In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

Bakgrund: Vid hjärtkirurgi kyls patienten via ECC (extracorporeal circulation) till 32-34 °C för att minska metabolismen och syrekonsumtionen i vävnaderna. Efter att operationen är klar är det viktigt patienten blir normoterm då hypotermi medför många negativa effekter.Syfte: Att undersöka om värmemadrassen Inditherm Alpha® hjälper patienten att hålla en normal kroppstemperatur efter ECC-avslut samt om andra faktorer, dels demografiska, dels procedurrelaterade, kan påverka utfallet av uppmätt kroppstemperatur.Metod: Femtiofem patienter som genomgick elektiv CABG och/eller klaffoperation med ECC-inducerad hypotermi inkluderades konsekutivt. Undersökningsgruppen (n=29) genomgick kirurgi med värmemadrassen Inditherm Alpha® medan jämförelsegruppen (n=26) genomgick kirurgi utan värmemadrass. Grupperna var jämnt fördelade i alla avseenden förutom kön.Resultat: Flertalet patienter sjönk i kroppstemperatur efter ECC-avslut (p < 0,0001) men majoriteten av patienterna var normoterma vid ankomst till intensivvårdsavdelningen. Undersökningsgruppen hade inte högre kroppstemperatur vid något mättillfälle jämfört med jämförelsegruppen.

Abstract A phenomenon that has been noticed more and more in media and the public space in recent years is what is called guerrilla gardening. It means the illicit cultivation of someone else?s land. This report's intention is to analyze what impact guerrilla gardening could have on today's urban space in terms of stable changes in norms and physical design. I have also focused on guerrilla gardener?s choice to carry out these actions illegally, without asking for permission, and what impact that could have on the issue of appropriating public space.

Modern forestry requires a high degree of machine traffic for clear felling and scarification operations. The machines most frequently used are big and the traffic often results in tracks on the forest ground. There are many small streams running through a forest, in connection to logging operations, machines might cross these frequently. These crossings could result in the erosion of fine particulate inorganic matter, which ends up in the stream. The aim of this thesis was to give a general description of small forest streams of order-one in the county of Värmland and to determine the frequency of machine tracks in small streams.

 Date: 2008-10-06Level: Bachelor thesis within Information Technology and business economics, 15p, EIK021Authors: Anna Karlsson, akn05009@student.mdh.seLena-Maria Lindström, llm05002@student.mdh.seMagnus Wretlund, mvd05001@student.seTutor: Marie Mörndal Title: Managing IT-incidents, a case study at ICAs IT department                            OperationsKeywords: IT-incident management, IT-incident management process, IT-incident, ITIL, CCTA Problem: An organization can benefit by having an established management process of handling IT-incidents. But how can this be achieved? Are there step-by-step procedures? What´s included in the management process of IT-incidents? Is the size of the organization relevant to which model is to be chosen? Can the work of the writers of this essay result in a recommendation of a specific model for IT-incident management? These questions lead to the following essay question; How are IT-incidents managed?Purpose: The purpose of this thesis is to describe and discuss how IT incidents can be managed.Method: The writers of this essay have performed a case study at ICA, a Swedish food retail company. Eleven interviews with nine different persons have been carried out. The interviews are analyzed in the chapter called Resultat och analys.Conclusion: Our conclusion is that there are both similarities and differences in Dept.

Picker robots are often mounted close to each other above a conveyor belt. To be able topack robots even closer, it is desirable to reduce the footprint of the robot?s base. One way toachieve this is to skew the arms of the robot which makes it possible to move them closer toeach other.This Master Thesis has been carried out at ABB Corporate Research. The purpose is toevaluate the benefits and drawbacks for the idea of making today?s Picker robot morecompact by skewing the arms.

Joint-related diseases including hip dysplasia (HD) and elbow arthritis (ED) can in advance cases lead to that the dog has to be put down, and these diseases are also the cause to expensive veterinary treatments of many large breeds, including Labrador Retrievers. The aim of this study was to make a follow-up study on the 271 Labradors, who previously participated in a study on the effect of nutrition and exercise on hip and elbow status in a birth cohort born year 2000. That study investigated the relationship between nutrition, exercise, and HD and ED. A follow up study on the same dogs at 5-6 years of age investigated the clinical effects of the radiological hip and elbow status at 1 years of age and if was effected by body condition score. This study took place in 2011-2012 and 187 Labrador retrievers participated.

