This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone path as to make the acceleration continuous will be presented.

This report contains a programming improvement work in a LabVIEW? fire testing furnace control system for SP Fire Technology in Borås. Here materials and products behaviour are tested and evaluated, being exposed to fire. For this task, UGNET is being used for control and surveillance of the testing furnace system. System hardware has been updated gradually through the years, while the software has been neglected.

The main purpose of the culture is to serve people and represent the people's social will and freedom. Culture does not exist in a vacuum but shaped and framed by political and artistic structures that are not neutral, and this is why the artwork itself cannot be an independent business. The public function of art can be understood as a defense of the ideals of democracy. But today, when political power is often replaced by hegemony, the role of art and functions are changing. How these changes reflect to the identity, reality and truth of society? What political functions are fulfilled when art becomes ?public?? The issue of democracy is linked question of people?s power in a democratic society where power is legitimized in social space.

The objective for this Master?s thesis is to study literary programs for infants at six Swedish public libraries, their relevance and importance for infants and how the infant?s perspective in the program design and implementation is taken into consideration. The questions I pose are: In which way do the programs take the infants need for development and their literary prerequisites into consideration? Which functions can the programs have for infants? I have used a qualitative method, based on deep interviews with six library staff, working with literary programs. A model was developed based upon Daniel Stern?s theories of the interpersonal world of the infant together with Joseph Appleyard?s reading development theory.

This essay investigates whether there?s logic behind the sanction system regarding the penalty imprisonment in the swedish penal code. The focus is in general on crimes against the person and crimes against the state, but in particular on crimes of serious fiscal offence and crimes of serious assault. The idea with the essay was also to explain the wording purpose behind the punishment ranges in these selected crimes. The essays focus is on the public unawareness on how the punishment ranges is used.

In the school political debate that is conducted in Sweden the question of grading is an ongoing topic of discussion. During the past year there has been a lively discussion about introducing grade from year four as suggested by the right wing parties. The purpose of this study is to set the teaching faculties? view and arguments in relation to the politicians' opinion in the ongoing debate about the proposal of introducing grades from year four. Furthermore, the aim is to investigate how central the didactic arguments are in relation to other arguments in the current debate.

This paper deals with the subject internal communication. We received this assignment from Region Värmland, an organization formed jointly by the 16 municipalities in the county of Värmland, to take responsibility for regional development, growth issues, culture and adult education in Värmland. The organization consists of a number of geographically dispersed units with specialized working areas. In this type of organization, there are high demands on internal communication as a tool to coordinate the organization?s different units and integrate their work, in order to reach the common goals.

Ocean Modules Sweden AB is a small business active in the field of underwater technology. Thecompany was contacted by the Swedish Defense Materiel Administration (FMV) in order todevelop a new system that would conform to their specific requirements. Two students at theRoyal Institute of Technology (KTH) were consulted in conjunction of this project in order to aidthe development and conceptual design of the system.The primary users of the system are the divers of the Explosive Ordnance Disposal division (EOD)- a branch of the Swedish Armed Forces. The purpose of the product was to incorporate allnecessary functions required by the EOD divers into one single system. The main functions arecommunication between the surface operator and diver, video recording, still imaging, positioning,navigation and ocean floor mapping with sonar.

Laminitis is a debilitating disease causing much suffering to horses and ponies all over the world. It is manifested in the hooves as a mechanical failure of the suspensory apparatus between the hoof capsule and the distal phalanx. Due to the weight of the horse the disease may result in a dislocation of third phalanx. Six healthy standardbred trotters were used in this study on whether standardbreds tolerate forced recumbency as well as Shetland ponies. Recumbency was induced pharmacologically but maintained only by lowering the ceiling height of the box to a height of approximately 125 ? 140 % of the horse´s thoracic height.

This thesis for the Master of Science degree was performed at Oppunda Electronics AB. The assignment was to further develop an existing prototype of a dispensing equipment. The dispensing equipment doses a kind of glue, bonding which dentist use to mend teeth. The dispensing equipment is adjusted to dose 12 micro litres of bonding. With the dispensing equipment SafeBond Electronic the user can reduce the bonding consumption with approximately 50 percent.

According to law all Swedish authorities must express themselves using correct, plain and comprehensible language whenever they communicate with the citizens in order to make it easy to understand what needs to be known to participate in the Swedish democratic society. I would like to explore if there are more tools than the language that could be used to make their communication easier to comprehend, in this case images and stories. In this essay I will investigate the relationship between the written words and the visual components ? images and illustrations ? in brochures from Swedish authorities. I will also try to identify possible narratives in the brochures, and examine the functions of these narratives.

The purpose of this study was to examine young offenders? attitudes towards crime, and to the penalty they have been sentenced to as juveniles. More specifically its aim was to examine an intervention program called Galaxen, specifically used  to deal with  juveniles  in Växjö. This intervention program consists mainly of conversations with social workers from social services,  aiming  towards  better  self-awareness  and  the  ability  to  understand  the  consequences  of one?s actions.

This study is about Wikipedia which defines itself as a free online encyclopaedia. Our chief interest lies in the debate and the controversy which has arisen around Wikipedia. After reading critical articles concerning Wikipedia we found that the debate for most parts had one identifiable theme namely the question whether Wikipedia is an encyclo-paedia or not.Encyclopaedia as a term and a phenomenon has a long tradition. Wikipedia, despite calling itself an encyclopaedia, functions differently in comparison to more traditional encyclopaedias. These traditional views involve encyclopaedic structure, its organiza-tion and its functions.

Mechanical relays are more and more being replaced with semiconductortechnology. In this thesis it is investigated if and how the larger loads couldbe controlled by transistors. The main part of this work aims to create andverify a solution that can control the starter motor, as well as protect it incase of any failure. The different malfunctions that the solution protectsagainst is high current, too high peak current, low current, maximum cranktime and minimum cool off time. The timers also protect indirectly againstoverheating of the starter engine.The transistors used are BTS555, from Infineon.

To manage the industry?s need of wood assortments in a optimal and cost effective way the forest companies need to have knowledge of the actual standing volume and the yield of the planned clear cuts. The mean volume of the trunk is also important since it is important for the contractors prices. Today the total volume are estimated either with Näslund (1940) or Brandels (1990) functions of volumes, and the yield is estimated with Rune Ollas (1980) function for trunks and stands. The purpose of this study has been to answer the following questions: How good is the yield forecast with data collected with currently used methods? How well can the yield forecasts became with data collected according to the instructions? How well can the yield forecast be with data collected according to the instruction and calculated with the program Aptan for theoretical bucking? The study has been initiated and financed by SCA Skog AB.The material consisted of a number of randomly selected objects ready for clear cut.