The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

In a world obsessed with the visual our homes have gone viral. Through the frame of Instagram family members seems switched to furnitures and the so-called smartphone surely opened the door to new, digital places. Social media has become part of the life of many and, as an effect, also of the way we do our homes. In the era of digitalization, the concept of sharing has gotten some new dimensions where the borders of private and public, here and there, becomes blurred. Why do people post pictures of their homes on Instagram? How is it performed and what boundaries are pushed in the process? These have been some of the main topics guiding this thesis.

The purpose of this study is, by groupinterviewing students in upper secondary school, to investigate students comprehension of equality on a principle level and a concrete level. The questions at issue are as follows; how is the comprehension on respective levels described and is there any difference or similarities between the two levels? Further more, this study also aims to end with a discussion regarding the result from the mainpurpose in relation to the educational environment. In my conclusion there is to be find a certain difference between the comprehensions of equality on the two levels. The conception of equality is in the beginning principled and there is no exception from the worth of every individual but however, when the conception is brought out in reality it gets depended of its context and the comprehension for equality becomes more dynamic. The project will be completed with a discussion regarding the results in relation to the educational environment. .

In the centre of Bromma, east of Brommaplan is the part of Bromma named Riksby. Riksby was built in the early 1940:s as a part of the westward expansion of Stockholm. Other places that were built at the same time was for ex. Stora Mossen and Abrahamsberg. This work is about the outdoor environment of the housing co-operative of Brickbandet.

A wastewater treatment plant has the task to refine the wastewater from substances that should not be released into the environment. The decomposition process can, in a simple way, be described as follows: micro-organisms breathe oxygen and eat unwanted substances. The environment in which the micro-organism lives is known as sludge and the correct amount of oxygen available in the sludge is important for the decomposition to be effective. The oxygenation of the sludge alone stands for about 30% of the plant?s energy consumption.

It has become more and more common that companies in the service sector are beginning to understand their own effect on the environment and thus the need to contribute to a sustainable development through acting in a deliberate way. Serious environmental work can help a company to improve their image and in that way win competitive advantage that leads to improved profitability. In a short time perspective, adjustment to the environment is an opportunity to gain competitive advantage and an opportunity to develop a profile. In a long time perspective it is about survival. The environmental work has become a sequel to the work with quality.

This thesis processes the work of developing CPU code and GPU code for Thomas Kaijsers algorithm for calculating the kantorovich distance and the performance between the two is compared. Initially there is a rundown of the algorithm which calculates the kantorovich distance between two images. Thereafter we go through the CPU implementation followed by GPGPU written in CUDA. Then the results are presented. Lastly, an analysis about the results and a discussion with possible improvements is presented for possible future applications..

This thesis processes the work of developing CPU code and GPU code for Thomas Kaijsers algorithm for calculating the kantorovich distance and the performance between the two is compared. Initially there is a rundown of the algorithm which calculates the kantorovich distance between two images. Thereafter we go through the CPU implementation followed by GPGPU written in CUDA. Then the results are presented. Lastly, an analysis about the results and a discussion with possible improvements is presented for possible future applications..

In todays society IT in general and the Internet in particular are given elements in people´s everyday lives, and smartphones has come to be a big part of those elements. This study focuses on how the use of Smartphones in particular influences the individuals in their working environment, and how this use influence the efficiency and the well-being of said individuals.  To answer our research question regarding how said use comes to effect the efficiency and the well-being for proffesionals in their working environment we have used data from qualitative interviews who is enriched by a short initial diary study. This data has then been analyzed using the Affinity Diagrams Technique, leading to four central themes emerging from the data. The results show that smartphone use at work comes with both positive and negative effects; efficiency increased through the use of smartphones due to the great versatility that comes with the technology, while in terms of well-being issues of stress emerged.

AbstractBy finding out the pupils' choice of strategies for problem solving, we as teachers, can get a better understanding of their way of thinking, and thus also help them develop in their learning of mathematics. In a classroom environment where several different strategies could be found, the pupils' learning is facilitated as they, with the help of classmates, find positive and negative attributes of different kinds of strategies. The pupils are, in other words, each other's resources, rather than competitors. The main point is that the classroom environment, as well as the role of the teacher in the classroom, are both key elements for good mathematics learning.In order to increase the understanding of the pupils' choice of learning strategies, a survey was performed based on two school classes, one third grade and one six grade class at the same school. Both classes received the same mathematical problem to work with, and the strategies observed were analyzed and compared.

