The global Positioning System (GPS) provides location and time information as long as there are unobstructed lines of sight to four or more GPS satellites. However, when this is not the case the signal may be inaccurate or sometimes even completely blocked. In these situations the Inertial Navigation System (INS) is an appropriate choice for positioning.  An INS has already been proposed in a previous thesis by Erik Andersson and the objective of this thesis is to fuse the GPS with the INS in a proper way. A part of this project is to decide the reliability of the GPS.Three methods for GPS reliability detection have been proposed. One method based on the statistical properties of each of the separate systems, and two methods based on the statistical properties of the residuals between the GPS and INS.

There have been, in some rare cases, difficulties with clamping of inserts with U-holesin their tool holder. According to the complaints, the inserts could not be properlyclamped or could fracture when clamped. A study has shown that variations inclamping behaviour are mainly depending by the position of the screw hole in the toolholder and the centering of the screw hole in the insert.The focus of this project has been the centering of screw hole in insert. It has beenshown that the screw holes are not always enough centered in the insert. Theproblem may occur after a certain step in the production, i.e.

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.

AbstractC-level in Political Science by Christoffer Odén, vt-08?Traditionalism versus Modernism. The Ideology Debate in Left-Socialist Party Today?Instructor: Mats LindbergThe purpose with this essay is to describe the ideology debate in Left-Socialist Party between traditionalists and modernists. This essay have the following questions: 1 ) What are the differences between traditional and modern politics in the Left-Socialist Party? 2 ) What is similar between traditional and modern politics in the Left-Socialist Party? My method is to analyse the Left-Socialist Party programme from 2004 and analyse a programme from the modernist organisation Vagval Vanster.

The upper secondary school 2011 (Gy 2011) was a reform which created large changes in the Swedish educational system. One of the major changes was the requirement of certification for sport schools. Schools in Sweden have historically used sports in their marketing, this opportunity was impaired by the reform. This thesis aims to investigate how brands are applied on webpages of sport schools that are certified in football and/or cross-country skiing. Content analysis was used as method of data collection.

The present thesis closer examines what has come to be known as al-Qaida, partly from what al-Qaida is considered to be, partly from the consequences a certain picture of al-Qaida might give rise to. Between 1988-2001 most of this thesis sources refers to al-Qaida as a small, organized core group with some degree of cell structure. From 1991 to present days, many of the sources enlarge the picture of al-Qaida. From now on they start to view al-Qaida as either a network in itself or al-Qaida as a part of a larger islamistic network, not only as an organized core group with presumptive bases in Afghanistan. The most recent of theories regarding al-Qaida looks at al-Qaida as an ideology in itself (al-Qaedaism) or al-Qaida as a part of previously existing ideologies (Islamism, Neofundamentalism and Jihadism-Salafism).Al-Qaida is being seen - by scholars, journalists and terrorism experts - as an organization with a core group, a network in itself, part of a larger islamistic network and an ideology of its own or as a part of already existing ideologies.

In this essay there will be four text books from grade 1 studied, the first one are from the year 1976 and it will be going forward to the year 2012. The aim of this study is to see how the genders are depicted and represented, as well as what roles the genders are given. I do also want to see if there is a notable change in this over time. I will be doing a study based on the quantity of the contents, and I will also be doing a critical discourse analysis.The result of the study showed that there were more gender-based constructions that referred to women in all of the four books, which indicates that women are represented more often in these reading books. It is most common to portray the genders in their stereotypical roles, which again are present in society, but sometimes these roles are depart from what?s present in society.

The object of this study has been to establish how language is used to present and establish a person?s identity. The studied language usage is that of renowned author Selma Lagerlöf and the language studied is that of her personal correspondence. This language picture is placed alongside the public depiction of her and a comparison of sorts is made. The chosen method has been to study Lagerlöf?sprivate correspondence and to compare her language markers in those to the literature history?s picture of her.

