This master thesis includes a description of how a number of sensors are put together in a sensor platform. It also gives a description of how localization and mapping has been performed with data collected from the sensor platform. Localization is a prerequisite for most of the tasks that can be requested from an autonomous mobile robot. In many situations the GPS signal is not available and hence an additional localization system is required. One approach is to apply localization based on landmarks extracted from the robots surrounding.

This thesis examines the boundary-work between the discipline of psychology on one side and religion and spirituality on the other. In Sweden, a country viewed as one of the most secular in the world and which has a rising interest in the neo-spiritual, this boundary-work is under-researched within the history of ideas. The research question for this thesis concerns how the contemporary dominant discourses in Psykologtidningen between 2010-2024 relate to the historical boundary-work that has taken place within the discipline. In this study the boundary-work will be examined through a combination of digital text analysis and discourse analysis. The analysis shows that terms such as mindfulness and soul have gone through a decoupling process: meaning that the terms are secularized and modernized to fit within the truth-narrative and the leading discourse of psychology. This discourse falls under a larger regime of truth where secular thought is seen as the main worldview which is compatible with the scientific ideal.

This thesis has been focused around the Diels Alder reaction with the goal to design an enzyme catalyzed reaction pathway. To achieve this goal computer aided enzyme design was utilized. Common traditional methods of computational chemistry (B3LYP, MP2) do not do well when calculating reaction barriers or even reaction energies for the Diels Alder reaction. New calcu- lation methods were developed and tested. This was the focus of the first part of the thesis, by choosing a small system, extensive and heavy calculations could be done with CBS-QB3.

The implementation of IFRS 2 led to significant changes in the accounting practices for corporations regarding stock related compensation. The new regulations required firms to account for the stock based compensation as an expense in the financial statements, rather than merely disclosing the information in the notes section to the statements. Following prior research on the area; specifically studies made in the U.S., where researchers find that companies change their use of stock based compensation due to the increased accounted expenses, this study hypothesizes that the same pattern may be found among companies listed on the Swedish stock market. The results of this study show that the use of option incentives has decreased during the studied period 2001-2008 and that the decrease in part can be derived from IFRS 2 and in part from other factors. The results are useful to future research, as they provide an overview of the effects that IFRS 2 had on companies, and various factors that influence the behavior of corporations, as well as in a larger perspective be a factor to take into account for future modifications of the IFRS..

The economic climate that has been going on for the last years has more or less affected everyone. This has created a need to get more knowledge about how our banks work and also how peoples own personal financial situation looks like. When our banks over this last period have compensated their employees with even greater deals of money, reactions has gone to the roof. This discussion has made us interested in the subject, which led to the decision to write an essay about remunerations within banks.The purpose of this essay is to investigate if our banks remunerations to their employees have any effect on their profit numbers. Does the size of the compensations vary with changes in the market? Do larger compensations contribute to a greater result?The study will look at Sweden?s four largest banks, Handelsbanken, SEB, Nordea and Swedbank.

The main purpose of this thesis is to examine what problems may arise when converting class symbols from one classification scheme to another. In order to fulfill this purpose, a conversion table between parts of the Swedish online-version of the UDC and the Swedish classification system SAB was constructed. For main classes 0 and 3 every class number from this abridged version of the UDC was converted, whereas for the rest of the main classes only class numbers with fewer than four figures were converted. The conversion table was constructed using the alphabetical index of SAB and different UDC-indexed library catalogues. Various aspects of the conversion table were then analysed using methods mainly devised by the authors themselves, but inspired by lexicography and multilingual thesaurus construction.

The purpose of this paper is to examine and analyze past development of mutual funds in large and small mutual fund companies and see if there are any differences between these two segments. Limitations on the number of funds have been made by choosing Nordic mutual fund companies that invest in emerging markets over an 11-year period. The study is made on 66 mutual funds managed by 13 mutual fund companies in which the segment of small fund companies includes seven fund companies with assets under management less than 100 billion SEK and the segment of large mutual fund companies includes six fund companies with assets under management more than 400 billion SEK. In the comparison of the segments the Sharpe ratio has been used to calculate the risk-adjusted return. The study shows small differences of the risk-adjusted return between the segments.

