost damage is minimized. The goal of this report is to demonstrate the large heat loss and energy costs in the absence of insulation under the heating system.The report begins with a scientific way to study and treating the soil heating system uses, and the theory involved. Furthermore it also deals with different routing principles of heat pipes depending on the facility.All calculations are made with so called finite element method (FEM), in COMSOL Multiphysics 3,5a, where models are created with different conditions.

Many of us have grown up hearing or using words meant as insults or negative adjectives that were in fact names for social groups. Most of them have gone unquestioned in the mainstream consciousness, but the term Gay in the generally negative meaning has in the past years been given attention as offensive and homophobic, with debates emerging in response over whether or not this is true, particularly on the internet. It is the articles and forum threads from these debates that make out the empirical material for a qualitative study as I ask what these people?s thoughts are about this term and how it is perceived.After a qualitative coding and analysis of these texts, and interpretation of the results based on Erving Goffman?s theory of Phantom acceptance and stigma terms, Judith Butler?s theory of performativity, Ferdinand de Sassure?s theory of signifier and signified and how it connects to the community and Baudrillards theory of simulacra, this is the principal conclusion that I have drawn:For some of the people in this debate, the term Gay and its use is about homophobia and heterosexism, though mostly it?s not overt but a subconscious part of the continued dehumanization and stigmatization of homo- and bisexual people. This is a position I callThe socially focused skepticism.

One of the most distinguishing features for companies today is that they must have a close collaboration and keep up a good relationship with their suppliers. This is important for the companies chance of survival and for them to compete in their markets. This essay will discuss the subject of Scania?s long-term collaboration with their suppliers. The purpose of the essay in this case study is to analyze if a long-term cooperation with a supplier is of essence upon renegotiations of continued collaboration.

Purpose: The purpose of this study is to investigate possible links between short selling and the stock market movements using econometric test models. Methodology: A quantitative study carried out on the time series stock lending and OMX Stockholm 30 index. Information is gathered through qualitative interviews with specialists in the field of stock lending, and studies of relevant newspaper articles and reports. Theoretical approach: The theoretical frame of reference is a further consideration of supply and demand theory. The empirical study is implemented by the simple linear regression model and a vector autoregressive model (VAR).

This qualitative studie discusses how psychologists can integrate clients' secular or religious philosophies into counseling and psychotherapy, as themes that are psychologically meaningful. The studie also discusses how psychologists can understand and respond to the psychological aspects of clients' existential and religious experiences. Eight psychologists were interviewed and their experiences were analysed using a phenomenological method.The results of the interviews suggested that the eight psychologists could handle the psychological aspects of clients' philosophies, by investigating their own personal philosophies and scientific ontologies. It was also discussed how an awareness of the psychologists' professional boundaries and personal experiences of existential and religious phenomenons, could facilitate an integration of clients' existential and religious experiences..

 ABSTRACTThis master thesis defines a new concept ? Math Videos on the Net. The term refers to short,educational videos of mathematics that are freely available on the internet. The videos aredesigned to offer a complement to other course material for a specific element of a specific mathcourse and are directed to the target group of students studying the latter. Within this work, MathVideos on the Net have been created for the Swedish upper secondary school courses Matematik1b and 1c.The study aims to describe, analyze and interpret whether, and if so, how Math Videos on theNet can help support the work of teachers and students? development of knowledge in the firstmathematics course of the Swedish upper secondary school.

This study examines four short stories- ?Gudarnes like?, ?Vänner?, ?Lolo? and ?Kvinnor? - in a novel called Upptäckter written by Ulla Bjerne in 1918. My aim has been to study whether Bjerne in these stories writes from a New Woman- position. The New Woman novel as a genre flourished around the end of the 19th and the beginning of the 20th century. I have also studied whether Bjerne in these short stories uses a melodramatic style.

The last couple of years the use of Internet has changed in the way that the web pages can be affected of the person that uses them. Because of this dynamic Internet technology has emerged that makes it possible for a web page to receive information from a web browser. This information can then be used to affect the appearance of the page. PHP and ASP are two dynamic Internet technologies. They are integrated in HTML and are executed on the web server.

This project was about the creation of a shorter computer animated film. Thegoal of the project was to explore a different technique of the visual outcomethat should not rely on photorealistic rendering and how to find new interestingways to use 3d-graphic for visuals. A big part of the project was also toincorporate music to create a chosen atmosphere and impact on the viewer butalso to help the story forward and questions such as; ?How can you create anexpression for the feeling you want to transmit?? were formulated. The scenewas built up in a 3d-application consisting of a house and surrounding garden,which within an character was animated to tell the plot.

This master?s thesis discusses the term physical theatre from a discourse point of view. It also focuses on aspects of power from a field theory perspective. The main theory used is Pierre Bourdieu?s field theory, and I try to apply this onto critical discourse analysis, mainly taken from Michel Foucault.