In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

This thesis aims to describe and characterise the foreign policy change the United States has experienced towards Europe. This thesis claims that the United States is presenting a more supportive attitude today towards the development of the European Union. This more positive attitude has developed during successive U.S. administrations and has become visible since the end of the Cold War.Washington is today less ambiguous and less ambivalent towards the integration of Europe. The United States appreciate that a common foreign- and security policy in Europe is in accordance with American interests.

The aim of this thesis is to study the Swedish art field during the 1980s, from the perspective of the artistic production of Lars Nilsson. During this decade he became one of the most well known young artists associated with postmodernism.The thesis is divided into three parts, where the first part examines different influences and aspects of the art of Lars Nilsson, as well as the contexts he was a part of. This is performed through a chronological as well as a categorizing presentation, based upon different exhibitions where Nilsson participated during the 1980s.In the second part the subject is the Swedish art field, and how Lars Nilsson came to be part of a a new established category of a young generation of artists, mostly born in the 1950s, who were associated with youth, postmodernism and contemporaneousness. This part also puts attention to the importance of Lars Nittve, then art critic and curator, in introducing postmodernism, as well as establishing this new categorization of artists in Sweden.The last part of the thesis studies four different group exhibitions, and how they all exemplify how "a younger generation of artists" were to be connected with notions of postmodernism and contemporaneousness through curatorial practice. Lars Nilsson participated at the thirst three of these exhibitions.

In this thesis I try to find ways to be more independent and conscious in my interpretation of the music which I am playing. To be able to be more sure of myself and my own decisions I try to find methods on how to achieve this. The methods includes reading articles about interpretation, interviewing musicians and interpret and perform music. The pieces I have chosen are a solosuite by Max Reger, a concerto by Georg Philipp Telemann and a clarinet sonata by Johannes Brahms. I made some concerts where I try to achieve my goals.

It is widely recognized that the town of Södertälje, a small Swedish town of 85 000 inhabitants, has alone received more war refugees from Iraq than the US and Canada have put together. Whilst writing this thesis had nearly 6000 Iraqi refugees sought their way to Södertälje since the US invasion in Iraq 2003.Nevertheless, life is not what the media and the government retail. Six of these Iraqi refugees who resided in Södertälje share their life stories in the following thesis. They discuss their escape from Iraq and the difficulties of living in the segregated parts of Södertälje where they solely speak Arabic and Assyrian, whilst learning Swedish at sfi (Svenska för invandrare, Swedish for immigrants). Another distress is related to the unsecure future in Sweden waiting ahead.      The aim of this thesis is to engage in, and highlight the studies of six sfi-students in their endeavor to learn Swedish, whilst struggling through Swedish bureaucracy and experiencing despair due to their situation and uncertain future.       .

When is it acceptable to make fun of religion, and when does it become disrespectful? On January 7, 2015, the headquarters of the French satirical news paper Charlie Hebdo was subjected to a terrorist attack that claimed the lives of 12 staff members, due to the publishing of caricatures picturing the prophet Muhammed. The reactions that followed the attack circled around two perspectives; the importance of freedom of expression and the obligation to show respect for certain institutions and traditions in society. How come the caricatures can elicit such completely different reactions? This is the question that this thesis uses as a starting point for the examination of the subject caricatures and satire.

This master thesis is a story about the development of a rosary in Lomma hamn. During spring 2004 I attended a competition arranged by the municipality of Lomma and SLU Alnarp. The assignment was to design a rosary. The jury liked my ideas and invited me to proceed and develop them. The rosary in Lomma hamn was built in 2006. The Lomma hamn area is being developed as a new part of Lomma.

This report is a bachelor thesis work within the field of Product Development and is also an assignment for Thule Sweden. The work has been performed by Niclas Tjäderborn and Christian Holm, students at the Mechanical Engineering Program with major in Product Development and Industrial Design at Jönköping School of Engineering during spring the semester of 2009.The thesis work concerned the development of a new wheel holder for bike carrier for Thule Sweden. The background to the project was that the initiator wanted a more user friendly wheel holder with better design than those available on the market. The wheel holder is able to be implemented on one or several of Thule?s current wheel holders.

