IRB 340, Flexpicker is an industrial robot used for sorting, packaging and the handling of details up to two kg. The Flexpicker is a delta robot, meaning that it with three arms controls a triangular plate, swivel, in a work area shaped like a cylinder. Joints using plain bearings connect the arms.The plain bearing in use today consists of a plastic ring which slides against a hard anodized joint ball. Despite the fact that the plastic contain friction-lowering additives, the bearing needs to be lubricated to prevent noise. Because the robot is used in food and drug handling environments, where the demands on hygiene are set very high, the robot is often washed.

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.

Increased understanding of the mechanisms that operate in conjunction with the welding of metal surfaces may help to improve existing manufacturing processes, and to enable new products and combinations of materials. The purpose of the project has therefore been to acquire a deeper understanding of what is happening in the bond for steel and for the factors that form the basis for a bond to develop between metals in the production of laminates by pressing. The merge has been done by pressing and the surfaces after the experiments have been studied in detail in the scanning electron microscope (SEM), energy dispersive X-ray spectroscopy (EDX) and with interferenceprofilometry in Wyko, to provide a greater understanding of the mechanisms that influence the bonding in the interface between metals. The project was limited to contain the materials Docol 1000, HyTens 1200, Aluminum AA3003 and a commercial steel. The parameters varied in the experiments to study their influence closer are temperature, pressure, heat treatment and pretreatment. This has been implemented by pressing with varying temperature and pressure.

The aim of this essay is to get a deeper understanding of a teachers' profession and to get knowledge of how earlier experiences can influence you as a teacher. I have interviewed a female teacher, Pia to get this understanding. As a tool to get the teacher's whole story I used the life story method. In her profession she is influenced by her own importance of security as a child.Her own needs of security has given her an deeper understanding for pupils like herself during the childhood; insecure and afraid. Her understanding for all kinds of behavior among the children has increased by her own experiences.The story shows that Pia is frustrated by the fact that she can't control her own working time.

The concepts of environmental scanning and Business Intelligence have gained increased interest over the last years in a number of different organisational contexts. The research in this field has mainly been dealing with methods and issues regarding organisation but the aim of environmental scanning, the forming of new perspectives, has been largely ignored. The purpose of this thesis is to study how Swedish joint-stock banks put environmental scanning and Business Intelligence into practice. First a literature study is made to create a background and to explain the different conceptions. Then I describe the different functions of the different services in Swedish joint-stock banks.

This report reflects an examination work performed for Getrag All Wheel Drive AB during the spring of 2005. Among the companies range of products there exists some concern regarding the amount of clamping force and friction on bolted joints caused by the assembly torque.The aim of this project has been to determine if there is a simple way in which to identify and then practically apply testing methods for clamping force and friction through utilization of existing testing equipment.Three separate methods of clamping force and friction determination have been tested in rear drive unit, RDU, at a 30 Nm assembly torque. A fourth and final method, screw elongation with ultrasound, has been used as reference. The methods are:?Torque-Tension test.?Screw elongation with micrometer.?Joint stiffness test.?Screw elongation with ultra sound for reference.The results from tests can be viewed in table below.MethodTorque-TensionMicrometerCs=318 kN/mm Assembled with torque wrenchMicrometerCs=318 kN/mm Assembled on lineUltra-soundCS=311 kN/mm Ultra- soundCS=318 kN/mm Joint stiffnessTheoreticalClamping force-21,8 kN17,6 kN17,3 kN17,6 kN17,1 kN17,3 kNFriction-0,110,1470,1530,1470,1520,149.

Uppsatsen är inriktad på den militära delen i upprorsbekämpning och tar sin utgångspunkt i två stycken militärteoretikers teorier inom ämnet. Teoretikerna är John Mackinlay och David Kilcullen, som under 2009 utkom med varsin ny bok inom området, The Insurgent Archipelago samt The Accidental Guerilla. Den metod som arbetet vilar på är kvalitativ textanalys. Syftet med uppsatsen är att undersöka i vilken utsträckning som teorin och doktrinerna stämmer överrens. Därför har först teoretikernas syn på hur en utifrån kommande intervenerande styrka påverkar lokalbefolkningen analyserats.

It?s known that the drug information patients get at discharge from hospital is often insufficient. Patients? ignorance of which drug they use and how to take them can lead to drug related problems, can cause suffering and heavy expenses.The aim of this study was to shed light on the patients? understanding for drug information, which was given at discharge from hospital. The literature survey was used as a method and based upon a systematic choice of scientific articles, which were found in different databases during the period of April 1 to May 31, 2008.