Transfer pricing has attracted considerable interest among tax authorities in recent years. One of the reasons for this is that various countries have now begun to protect their own tax bases to a greater extent than they did in the past. Sweden has introduced a law on the documentation on the grounds that the tax office to review the pricing of transactions that occur within multinational corporations. The purpose of the law is that companies should apply a transfer pricing that meet arm's length principle, which means that internal pricing reflects market prices. The EU Commission has, together with the EU member states formed a Forum, the EU Joint Transfer Pricing Forum (JTPF), since cross-border trade within groups constitute a threat to the internal market. The Forum has drawn up a code of conduct which includes a model of documentation.

The purpose of this essay is to discuss and compare different ways of learning new words and expanding your vocabulary in a foreign language. This is done by an examination of relevant literature and available research, as well as by an empirical study with two upper secondary school classes, in which two different methods are put to the test: one traditional method of the kind that is found to be most common in second language acquisition, and one designed to take existing research into account. The results show that, although effective in the initial stages of acquisition, the traditional method, where words are learned in isolation and via translation to L1, results in a very limited form of knowledge. A big part of the words acquired via this method is also forgotten soon afterwards. The other method, where words were learned and tested in its proper context, was found to result in a broader form of vocabulary knowledge, covering more aspects, and that remained over time.

 This study examines the way Swedish students in Upper Secondary School respond to two excerpts from a classic Swedish novel. The paper?s aim is both to give an overview over some of the theoretical concepts concerning the field of reader-response criticism, and to describe and analyse what the students experience in their first meeting with an older text. The background to my interest is the many studies showing that young readers regard reading of fiction in school as boring. By using the method of written reading responses I want to contribute to a deeper understanding of how an older text can be received, understood and engage its readers.

Background: Triage is the sorting of patients according to the severity of medical assessment. Triage has a long history of use in Anglo-Saxon countries but is a fairly new method in Sweden. Researchers have described the Manchester triage group method (MTS) and a literature review of the concept; working contentment and competence focusing on triage. Aim: The ambition with this study was to describe a number of triage nurses working conditions. The research questions were; working with MTS- does it bring work contentment? What kind of competence is needed? Method: Data was collected from 74 triage nurses by a questionnaire containing 37 questions and two questions provided the nurses the opportunities to describe their triage experiences.

So called honour based violence is a present problem in Sweden. Although recently there has been a steadily growing political and academic awareness around so called honour based violence, there are still problems in the face to face meeting with the victims. This dissertation contributes to the understanding of these victims. The empirical material is based on five young women's stories about growing up in a context of 'honour' and their experiences from breaking up from this context.  My ambition is letting these stories be heard and told as to lead to an increasing understanding of how these women experience themselves and their surrounding society. The purpose of this dissertation is to illustrate how young women interpret their self in the light of a separation from their families.

Aim: The aim of the current study was to investigate nurses? experiences of caring for palliative patients in palliative home care, and to examine the coping strategies they use.Method: The study was empirical descriptive with qualitative approach. The data was collected by nine semi-structured interviews and analyzed by using manifest content analysis.Result: By analysing data three categories: Positive experiences of palliative home care, Stressful experiences of palliative home care and Problem-focused coping strategies, and 15 subcategories, were distinguished.Conclusion: Experiences of palliative home care were both of positive and challenging characters. Stressful situations were managed by problem-focused coping strategies. Nurses are in need of the work situation at home to become more ergonomic and designed to protect the nurse?s physical wellbeing.

Voltage sag indices are a way of quantifying the performance of the power supply, as far as voltage sags are concerned. Indices can be defined for individual events, for individual sites, and for a whole system. A standard method for single-event methods is part of IEC standard 61000-4-30.This thesis emphasizes the importance of voltage sag indices and different methods for calculating three-phase voltage sag characteristics. Three-phase events measured in a medium network voltage over period of one month were analyzed, results examined and statistically evaluated. An algorithm for calculating voltage sag characteristics and indices was created in Matlab.