This thesis is a case study of the search function on the University of Uppsala?s web site. The search function in this study was chosen since it exists on a large and complex web site and there were apparent lacks in the old version of the search function. The thesis highlights some of the problems that can appear in the development of a search function on a local site. One interesting find is that one of the most difficult issues is organizational and not technical.

The purpose of this thesis was to help the company Medius AB with optimization of selected parts in an existing system to minimize the execution time by implementing multithreading. The idea was to manipulate the code so that calculations could be executed at the same time. The main work in this thesis consisted of three optimizations. The first one was to reconstruct a big ?for-loop? so it would execute every loop's work in an own thread. The second optimization also was a reconstruct of a ?for-loop? so it could execute the work in different threads. The third and last optimization consisted of reconstructing a stored procedure on the database, so different parts of it each could be executed in an own thread to create data at the same time. To implement the optimizations Visual Basic .NET and its support for multithreading and connection-pools was used. The result of the optimizations meant that one of the modules could be executed more efficiently and it was 12 % faster. The other modules execution time was more efficient by 25 % faster. The meanings and requirements for this thesis are fulfilled by now letting the system make use of its resources in a better way..

In 2005 the Swedish social democratic government settled a defense treaty with Saudi Arabia. Ten years later, a new Social democratic government ends the treaty. This thesis will study the Social democratic party?s motives behind their actions regarding the treaty. Kjell Goldmanns theory regarding the three fields of interest concerning state?s foreign policy, security policy, economy and international values, will serve as the theory and operationalization of this thesis.

In Sweden there are currently two separate guidelines you may use whenperforming calculations on frameworks, BKR and the Eurocodes. Although at theend of 2010 you are not allowed to use BKR any longer and only the Eurocodeswill be viable. The aim of this thesis is to explain how the Eurocodes and EKS work and alsohow they compare to the current guideline BKR. Similarities and differencesbetween these guidelines are also discussed so that the reader will get a betterunderstanding of how the Eurocodes are applied. The areas discussed are asfollows:Principles and adviceSafety ClassesSymbols and IndexesLifespanLoads and partial coefficientThe thesis also deals with the impact that this transition into a new guideline willhave on corporations, guideline costs, education and computer software. As anexample a rough estimate on what costs this transition will create on a companywith 20 employees is also included. Calculations have been performed in order to investigate how the design valuesdiffer between the two guidelines, the Eurocodes and BKR.

This bachelor thesis deal with the Soviet submarine U-137 and it's grounding inthe Swedish archipelago outside the city of Karlskrona and one of Sweden?slargest naval-bases. The actions that took place in October 1981 were specialbecause of the clear violation of Swedish territory. When the Swedish authoritieslater suspect nuclear armament onboard the crisis gets worse. In the thesis wehave examined the Swedish politicians and military and their behaviour duringthe crisis.

Inspection errors are nowadays usually written with pen and paper during building inspections. A company in Stockholm is developing a method by which inspections are made digitally from the beginning and where the inspection attachments shall be stored in a database. The idea of this method is that entrepreneurs can use the database to get an experience feedback from previous surveys so that they can improve their production processes. One problem that occurs is how inspection errors will be sorted into the database. They have to be sorted so that contractors or clients can use and sort out the information in a sensible way when they want to evaluate and make improvements in their production processes.This thesis examines how the inspection errors can be sorted in a structured manner.

This thesis has its background in my curiosity of music and emotions. How can one find the technical way of bringing out emotions in music? I have worked with passages in music that I believe that the composer intended us as musicians to perform. This thesis presents a collaboration of three chamber musicians working with and performing Brahms Clarinet Trio, the first three movements. I?ve studied different theory analyses by several teachers and worked with the trio to apply it onto the performance and our interpretation of the work.