This master theses deals with different methods for automatic tuning of the existing controller for external axis. Three methods for automatic tuning have been investigated. Two of these are based on the manuell method used today. The third method is based on optimal placement of the dominant poles. Different sensitivity functions are important for this method.

Vi har i denna uppsats diskuterat och belyst hur den optimala vägledningen skulle kunna se ut. Anledningen till detta är att vi planerar att starta ett eget företag inom vägledning och vi har genom detta examensarbete lagt grunden till en affärsidé kring hur vårt företag i framtiden kan arbeta med studie- och yrkesvägledning. Detta har vi gjort genom intervjuer med studie- och yrkesvägledare på Infoteket och Malmö högskola samt intervjuer med sökande som varit och besökt dessa verksamheter. Vi har kommit fram till att varken Malmö högskola eller Infoteket bedriver det som vi efter denna uppsats anser vara den optimala vägledningen. Verksamheterna har inte någon möjlighet att individanpassa vägledningen på ett sådant sätt att vi kallar det optimalt, de väljer ibland att inte klargöra ramar och samtalsinnehåll för de sökande dessutom känner de sökande ibland att de inte satt igång någon process överhuvudtaget när de gått därifrån.

Aim & Questions at issueThe aim of our study is to study how special teachers/special educationalists in schools of Stockholm look at the phenomenon ADHD/DAMP. We have looked into their view on the diagnose, compared to the two different kinds of research visions about the diagnosis who are known in Sweden today. How do the special teacher/special educationalist work with the diagnosed children?This is our questions at issue:? Is there any optimal learning situation for children with ADHD/DAMP?? Is there something that distinguish all children with ADHD/DAMP?? What is positive and negative about giving the diagnose ADHD/DAMP to children?? Is there any external factors that influence that there is so many more children today who has been given a diagnose?? How does special teachers/special educationalists look on amfetamin-treatment?MethodWe have done qualitative interviews with special teachers/special educationalists in the city area of Stockholm. These have been worked up one by one and then been compared and evaluated together.ResultAll special teachers/special educationalists mentioned that when you educate children with ADHD/DAMP, a structured life underlies the possibility for the children to provide knowledge.

Ternary codes for unequal error protection is a part of a communication system where different parts of the information to be transmitted can receive different amount of error protection. There are a lot of applications where the channel conditions fluctuate so that reliable or acceptable communication can not be guaranteed. Regardless whether the fluctuations of the channel are intentional or not the idea is to let the coderate decrease so that the error correcting capability can increase for the part of the information to be more protected. By using the support, the nonzero positions of the ternary code, a new binary code can be extracted with properties different from the ternary code in the sense of cardinality and minimum Hamming distance. When the channel conditions are good the receiver decodes the message using ternary decisions and receives all information included in the codeword.

The parallel bars is used in physical therapy and is mainly used for patients who have to train walking and balance after a stroke or an operation. It consists of two long handrails with two legs on each handrail. These legs go down into two ground-plates and are locked at the wanted height with a pin. The parallel bars is an appreciated device and is used on a daily basis in many care units.The main issue with the manual parallel bars is that it is very difficult and heavy for a single person to adjust the height of it. If a larger adjustment of the height has to be done, the legs have to be adjusted one at a time otherwise the they will be locked.

A common goal in practical forest management is to maximize the yield, measured in economical terms. When a forest stand is thinned a so called inoptimality loss can arise due to non-optimal decisions. This means that the selected management schedule results in a lower net present value than the optimal one which lowers the profitability for the forest owner. Holmen Skog uses the term tract which means an aggregation of stands made before a management action. A tract should be delineated in different tract parts in connection with pre-thinning planning if there is different bearing capacity within the tract, different thinning grades should be used or if the tract contains a weaker part that should not be thinned.

This thesis concerns waste management on construction sites and was conducted on behalf of ICA Fastigheter.Areas of concern:How can an environmentally-efficient waste management system on construction sites be defined? What potential exists for exploiting the waste resources that are generated?How can the waste management be optimised by reducing the quantity of waste and by optimal sorting?How can the client of a project influence the waste management?The purpose of the work was to investigate sustainable waste management in the building and construction sector and to highlight waste as a resource from an environmental and economic perspective.The aim of the work was to define an environmentally-efficient waste management system, to analyse the potential that exists in waste management and to draw up guidelines for optimal waste management.The method consisted of a literature study, two visits to construction sites and four interviews.An environmentally-efficient waste management system means that the waste is managed in the following order of priority:Prevention     Reuse  Recycling     Energy recoveryLandfill     The prevention of waste is an important area that has not been adequately explored by the building and construction industry. The quantities of waste could decrease with the implementation of measures such as ordering materials in the dimensions required, prefabricated components, logistics centres with Just-In-Time deliveries, less and improved packaging and less wrapping. The reuse of waste materials and temporary apparatus as well as the use of a return pallet system are examples of reuse that reduces the quantities of waste.In most cases the source sorting work is a matter of course and the proportion going to landfill is down at a low level. The source sorting can be optimised by sorting all materials that can be reused and recycled to use them as a resource.

