The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600. The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox. A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace.

Turkey has often been described as a cultural and geographical bridge between West and East. When the Islamic AKP came to power in Turkey 2002 many critics feared that the country was going to abandon its former Western allies and strengthen their relations with the Arab world instead. The criticism was intensified when the AKP increased Turkey?s bilateral relations with the Middle East and moved closer to former foe?s like Iran and Syria, at the same time as their long-time friendship with Israel experienced serious crisis. The aim and purpose of this thesis is to describe and explain the change in AKP?s foreign policy towards Israel.The research method is a combination of a qualitative text analysis of Turkey?s speeches in the UN General debate and Jakob Gustavsson?s model for explaining foreign policy change.The results show that the Turkish-Israeli relations have deteriorated after the Israeli attack on the Gaza Freedom Flotilla in 2010, particularly regarding diplomatic relations and military agreements.

Companies acquiring ERP systems are often dissatisfied with the project and therefore consultancy firms wish to make use of project models in order to achieve success in implementations. Since research on ERP implementations in service companies is limited, there is a need for mapping of critical activities in implementation projects in this line of business. Under these premises, the purpose of our master thesis is to develop a model for implementation of ERP systems, specified in activities, which can be used by mid-sized consultancy firms with mid-sized qualified service companies as customers.A literature study including project models, modern models and methodologies for ERP implementation, commonly existent activities, success factors and system development methods was carried out. Starting out with this, a theoretical model for ERP implementation was generated. In excess of this, a case study was conducted, where the implementation of the ERP system Microsoft Dynamics AX at the service company Eurostep, performed by the consultancy firm Medius, was studied.

The river Göta Älv reaches between Vänern and Gothenburg and is the main raw water source for Gothenburg that supplies about 700 000 people with water. To protect and maintain a high water quality, continuously samples and water analyses are made throughout the river. In 1998 a protection area was founded between surte and Lärjeholm where the raw water intake is. This was made to increase the awareness of the importance to protect the water. However, there is a lot of contribution of untreated stormwater to Göta Älv within the protection area.Göteborg Water and Sewage Works commissioned this thesis where two areas, Tagene industrial area and Kärra residential area, with untreated stormwater outlets within the protection area are studied.

This thesis aims to present the essential background on how to perform climate changeimpact assessments, and to present the results from a climate impact assessment on waterbalance and nitrate leaching for an arable Swedish soil. The soil is a sandy soil in southwesternSweden, grown with spring cereals. This study is meant to be a benchmark example,and cannot be seen as a regional or national assessment for Sweden, rather as an approachto present and analyze the most important parts of these kinds of assessments.A dynamical simulation model (COUP, Jansson and Karlberg, 2004) was used for thisstudy. The model was parameterized and calibrated against data from an experimental site,located in Mellby in Hallands county, south western Sweden. Measurements were carriedout between 1st of April 1988 and 1st of April 1991.

SUMMARY The purpose of this study was to explore how nurses in the emergency department experience and cope with stress in their workplace. The study had a qualitative, descriptive approach and was based on nine individual, semi-structured interviews. They were then processed using content analysis. The content analysis of interviews resulted in two categories, "the nurse's experience of stress," "the nurses coping with stress." Together, the categories highlighted how nurses experienced stress during and after their shifts. The study showed clearly that all nurses experienced and coped with stress in their daily work activities..The authors noticed that stressful time for the nurses were repeated at each session and were similar in character.

The projects goal is to construct and program a robot that is controlled from a computer but also have an obstacle handling function that allows the robot to navigate around the object by itself.The robot is a simple construction and the number of components and functions is kept at a minimum. A tricycle construction was chosen because it?s the simplest. Communication between the robot and the computer also kept as simple as possible..

Modern sawmills are using the raw-material and the production-capacity more efficiently today, due to rising raw-material prices and higher production costs. Log sweepness has a negative effect on the sawn yield, for sawmills with straight-sawing. It is desirable that these logs could be sorted based on more criteria, if it increases value-yield and consequently the utilization of raw-material. Bow-heights over 1 cm have a negative effect on sawn yield, since the surface of the mantle cuts down in the sawn pattern. Some of these small bow-heights reduce the logs yield of value which affects the production planning negatively. Nearly half of all the Swedish logs have a bow-height over 1 cm.

This is an explorative study about subject indexing of a special collection of books, administered by the John Andrén Foundation at the library of Ystad. The study summarises a number of theoretical perspectives as well as some practical instructions on how to carry out the task. Theories have been placed into five different groups according to their various approaches to subject indexing. These have been analysed in regard to their usefulness to the Andrén collection. The authors have tested and evaluated six practical models on a selection of books from the Andrén collection.

Since product placement is a relatively new phenomenon in Swedish television, there is a lack of research on what attitudes Swedish TV-viewers hold towards it. This is where our paper will contribute to the research. The purpose of this reserachpaper is to describe and analyze what attitude Swedish TV-viewers has towards product placement. Kim Schröders multidimensional model of mass media reception were used, which is a developed model from Stuart Hall?s ?encoding/decoding? one-dimensional model.

   Purpose: The Essay is written on behalf of a company called ?Uppdragsgivaren?. The purpose is to connect theory with the result of the survey and thereby find the critical factors for an optimal placement of the cargo holders in the company?s terminal.   Method: A qualitative case study has been carried out. The theory collection is completed with the result from the survey, which include the information ?Uppdragsgivaren? provides and the result from the survey.

In early January 2010 the authors participated in a meeting with the chief engineer for a company in which a central part is manufacturing of printed circuit boards (PCB). At this meeting it emerged that the machinery and production methods have changed substantially since the early 1990's. The spreadsheet for preliminary production time calculations by the company is today based on conditions from almost 20 years ago. The company has over the years been trying to adjust the spreadsheet template. The result of these adjustments has filled it with historical residue, something which makes the template difficult and time consuming when the primary user tries to handle it.The purpose of this study was to help the company increase its accuracy in the representation of the production times for the different PCB-based products by developing a new costing model based on an already existing but inadequate spreadsheet template. The company also expressed the wish that the new costing model would be less time consuming to work with.The methods used to achieve the goal are interviewing, participatory observations and meetings with relevant persons. The data obtained were analyzed using the theory on PCB production and visualization of data.

The purpose of this essay is to examine if the judgments of accountants differ, in different cases, between the old and the new law. The method we used to investigate the differences was a combination of experimental and non experimental. Our analysis is based on a survey investigation with ten cases. These cases are produced from a model in which the accountant tests his independence. The survey was sent by mail to about a hundred accountants.

The purpose of this Master thesis is to examine and describe dog breeders? information activities. Questions posed in this study are:? What are the information needs of dog breeders?? How does the dog breeder seek and use information?? How can the relationship between serious leisure and information activities be described?The theoretical framework consists of the sociologist Robert A Stebbins? theory about serious leisure. The study is based on a qualitative methodology.

The main aim of my research essay is to examine two congregations, one in Sweden and one in Democratic Republic of Congo, how theology and the life in the church shape the cultural context. The analysis uses semi-structured interviews of two pastors responsible for organizing the Easter celebration in their churches. The interviews serve the purpose to reveal how they apply theology in their context, how they interpret the Easter celebration liturgically in relation to the early church and how they perceive the cultural development in the congregations Easter celebration 2010-11. To give complementary insights to the interviews I use computer-aided interviews with members of the congregations. The methodological approach is based on a study of contextual theological theories, Easter traditions in the early church, Easter theologies and then applying these theories in the interviews.