Introduction: Parents have been shown to be of great importance in preventing cannabis use among adolescents. Parenting practices such as control, open communication and good relations within the family have shown to be protective factors, whereas lack of communication and weak social and emotional support have been associated with an increased risk for cannabis use among adolescents. Aim: The aim of the study has been to explore parents? perceptions about their own importance in preventing cannabis use among adolescents. Method: A qualitative method consisting of focus group interviews has been used to fulfill the aim.

The wind power increase of Gotland as well as other parts of Sweden during the last ten year period has meant that this renewable energy source has increased its share over other fossil sources. The year of 2011 became the first when the wind power produced more energy than an average nuclear reactor. Now that wind power is in an expansive phase, the land issue will be of great interest. Land with good wind resources will be of interest to wind energy developers. The problems that this essay is based on are; how can landowners altering the economic conditions at a wind power establishment? What opportunities and obstacles exist for landowners who choose to set up wind power on their land? The purpose of this essay is to highlight the economic conditions that exist for landowners for the establishment of wind farms, with regard to compensation for the leasing and return on invested capital.

Background: According to us, obtaining reimbursement of expenses in connection with a representation is a ?forgotten? process, and we therefore find it interesting to look further into. In some cases we have not claimed for compensation since we consider the process as too complicated or that we lost the original receipt. Ernst & Young (2009) say in their research that within the financial management area, Swedish operations loses billions of Swedish crowns due to bad routines. Okada and Hoch (2004) mention that if time were not considered as a resource, time would not be a hinder.

This final thesis is performed on commission of Torsby forestry administration, Stora Enso Skog. Stora Enso Skog is one of the major forestry companies of Sweden. The main business area is located in and around the region of Bergslagen. During the last decade the practice of forest management has rapidly changed due to a new forest legislation. The new law has resulted in that the production goal is equal to the environmental goal within forestry.

The thesis is an examination of the methods that are appropriate and long-term choice to obtain clamping force and secure screw joints in production. The employer, Scania CV AB, transmission manufactures axle gears to all trucks produced in Södertälje. One of the most common assembly elements is screw joints, where the clamping force is essential to achieve a secure joint. Current methods to secure the joint is due much of the friction effect and is an indirect method to measure the clamping force. The clampforce accuracy becomes more widely with torque angle control.

Detta examensarbete är utfört på Saab Training Systems AB i Huskvarna. Saab Training Systems utvecklar, tillverkar och säljer kompletta militära träningssystem.Syftet med arbetet var att minska ledtiderna, då korta leveranstider blir ett allt viktigare konkurrensmedel. Arbetet innebar en kartläggning av nuvarande reserv- och reparationsflöde samt att identifiera problem och komma fram till förbättringsförslag.Vidare har vi studerat reservdelslagrets lagernivå och dess kapitalbindning.Arbetet genomfördes med hjälp av intervjuer med berörd personal, observationer, enkätundersökning samt statistiska studier. Vi har även arbetat med Supply Chain Operations Reference Model som är en öppen referensmodell med vars hjälp man kan kartlägga, förändra och optimera sin verksamhet.Saab Training Systems har som mål att ledtiderna för reservdelsflödet och reparationsflödet skall vara 14 dagar, men i själva verket är det inte så. Dessa ledtider är idag längre, hur långa är dock oklart.De långa ledtiderna beror främst på att i flödena förekommer det mycket passiv tid.

Through the lenses of religion?s role in society, the purpose of this thesis is to examine, the role of the Church of Sweden in providing support to people at the end of life. Questions asked are:  "What types of spiritual support is offered by the Church of Sweden during terminal care provided in patients' homes and how is this support expressed in church orders, assembly instructions, plans of operations and congregation letters?" and " How can the work of the Church of Sweden be understood, based on theories of religion's role in society? The method used is a content analysis of the Church Order, assembly instructions, plans of operations and congregation letters in 17 different congregations within the diocese of Lund. I then engage in a discussion with theories on differentiation and the privatization of religion as a means to interpret my results.

The increasing road traffic in Sweden will require investments in the infrastructure that the tax withdrawal of today will not allow according to a new government report, SOU 2006:33. An existing willingness to pay for those investments has therefore become an alternative to increases in taxation to be able to cover the costs. A proposal to let the willingness to pay, alternatively increases in taxation that act proportional, decide how a cost is distributed can be said to be related, but not fully correspond, with different theories of justice described by Robert Nozick and John Rawls. It can therefore be interesting to see how the two different theories of justice are edified and how they distribute a joint cost. The aim of the first part of the thesis is to present and criticize Rawls' and Nozick's theories of justice in a common formulated economic model.