In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

In this study the speech of adolescents with unilateral cleft lip andpalate (UCLP) and delayed closure of the hard palate was evaluated.Evaluations were made with experienced speech-language pathologists(SLP:s) and lay listeners. The SLP evaluation consisted of typical cleft palatespeech variables and some of them were adapted for lay listeners. Attitudestowards the speech of the adolescents were investigated by asking laylisteners if the speech constituted any hindrance to vocational performance.The SLP:s mainly found nasal escape and velopharyngeal impairment (VPI),although to a small degree and extent. The lay listeners mainly foundresonance deviations and indistinct speech. The latter was associated withhindrance to vocational performance.

This study aims to examine how performance management is compatible with the operations at Sida, Sweden?s International Development Cooperation Agency, by performing interviews with representatives from Sida. The public sector is facing increased demands on accounting, which has emerged as an institutionalized social norm in society. The nature of Sida?s operations, however, proves to be highly complex, rendering results based management difficult to implement.

Because of an increasing demand from customers and changing external environment, there is a need for continuous improvements, for both manufacturing and service organizations, to meet these demands. Manufacturing organizations have been working systematically with quality improvements for a long time, but it has not been as common for service organizations. Because of that the methods to use for implementation of the systematic improvements have not been designed to fit service organizations, and not either for public organizations. The purpose of this thesis is to explain if and why the Swedish Road Administration?s organizational culture and handling of ideas and deviation support an implementation of continuous improvement management.

This thesis aims to explore the use of costumed interpreters at museums. Firstly the thesis examines how extensivethe use of historical costumes is in Sweden, along with some international comparisons. Later on the differentways that the clothes are used is examined, and the costume as a resource for learning is discussed. In the lastpart of the thesis the ?function? of the costume is examined.

Lera bär på någonting ursprungligt och universellt. Jag har velat arbeta idémässigt enkelt och direkt,för att möta leran på det plan jag upplever den som bäst ? med kroppen. Lerans förmåga att mötaden mänskliga kroppen, ta avtryck av den och bära med sig spår av aktivitet har hållits som viktigtsamtidigt som jag förhållit mig till den starkaste keramiska traditionen ? krukan.

It is not uncommon for math difficulties and reading difficulties to occur simultaneously. Despite this, math and reading difficulties are thought to have different cognitive profiles where math difficulties are linked to number sense; an innate ability to understand, approximate and manipulate both quantities and numerical information, whereas reading difficulties are linked to phonological ability; an innate ability to understand, create representations of and manipulate phonological information. A possible link between the difficulties is that phonological abilities also could affect mathematical ability. Support for this comes from studies where comorbid math and reading difficulties are associated with more severe difficulties in arithmetic ability compared to those with isolated math difficulties. The purpose of this study is to examine whether isolated math difficulties, isolated reading difficulties and comorbid math and reading difficulties can be linked to deficits in number sense, phonological ability or both of these, and whether comorbid math and reading difficulties differ in performance in mathematical tasks compared to isolated math difficulties for children in second grade.

An automatic control system for calibration of pressure indicators has been constructed. This control system can be used as a complement to the calibration system located at AerotechTelub, division MainPartner, in Linköping. The calibration system used today contains some not wanted pressure changes, which is compensated by hand today. The new system presented in this report automates the calibrating process and simplifies the calibration. Suitable hardware as motor, controls card and so on have been found and software in the form of Visual Basic program has been developed.

Following study is about motivation from a student perspective. Based on the prescribed literature and published research, the concept and field of motivation have been illuminated. The purpose of the study was to examine how students in ninth grade perceived their educational motivation and what kind importance they considered it had for their performance in school. The study is also supposed to base upon the result; clarify the differences if any between schools. In an attempt to get a clear image of this a quantitative method in the form of surveys was made on two schools in the Stockholm region. One of the schools had a really good merit value, and the other had a rather poor merit- value. By choosing a quantitative method a relatively large number of students where able to participate and equally large quantity of statistics have been presented. The result point at motivation in the participating students in both schools can increase and decrease through different factors.

I dagens arbetsliv används olika urvalsprocesser för att finna lämpliga kandidater till lediga tjänster. Inom en traditionell urvalsprocess selekteras kandidater utifrån en skriftlig ansökningshandling där kandidatens formella kompetens i form av tidigare meriter och erfarenheter lyfts fram. Den traditionella urvalsprocessen har nu utvecklats och delvis ersatts av nya metoder för att finna lämpliga kandidater. Utvecklingen mot nya urvalsmetoder ser vi som en trend i arbetslivet. Trenden har uppstått då en rad inriktningar har uppkommit som ett komplement till den skriftliga ansökningshandlingen.

This study focuses on the development of methods for sexual determination of human skeletal remains, mainly between the years 1981 to 2007. By comparing an older analysis from 1983 (Persson and Persson) with my own on the same material, a difference of 40% was shown, which indicates that the methods has changed through time, and that these should not be used for newer conclusions about a population if the method is not throughoutly described.The main cause of the difference was identified as a change in the reliability of the sexual indicators, rather than a total change of method. Any general tendencies did not show, it is however considered that the pelvic bones are able to make a better conformity between the analyses as opposed to using the cranium..

Management by contract is nowadays a common method within the public sector since the NPM overtook as paradigm with its mechanisms of control inspired by the private sector. The public agency is foremost a service provider where they interact with citizens in the service process. Swedish eldercare has significantly increased its expose to competition which means that eldercare can be executed not only by the municipalities own provider. Such an adaption increases the requirements to inspect quality and how the purchasers assure goal achievement by control. The outmost liability stays with the municipality to ensure that the service produces god care since their position as the service purchaser implies the responsibility to plan, precise and evaluate the required work that the executor has to accomplish.

Fluids are important to the Visual Effects Industry but extremely hard to control and simulate because of the complexity of the governing equations. Fluid solvers can be divided into two categories, those of the Eulerian point of reference and those of the Lagrangian. Both categories have different advantages and weaknesses and hybrid methods are popular. This thesis examines Smoothed Particle Hydrodynamics, a Lagrangian method for physically based uid simulations. To allow the artist the exibility given by shorter simulation times and increased number of iterations, the performance of the solver is key.

Information stored on unprotected computers that gets lost or stolen, and falls intothe wrong hands, can easily be accessed by moving the hard disk to a controlledcomputer, or by booting the computer from a removable medium, in order to getaround the operating system login. This is something that largely affects companieswhere customer information, trade secrets and other sensitive information can becompromised. A classic solution to the problem is encryption of individual files, but ithas some drawbacks as it puts a great responsibility on the users and unencryptedinformation can be left by mistake. A better solution to the problem is transparentencryption of the entire hard disk, i.e. that encryption and decryption of informationis performed automatically and without the user being affected.

The purpose of this study was to evaluate if verbal encouragement had any influence on handstrength measurements. Twenty subjects participated in the study, all women between the age of 20 and 62 years. A standardisation of testing conditions and verbal encouragement were designed. Three measurements were conducted during two days using T.K.K 5401 Grip D. First there was a trial set, and then Test 1 (without verbal encouragement) and Test 2 (with verbal encouragement) were conducted.