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.

There are differences today amongst psychoanalysts regarding if psychoanalysis should limit itself to being exclusively a hermeneutic discipline or if psychoanalysis should find points of contact with neurobiology. The purpose of this essay is to touch upon the larger issue that creates the different points of view: Can psychoanalysis become enriched by finding points of contact with neurobiology, and should psychoanalysis be regarded as belonging to a broader scientific field than being exclusively a human science? The question at issue is: Can modern neurobiology contribute to a development of the psychoanalytic concepts; compulsion to repeat, transference/countertransference and talking cure? The method used is a literature study. The result shows that: Freud?s theories regarding traumatic compulsion to repeat can be linked with LeDoux?s theory of "emotional memory".

En stor del av sjuksköterskans arbete innebär att ge information till patienter och anhöriga. Många patienter befinner sig i någon form av kris vilket försvårar informationssituationen. Studiens syfte var att belysa faktorer en sjuksköterska bör vara medveten om som informatör i mötet med patient i kris. Metoden har varit systematisk litteraturstudie. Litteratursökningen resulterade i tretton artiklar från databaserna Medline och CINAHL, vilka har granskats med avseende på vetenskaplighet och relevans för studiens syfte.

Denna rapport är ett examensarbete på 7.5hp för CAD-tekniker på Högskolan i Halmstad.Gruppen har fått i uppdrag från företaget National Gummi AB i Trönninge att ta fram en upprullare för stora gummiprofiler. Personalen rullar ner gummiprofilerna i en lastpall för hand vilket kan slita ut personalens ryggar då gummiprofilerna väger en del..

Background: Every year, more than 1000 cases of adverse events are reported in the Swedish health care system. These adverse events cost approximately 240 million Swedish kronor each year. By explaining the factors that cause nurses to make mistakes when they have too great a workload, it is hoped the awareness of health care staff will increase. Aim: To perform a literature review which describes factors that can endanger patient safety when nurses experience too great a workload. Method: A systematic literature review encompassing both quantitative and qualitative material.

The study is based on a new approach on how Swedish healthcare is supposed to be controlled and organized. There is a renowned administration problem within Swedish healthcare, which seems to be an obstacle to exploit the resources to the fullest. The latest venture within the healthcare system is patient involvement, where the patients become co-producers of their own care, which aims to both improve and make healthcare more efficient. A few wards in Sweden have implemented this new approach whereupon the study intends to discuss the effectiveness and efficiency in some of these.The study is restricted to three wards, whereof two of these are inpatient wards and the other one is an outpatient ward, within the medical clinic in Jönköping County Council, which has implemented the patient involvement approach in their daily work. The methodology for this study is qualitative in its nature where a time study of personnel time allocation and supplementary interviews with managing nurses on the wards have been conducted.

Syftet med denna litteraturstudie var att beskriva vilka faktorer som är av betydelse för patientdelaktigheten i samarbetet mellan sjuksköterska och patient. Patientens rätt till information, delaktighet och inflytande i vården har blivit allt viktigare. Ett fungerande samarbete mellan sjuksköterska och patient är viktigt för att en bra vård ska kunna uppnås. Metoden som använts är en systematisk litteraturstudie. Totalt inkluderades tio vetenskapliga artiklar som granskades och bedömdes med hjälp av ett granskningsprotokoll.

Today's Swedish large-scale forestry uses almost exclusively computer-aided bucking. It allows the harvester computer, using an optimisation price list (steering price list), to maximize the value of each tree. The optimisation price list can be adjusted so that the industry gets the raw material it demands from the forest. There are various simulation programs that can be used when constructing a optimisation price list. The simulation program merchandise a database of stem shapes using a given price list and mimics a harvester's work. To get the demanded raw material for the industry it is important to use a well-adjusted optimisation price list.

ABSTRACT The persons whom the authorized nurse encounters in hospital wards and nursing homes are in great extent elderly persons. According to Wasserman (2000), about 30 to 40 percent among these, show signs of depression. To be aware of the signs of depression, and how an authorized nurse can support the patient is therefore of great value. The introduction to this study describes the symptoms of depression and how depression in elders is expressed. It also describes treatment possibilities and nursing aspects of concern.