This paper explores the theoretical and practical uses and limitations of battle-field archaeology. The author aims to paint a big picture of the subject of exca-vating, understanding and theorising about historical battlefields done every day by archaeologists. Its approach places much weight on a quantity of examples rather than exploring specific excavations in every detail, in an effort to give the reader an understanding about how battlefield archaeology works. It stresses the need for battlefield archaeology as a way of obtaining and securing impor-tant archaeological and historical information before it is lost to science. The author tries to evaluate the subject in a critical and pragmatic fashion in order to establish a clear understanding about the facts of battlefield archaeology..

Fortfarande idag sätter ordet JV skräck i många utländska investerare på grund av GPAC och andra misslyckade JV i Kina . Kina tänker inte göra omvärlden några gratistjänster, utan vill dra nytta av de fördelar man har av den stora billiga arbetskraften. Kineserna är väl medvetna om sin potential och kommer inte att ingå JV som inte passar dem. Motiven för kineserna att ingå JV med utländska företag är i grund och botten bara steg i utvecklingen av bilindustrin. När de väl fått den kunskap de behöver för att kunna gå vidare själva kommer de nog inte att visa någon välvilja mot sina gamla partners.

This thesis which is about working with mathematics teaching has no effect/impact on performance and understanding of pupils. The study is intended to gain insight on working in mathematics education which has an impact on performance and understanding of students who are ethnically Swedish and foreign ethnic. In order to compare the ethnic Swedish and foreign students of ethnic understanding, I judged from their performance on the tests taken in year three. The qualitative approach permeated the work, both interviews and observations which were included in the survey. The qualitative study was chosen to get an understanding of how mathematics teaching is conducted in two different areas.

Studiens syfte har varit att få en fördjupad förståelse för partnerkonflikter vid ojämn ägarfördelning i internationella joint ventures (IJVs). Syftet adresseras med två forskningsfrågor; (1) När IJVs har ojämn ägarfördelning, vilka partnerkonflikter riskerar att uppstå? (2) När IJVs har ojämn ägarfördelning, vad är särskilt relevant att beakta för minoritetsägare för att undvika partnerkonflikter? För att bemöta syftet och besvara forskningsfrågorna har studien haft en explorativ karaktär med en induktiv forskningsansats, där en fallstudie har undersökts kvalitativt. Primärdata bestod av tolv semistrukturerade intervjuer och sekundärdata bestod av mejlkonversationer samt formella dokument, såsom avtal och statuter.Resultatet från studien visar att partnerkonflikter riskerar att uppstå i avtals olika dimensioner; termspecificitet, anpassningsbarhet och ansvarsförbindelser. Det visar även att partnerkonflikterna i avtalet påverkas av personer i IJV:et samt omgivningen som avtalen ska fungera i.

Based on hermeneutic tradition, the goal of this thesis is to further my understanding of what the concept of resistance means in a psychoanalytical context today, primarily within clinical practice. My methodology has been to seek an understanding of the concept of resistance by reading excerpts from the original texts of Sigmund Freud, as well as conducting interviews with practicing psychoanalysts that focus on how they relate to the notion of resistance. The idea was to then present my understanding of these sources in relation to one another. The results suggest that an understanding of the concept of resistance in a clinical context is highlighted by a dichotomy between theory and practice..

The purpose with the essay is to point out how the main differences of the Helsinkicommission, Helcom and Baltic 21 can be explained from a general perspective and with a specific focus on two of their ongoing projects: Baltic 21 Lighthouse projects and The Baltic Sea Joint Comprehensive Environmental Action Plan. And to investigate how the organisations them selves formulates the purpose of the two projects. This will be an indication on why environmental problems are handled with in a traditional matter although the rhetoric of the environmental politics is permeated by the concept of Sustainable Development.This dilemma is being treated from the theoretical approaches of Ecological Modernisation and Sustainable Development and linked to how these organisations actually carried out their work and how the historical heritage have a role to play in this complex of problems. The results of the essay shows that concrete differences exists in the way that the two organisations are constructed and how their ongoing projects are designed and formulated. These differences can be derived to the theoretical platforms Ecological Modernisation and Sustainable Development and be explained by in witch political context the organisations were created.

As companies exert themselves to find new ways of achieving market dominance and stronger brands, the phenomenon co-branding has become increasingly popular. By cooperation between two different firms the combined effects can result in synergies not only on the balance sheet, but even through softer values such as Brand recognition, equity and larger market share. Recently the fashion company H&M launched a collection together with the esteemed fashion designer Karl Lagerfeld. The objective of this paper is to examine the effects the collaboration had on consumer?s attitudes towards the two brands.