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.

Childhood as a social category is under strucural redefinition. In this thesis the child and childhood are understood as socially constructed phenomenons. Focus is laid upon the construction of the concept ?in the best interest of the child? wich in The UN Convention on the Rights of the Child is defined as beeing the foremost important view to take into account when decisions wich affect children are made. As the thesis shows, a concrete and universall view of the best interest of the child is lacking in practice and would in many cases be unfortunate.

Logistics and supply chain management in the construction sector is an area with great potential for improvements. Today, a lot of the workers time is spent on non-value adding activities. Research has shown that waste is a large proportion of the total production cost in building projects today.The purpose of this report is to analyze problems concerning logistics in the construction sector. Two of Skanska?s construction projects in Uppsala have been analyzed to identify problems.

The social policy defines what is social problems. There is no clear scientific explanation to why children fare badly and unity in what constitutes a bad parenthood that leads to deficiency of care (Sundell&Egelund 2000). The society's values are fickle and influences what to be defined as social problems. In the prevailing period, the discourse produces the social norm (Claezon 2004).The aim with this study was to examine which children that fare badly and attitudes about it the good and the insufficient parenthood between 1921-1923 and 1997-2007. The survey was a qualitative file study in witch we studied child welfare.

The purpose of the essay is to examine how issues concerning gender equality are perceived and to show what areas are defined as problematic in different discourses. It also raises the question of who is defined as responsible for dealing with issues concerning gender equality in these different contexts. Theories used are the gender system and intersectionality. The study builds on a mapping of a company that is active nationally and internationally, with emphasis on the problems that can arise when these two social contexts meet, with a special focus on cathegories such as gender and ?Swedishness?.

The purpose of this thesis work is to formulate a model with methods that describe key success factors to get understanding and awareness in organizational change projects. We have used a project within the township of Gothenburg as a case and connected to this single project the purpose is to identify key success factors to get understanding and awareness among employees within the township of Gothenburg. We hope that our result will be useful in other large organizational change projects. Theoretic basis for our study have been models and methods, while our purpose have been to construct a model with suitable methods for anchoring. Theories about coaching and process management are examples of methods to get understanding and awareness among employees in change projects.

Specialarbete, 15 hpSvenska som andraspråk, SIS 133VT 2012 Handledare: Håkan Jansson.

The current planning philosophy is based on a political utopic modernism founded during the first part of the 20th century. The focus is, in planning a defined area, to maximize the internal efficiency and to create a competitivesociety. During the latter part of the former century globalization changed the context, thus creating the need for a new way of approaching physical planning. This paper shows that the historical and philosophicalmetaphor of flow can be applied to meet the demands in the global city. It also shows how the edge, as where interaction takes place, is an important part of the content that has to be defined.

Women?s strive to reach higher leading positions and build a career that's combinable with child birth and private life, is an on-going debate among academics in the fields of leadership, management and organization. This bachelor level thesis is written at the section of Management & Organization at School of Business, Economics and Law in Gothenburg, Sweden, spring semester 2015. In our research methodwe have used source triangulation with a qualitative approach to the subject of egg-freezing in favour forcareer with a focus on Swedish workplaces. The purpose has been to illuminate, map out and further problematize how the introduction of the employee benefit in November 2014 can be seen to relate to social sustainability.A lot of the management research that discusses social sustainability tends to focus on how women (and men!) try to balance family life and career and how to combine (or to not combine) them.

När en kommersiell hamn byggs ut fordras omfattande muddringsarbete för att säkerställa ett brukligt djup för sjöfart. Då stora delar av muddermassorna ofta är förorenade av tungmetaller och miljögifter krävs särskilt omhändertagande av dessa. Traditionella omhändertagningsalternativ består av att deponera massorna på särskild avsedd plats på land eller tippa till havs, något som inte tillåts för förorenade sediment. En relativt ny metod är stabilisering/solidifiering (S/S) som innebär att muddermassorna behandlas med ett bindemedel för att sedan kunna användas som fyllnadsmaterial i exempelvis kajkonstruktioner. Dessa alternativ behöver noga vägas mot varandra med hänsyn till ekonomiska och miljömässiga aspekter.

Under det gångna århundradet ökade den förväntade livslängden avsevärt såväl i Sverige som i övriga världen. 1900-talets förbättrade livslängd drevs inledningsvis av en minskad barnadödlighet medan de senare årtiondena kännetecknades av minskad dödlighet i höga åldrar.En åldrande befolkning innebär ökade krav på sjukvård, äldreomsorg och inte minst pensionssystem. Pålitliga prognoser för vår framtida livslängd behövs för att beräkna de resurser som nämnda verksamheter kommer att ta i anspråk och utgör förutsättningen för en rättvis prissättning av försäkringsprodukter med levnadsrisk.Lee-Carter-modellen är en av vår tids tongivande modeller för mortalitetsprognostisering. Modellen används här för att göra livslängdsprognoser utifrån svenska mortalitetsdata; prognoserna jämförs sedan med observerade utfall.Mot bakgrund av resultatet diskuteras levnadsrisk med fokus på pensioner.Inte oväntat presterar prognoserna ingen felfri bild av verkligheten och prognosfelet varierar i storlek mellan skattningarna; att använda dem som underlag för pensionsberäkningar hade i förlängningen varit ohållbart. Exemplet illustrerar på samma gång vår osäkerhet inför framtidens livslängdsutveckling och svårigheten i att prognostisera den..

In this study environmental work in the Swedish hotel chain "Scandic" is investigated. Earlier studies point out sustainability and different environmental certificate programs as essential for the housing sector to contribute to sustainable tourism. The purpose and willingness to fulfill such a mission has been investigated by interviewing central actors in the hotel chain. The result shows that there is a desire to be part of environmental certificate programs mainly for the reason to be part of the system and not for the benefit of nature. Sustainable development is understood as being environmentally friendly. Different solutions to adapt and being more environmentally friendly is discussed.

The gambling industry goes from a national matter towards an international market. Since more and more members of EU does liberalise the gambling reforms and introduces a license system more participants will get an EU license for online gambling. With an EU license it is difficult for members of the EU to refuse a company to offer a gambling supply on the Internet if they don?t have an open license system. This paper tries to acknowledge the problem regarding the monopoly Sweden has today and calculate the effect if Sweden would move to a license system regarding online gambling by doing a cost benefit analysis.

The aim of this thesis was to study librarians approach upon reference questions and available resources and also to find out if there is any connection between the nature of the reference question and the choice of resource. The purpose was also to give a deeper understanding of the reference work. Nine librarians were given ten reference questions and their reference work was tape recorded. The study was completed with seven interviews sent by email. Some of the reflections were translated under the headlines of form, subject, time, language and availability.

Interest for Mutual funds has been enormous in Sweden and since 1970 has savings increased from 300 million SEK to about 900 billion SEK. An important reason for this increasing is the strong development of the stock markets has got and, the impairment of the public pension and the increasing of necessity of the private saving..