New innovation and technology have influenced the development of product development processes and the four largest banks in Sweden have more or less been forced to adapt their products and services along new customer requirements. It may therefore be considered appropriate to involve customers in this process. This by collecting customer information and allow customers to influence the process to a greater extent. The payment solutions of Sweden?s largest banks' continue to evolve and to pay with electronic money has come to change banks' product development processes of payment solutions.

Yahtzee is a popular dice game around the world. The complexity makes the game interesting to play and analyze. This report compares the effectiveness of the mathematically optimal strategy with a strategy that can be used for casual play. The rules used are those of the Nordic variant Yatzy, in which a few but important rules are different from the American Yahtzee. To evaluate the everyday strategy 100,000 games was simulated in a java program written specifically for this purpose.

The euthropthication of the Baltic Sea is a threat that is beginning to be taken seriously by the governments concerned. In Sweden, regulations concerning the allowed nitrogen (N) concentration in the effluent water from wastewater treatment plants are being tightened up. The Rimbo wastewater treatment plant has been imposed to reduce the annual mean concentration of total N in the effluent water to levels below 15 mg l-1. A more and more common way to reduce the nitrogen level in wastewater is to let the water pass through a wetland. This study investigates the possibility to build this kind of wetland at the outlet of the Rimbo wastewater treatment plant.A prestudy of the topography, soil characteristics and groundwater flow indicates that the land area in question is well suited for the construction of a wetland.

Omvårdnad och kommunikation ligger varandra nära eftersom mötet är centralt för sjuksköterskan. För att kommunikationen ska bli optimal och de inblandade ska förstå varandra krävs det att parterna står på samma grund och talar samma språk. Genom att använda sig av verbal och icke verbal kommunikation får sjuksköterskan möjlighet att se till helheten, patienten kan på så vis få möjlighet att dela med sig av upplevelser av sitt lidande. Den höga arbetsbelastningen på en akutmottagning kan påverka vårdrelationen negativt. Syftet med studien var att belysa patientens upplevelse av mötet med sjuksköterskan på en akutmottagning för att öka kunskapen om vikten av att skapa ett unikt möte.

In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

Background and problem: The abolishment of the mandatory audit in Sweden resulted in a marketorientation in which the small sized enterprises gained a stronger position. Theaudit firms are faced with the challenge to better meet the clients need and todemonstrate the value of audit now when it is optional. In coherence with thisclient focus it is endorsed to implement a value-based pricing that primarilyconsiders the client?s value and willingness to pay. The value of audit andaccounting services to small sized enterprises is not yet fully investigated, whyit is difficult to implement a value-based strategy.Aim: The aim of this study is to investigate the value of audit and accounting servicesto the small sized enterprises through the study of which attributes theseservices consist of and which priority the small sized enterprises attach to thedifferent attributes.

Bakgrund: Oavsett om döendet äger rum i hemmet, på sjukhus eller hospice så har sjuksköterskan ett stort ansvar. Således krävs det att hon eller han har ingående kunskap om vad det kan innebära att vara svårt sjuk och vårdberoende för att kunna leverera en optimal vård. Den som bäst kan hjälpa oss som sjuksköterskor att förstå upplevelser av att vara döende; är patienten. Syfte: Belysa vad patienter i palliativ vård upplever som viktiga aspekter för sin omvårdnad. Metod: Litteraturstudie av åtta stycken kvalitativa vetenskapliga artiklar.

This report documents the development of a software system for automaticscheduling called Hazel. This system is comprised of a server where an automaticscheduler has been implemented, as well as a web and mobile applicationthat allows users to interact with the system. The scheduler hasbeen developed with the functional programming language Haskell and usesa SAT-solver.Manual scheduling has long been the bane of managers everywhere, asmatching the needs of the employer with those of the employee is often adifficult and time-consuming task. There already exists several automaticschedulers that attempt to solve this problem. The issue with said schedulersis that thay tend to be expensive, or developed to only fulfill the needsof a particular organisation.