This retrospective study aimed to examine differences at age fivebetween twenty-six internationally adopted and twenty-six Swedish-bornchildren with cleft lip and palate regarding age of surgery, speech andintervention. Correlation between age of surgery and speechvariables andgender differences was examined. Blind assessment of audio recordedsentence repetition or naming of words was performed by two speechpathologists. Soft palate was closed significantly later for the study groupthan the control group. Age at closure of hard palate did not differ.

Recent studies show that manufacturing companies to a larger extent use historical cost accounting in their internal accounts, at the expense of calculated costs. The explanation behind this is claimed to be that firms are subject to careful scrutiny by the stock market. Consequently, top management stresses the need of evaluating all parts of the firm from external accounting. However, lower management levels express a general concern that the incentive to invest in machines will decrease. This master thesis aims to investigate whether or not there is an objective reason behind this concern.

To guarantee protection of our drinking water, water catchment protections are established. These are divided into three different zones and in the first zone it is most likely that an activity, such as agriculture, will contaminate the water resource. Hence the activities are strongly regulated or banned. The EU communion is working towards a sustained water quality through several directives; Nitrate Directive, Waterframwork directives and Sustainable use of pesticide directive. The main purpose is to regulate the diffuse pollution from agriculture.This thesis is about how Denmark, Germany and France are working towards a sustainable agriculture within water protection areas.

This essay is called In the head of Garibaldi ? a study about the portrayal of Garibaldi in biographies and focuses on the literary portrayal of Garibaldi in biographies published in the early 20th century and the early 21st century. The purpose of the essay is to describe the possible changes in the way of portraying Garibaldi in biographies and compare the portraying to the portrayal of Garibaldi that Garibaldi himself gives in the American translation of his memoirs, which were published in New York 1859.I have in this study used a constructivist approach with focus on the attributes, ideals and roles of Garibaldi. Research and thoughts from a wide field of science has been used, for example the works on nationalism by Elie Kedourie and Ernest Gellner. The thoughts on biographies as a scientific genre as described in the anthologies Att skriva människan (Ambjörnsson, Ringby & Åkerman red.) and Med livet som insats (Rosengren & Östling red.) has also been of the utmost importance of the study.The results of the study shows that there has been changes in the way of portraying Garibaldi in biographies, as showed in the more unbiased portrayals in the newer biographies.

This essay examines the Swedish party Miljöpartiet de Gröna and their election campaign 2006. Focus is set on the local organisations in the region of Skåne by examining how they have carried through their campaigns as well as if they have experienced any obstacles in their campaign work. The primary research aim is to give a theoretical contribution as well as an increased knowledge of the local organisations work in the election campaign.Mainly this is a qualitative examination that revolves around the experiences of the organisation members. The material has been collected by interviews and a question survey. For analyse a concept device that correspond with campaign work- and election theory through a partly rational point of view has been constructed.

Based on the concept of rhetorical situation, the purpose of this study is to compare and describe the three Socialist leader's May Day speech from the years 1954, 1978 and 2011. The results of the analysis showed that there is a big difference in how the leaders chooses to appeal to the rhetorical audience. Erlander, 1954, never appealed directly to his audience which Palme, 1978, did both initially as repeatedly throughout his speech. Juholt, 2011, has a personal and frequent appeal which is repeated throughout his speech, which is interpreted as a sign of the intimization of the public language. It proved difficult to discuss the Socialist rhetoric as one unified form.

The smartphone is part of our daily life. Smartphone users type on a screen area that is no larger than the palm of a hand. To help with this endeavor the software known as AutoCorrect was created. However little is known about how AutoCorrect actually change the language and if AutoCorrect users at all perceive the impact it has. This study aims to find out if our test subjects are aware of AutoCorrect?s presence and how much it influences them.

The arm?s length principle has existed in Swedish law since 1928 but has previously been given little attention. In 2007, documentation requirements were introduced, and the government began to do tax audits regarding transfer pricing. This thesis examines how the documentation requirements and tax audits affect the application of the arm's length principle. The research consists of nine interviews with a total of ten people at the tax authority (Skatteverket) and audit- and consulting agencies. The results of the interviews are analyzed using the agency theory. Many companies are risk averse and prefer having correct transfer pricing instead of taking on challenging strategies that can be risky in case of an investigation by Skatteverket.