The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

Subject: Independent essay in War Science (15 points) which debate the question if PrivateMilitary Companies is an asset or a threat to the Swedish Armed Forces regarding rerecruitmentwith focus on the soldiers of FS21.That which is investigated is the general attitude amongst soldiers who have completed theirconscript duty according to the old conscript system and now is employed in order to conducta tour abroad with Afghanistan as area of operations. Further investigated is their attitudeagainst the Swedish Armed Forces as an employer, as well as the private sector whichwant/could benefit from the skills the soldiers is possessing. Could the soldiers se themselvesleave the Armed Forces before the contract has expired in benefit of private companies whichclaim they solve similar tasks.Purpose: The purpose with this essay is to contribute with knowledge about a number ofemployed soldiers? attitude against Private Military Companies. Further; if the soldiersbelieve the Armed Forces provide them as they think they deserve/ want in order to stay andnot leave their job in favour of PMC:s, and through it clarify what the soldiers value asemployees.Order of Approach, Method and Material: The method I?m using is a survey in whichsoldiers and squad leaders have answered the questions.

The use of technology in today's society is frequent and often necessary, but how, when and where are we supposed to learn how to use it? And if it is such a big and important part of our society, then why don?t teachers get more training in how to use the technology? The purpose of this paper is to examine whether teachers attitudes to technology affects their use of technology in their teaching. In school technology can be a complementary to other material, if teachers have the necessary skills to use technology in a pedagogical way. I have chosen to do a qualitative study in form of interviews and observations at a school outside of Stockholm. The results show that both school and teachers must want to work with technology if anyone will be getting something out of it.

This study has a qualitative approach and deals with difficult issues that arise in connection to male violence against women in close relations. The purpose of this study is to bring clarity to why women stay in violent relationships. I have been studying two leading theories, one called the Normalization Process of Violence represented by Eva Lundgren (sociology and theology). The other leading theory is the Neutralization of Violence represented by Margareta Hydén (fil dr and leg psycho therapeut).I have also studied the fight between these two theories for the leading position in the research on male violence against women. Eva Lundgren presents her theory through a structural perspective.

We live in a society where we are not bound to one place. We are encouraged to be mobile and constantly moving between different locations. The life in a convent is a contrast to this; nuns live at a specific place they are bounded to by vows and can not leave. The sisters in the convent of St. Birgitta, Pax Mariae have promised to stay at the same place and live by the rules of the convent.

In the following essay I have read the drama Natten är dagens mor (The Night is the Day's Mother) by Lars Norén. My main focus has been on the older brother Georg. By using post structuralist gender theories I have sought answers to the following two questions: How is Georg's masculinity constructed and maintained, when seen from a gender perspective? What power structures arise between Georg's and the other men's masculinities? In my analysis I have approached Georg via three perspectives. First, I have by the help of Judith Butler's theory concerning gender performative actions tried to define the men's gender codes.

Diabetes mellitus is a metabolic disorder that brings great changes in every individual's way of living. The goal in diabetes treatment is that the individual will be able to live a normal life, with normal length. To achieve this there is need to avoid complications, both acute and long-term. To be able to do this this the patient need knowledge about the illness and how to adjust pharmacological treatment to diet and exercise. In this, patient education is an important part.

2. SUMMARY A small garden exposed to a harsh coastal climate can be difficult to design. Limitations in space and in plant varieties increase the needs of an in-depth knowledge to achieve wanted goals. In this degree project the challenge has been to create a functional and position adapted garden for a very small beach house lot in Mölle, a little harbour village at the south coast of Kullaberg. ?Villa Malm?, is situated directly on the bedrock in a close settlement where the gardens, in most cases are very small and exposed to strong salty winds.

Today automatic milking systems (AMS) are growing in popularity. In these systems the cows are loose and have to get to the robot and the feed on their own. The cows ranking in this system affect their welfare. In this study data from seven years in an AMS was used and analysed. The aim was to investigate how ranking could affect the behaviour of the cows at milking and at feeding.

The purpose of this essay is to identify and analyze the term leadership based on democratically-, authoritarian-, and passive (laissez-faire) leadership and find out which of these types are to be preferred among employees. Our main aspects are:Do employees prefer democratically-, authoritarian-, or passive leadership?Are there any differences regarding ideal leadership considering sex, age, length of service and sector?We have chosen to make a quantitative study of two equivalent organizations, one in the private and one in the public sector. Our method is an explorative method were we seek to find new knowledge about our fenomena. Our study is based on the already established theories on leadership and our empirical data is gathered by questionnaires.The conclusions to be drawn from this study is that our respondents to a large extent prefer a democratic leadership towards an authoritarian and passive leadership. Most of them prefer a democratic leadership with elements of the other leadership types.

The aim is to examine how students with attention difficulties may demonstrate their mathematical understanding through visual representations. A curiosity about how students think about mathematics, national tests and Concepts cartoons has also permeated the study. With help of observations combined with interviews and actively work for a week, the study shows an idea of how visual representations can help students with concentration difficulties to stay focused on their tasks. I chose a selection of pupils to do some mathematical tasks from the national tests which they had not been able to solve before. Now in the form of Concepts cartoons, which I designed, they managed to solve the same mathematics data. In my study treatment and interaction reveals as key pillars for a successful educational work with the students with concentration difficulties. Thus, all pupils who previously have been unable to solve these assignments on the National test were now able to show their mathematical understanding supported by visual representations..

This thesis is about a part of the marquetrytechnique, scorching. Scorching is made by heating up something, put a veneer into the heated substance and make a controlled burning. This technique is old but still used today and have according to me great potential for development. In my work I wanted to give the scorching greater room then I earlier have seen. I wanted the scorching to be the dominant ingredient for a decorative element in a piece of furniture or an interior.

What is located on the bottom in the water outside of Birka? Remains of a water palisade or jetties and other constructions.Birka a Viking Age town that existed between AD 750 and 975 was located on the northwestern part of the small island of Björkö, in the Mälar archipelago of the Baltic Sea in Sweden. The Town was protected onshore by a hill fort and a town rampart. It is a widely spread assumption that Birka had a water palisade as a part of its defense. There are logs and other remnants on the bottom of the lake dating back to the Viking age.

Syftet med denna studie är att beskriva och analysera medarbetares benägenhet att stanna kvar på arbetsplatsen. Studien identifierar vilka betydelsefulla faktorer och aktörer som påverkar medarbetares benägenhet att stanna kvar på arbetsplatsen, samt vilka av dessa som är mest centrala. Vår avsikt är även att göra en jämförelse mellan två personalgrupper i den studerade organisationen. Empirin samlades in via intervjuer med en kompletterande enkät. Resultatet visar att det finns ett flertal betydelsefulla faktorer och aktörer för medarbetares benägenhet att stanna kvar på arbetsplatsen och där uppvisar de två personalgrupperna stora likheter. De mest centrala faktorerna och aktörerna är social gemenskap, anställningstrygghet samt intressanta och utmanande arbetsuppgifter.

Imagine not being able to choose who you are going to be in an intimate relationship with. It used to be like that but the situation has changed - these days we have a lot of different options available to choose for ourselves how to live our lives. We have a lot of different ways to influence how we want to live our lives and with whom we want to share them with.The aim of this study was to examine how individuals feel about their relationship and why they choose to stay in a relationship with their current partner. How do individuals in a relationship feel about aspects including for example conflicts, communication and trust? Is Anthony Giddens theory about the pure relationship applicable on relationships today? To find the answers to these questions we made a quantitative study and used a questionnaire to collect empirical data.