Bakgrund: Sveriges största folkhälsoproblem idag är hjärt- kärlsjukdomar och den vanligaste orsaken till att personer uppsöker akutsjukvård. Att drabbas av hjärt- kärlsjukdom innebär ett lidande och en livsstilsförändring för den drabbade. Syfte: Syftet med studien var att undersöka vad som kan påverka en patient till förändrad livsstil efter hjärtinfarkt. Metod: En litteraturstudie gjordes utifrån 8 stycken artiklar där författarna inspirerades av Burnards analysmetod. Resultat: Resultatet redovisades i 4 kategorier sjukdomsinsikt, informationskällor, socialt stöd och professionellt stöd.

The competitive nature of the automotive industry has always implied a necessity to improve product development concerning time-to-market, cost and product quality. As capacity of computer-aided engineering (CAE) tools has evolved, so has the strive for simulation-driven design. Virtual durability testing using full vehicle models is one of many challenges posed in front of vehicle manufacturers when computer simulations are given a key role in product development.This thesis has been initiated as a preliminary step towards implementing dynamic virtual durability testing in the development of buses and coaches at Scania. The objective has been to assess the predictability of a full vehicle coach model and to what level of precision structural loads can be predicted. Previously performed proving ground testing of a Scania Touring coach has been the basis for the modelling and simulations in this thesis.A virtual model of the Scania Touring coach has been created in multi-body simulation software package MSC.Adams.

Mathematical models possible to simulate are of great importance in order to make successful projects in the aircraft manufacturing industry. An aircraft fuel system is very complex, containing pipes, tanks, orifices, valves and pumps. The principal of this thesis is using the tool Easy5, which no longer is considered reliable enough in terms of development and support. This thesis tries to evaluate the Modelica language as a possible alternative to Easy5. To make this evaluation, the components concerned in the fuel library in Easy5 are implemented to the Modelica language.

Cache simulator is a tool to increase the understanding of a cache memory. Therefore cache memory simulation is included in the course Computer Engineering IS1200 at the Royal Institution of Technology. The purpose of this project is to develop a cache memory simulator for education. The existing MipsIt and Mips Simulator which is currently used in IS1200 has been the main source of inspiration. This resulted in the development of the cache memory simulator LMSim.

In the present study, the institutional discourse in health care was examined, focusing onspeech therapists and occupational therapists in interaction with a common patient withaphasia. The purpose of the present study was to identify common communication strategiesused in the professional conversation between a speech therapist and a patient and between anoccupational therapist and the same patient. Specific research questions were: Whatcommunicative strategies are used in interaction between a speech therapist and a patient withaphasia and between the occupational therapist and the same patient? Are theredifferences/similarities between how speech therapists and occupational therapists interactwith patients with aphasia?Six people in total, two patients in interaction with a speech therapist and an occupationaltherapist respectively, were recorded during treatment sessions of each profession. Generaland specific aspects of the institutional interaction were then analysed according to principlesof conversation analysis.Similarities in the use of closed questions as a strategy to increase the effectiveness ininteraction could be seen between the two different professions studied.

Bakgrund: Forskningen har visat att humor är ett socialt fenomen som kan ses som ett universellt språk. Den har visat sig påverka en rad faktorer positivt, däribland vårdmiljön, relationen mellan sjuksköterska och patient samt patientens hälsa. Humor är inte enbart positivt i en vårdkontext, däremot finns det tillfällen då den bör undvikas.Syfte: Syftet är att belysa användandet av humor i mötet mellan sjuksköterska och patient.Metod: Examensarbetet är en litteraturöversikt där tio vetenskapliga artiklar valts ut, skillnader och likheter har identifierats och slutligen sammanställts.Resultat: Resultatet består av tre huvudteman: Humorns inverkan på avdelningens vårdatmosfär, interaktion mellan sjuksköterska och patient samt humorns effekter. Under huvudtemat interaktion mellan sjuksköterska och patient hittades två underkategorier: kommunikation mellan sjuksköterska och patient samt förlorade tillfällen till humor. I huvudtemat humorns effekter hittades underkategorierna: humor som strategi samt humor som lindring.Diskussion: I resultatdiskussionen följer en diskussion där resultatet implementeras i Travelbees omvårdnadsteori, Human-to-Human Relationship Theory, men också hur ny forskning förhåller sig till resultatet.