We are living in a society where the digital technology is a tool that integrates into our life and changes our daily life and the way we communicate. The easy access to information and the opportunity to communication change the schools organization and demands new ways of teaching with and in contact with the surrounding world. That is why it is interesting to know how teachers can create an education environment with support of digital tools that fulfills a meaning for themselves, the pupils and the goals of the curriculum. This study is about how six teachers in one elementary school creates an education environment with support of digital tools and how they think the affect the pupils cooperation, communication and participation.The theoretical frame for this study is built in a sociocultural perspective, where people learn and develop through participation in social practices. To get the understanding of how teachers are thinking about the challenges and possibilities that digital tools have in the education environment, I choose a qualitative research method.

Uppsatsens titel: Technology-to-Performance Chain: Game ModelInlämningsdatum: 2006-05-26Ämne/Kurs: INF 630 kandidatuppsats, 10 poängFörfattare: Marcus BjörckDennis JonovskiHandledare: Hans-Christian StoltzNyckelord: TPC, TTF, GameFlow, tid, upplevelseSyfte: Att ge spelutvecklare en grundläggande och överskådligmodell som är anpassningsbar inom spelutveckling.Metod: Vi har använt oss både av kvalitativa och kvantitativa metoderpå en grund som kan liknas vid en abduktiv ansats. Primärdatainsamlas genom en pilotstudie, en enkät samt två intervjuermed spelutvecklare från spelutvecklingsföretag.Teori: TPC och GameFlow ligger som underlag för vår teoretiskareferensram och grundar formandet av en ny modell vid namnTPC G. Vidare ger TPC G en gemensam bild av hur de tvåförstnämnda teorierna integreras med varandra.Empiri: Utifrån enkäten och intervjuerna har det framkommit attupplevelsen är det primära för användaren av datorspel och attdetta ger svar på hur bra egenskaperna kombineras i spelet.Resultatet av enkäten visar att många datorspelsanvändareupplever tidsåtgången som besvärande. Då tidsaspekten är enavgörande faktor för hur datorspelet uppfattas som helhetmedför detta problem även för spelutvecklare.Slutsatser: Genom att applicera TPC G hjälper systemutvecklingsmetodikspelutvecklare att uppfatta hela utvecklingsprocessentidigt i utvecklingsfasen. I modellen ses även tidsaspektensom en avgörande faktor där spelarnas och utvecklarnasuppfattning inte överensstämmer..

In 1996 a hunting test for British gun dogs was started in Sweden, based on a similar one al-ready in place in Norway. The aim of the new test was to describe the hunting ability of the dog and to use the results as a basis for selection. However, up to now, no genetic study of these data has been done. Therefore the aim of this study was to estimate genetic parameters for the traits measured in the hunting test and to investigate whether the traits can summarized into fewer overall measures. Data from trails of British gundogs between 1996 and 2005 in Sweden were used to estimate genetic parameters and environmental effects in hunting performance. British gundogs consist of five different breeds: Pointer, English setter (ES), Gordon setter (GS), Irish red setter (Irl S) and Irish red and white setter.

Background Being outdoors on a regular basis is beneficial for all individuals, people with dementia who is living in special accommodation have not always that possibility. If the person with dementia live in a stimulating environment can contribute to the person's functions are maintained. Aim To provide a basis for evaluation of a new outdoor environment at a special accommodation for people with dementia. Method of data collection in action research was done through focus group with staff on the accommodation and the participants in the project, a total of five informants. Results Informants thoughts and experiences were analyzed and divided into three main categories to describe the project - design, obstacles and goals.

Biogas is a renewable energy produced through anaerobic digestion, which means that organic matter is degraded by microorganisms under anaerobic conditions. The produced biogas can then be used for cogeneration, electricity, heat or upgraded to vehicle gas. Eskilstuna Energy & Environment AB has four digesters at Ekeby water sewage treatment plant, Eskilstuna. One of the biogas reactor (RK4) is equipped with a jet-mixing system while the remaining digester uses top-mixing. The mixing system is an important parameter to achieve optimum operating conditions for the process regarding gas production and degree of digestion.