This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

This study is about young girls' mental health. In Sweden, the mental health deteriorated in recent years among adolescents, particularly among young girls. Results of the Liv & Hälsa Ung in 2011 in the southern part of the county of Örebro is the basis for the study. The results of the survey showed that a remarkable number of young girls rate their mental health as Poor. The purpose of this study was to examine what young girls in southern part of the county of Örebro County believes are contributing factors for good mental health and the method used is qualitative.

Background: Ambiguity and confusion of ideas within the area of social responsibility have led to that companies not really know how to work with these types of questions. One way for companies to deal with their social responsibility is to affiliate to an initiative that exists and through this show their standpoint. One of these is Globalt Ansvar, a Swedish governmental initiative that is based on Global Compact?s principles and the guidelines of OECD. What does it mean for the companies when showing their point of view? Is this a way to gain legitimacy?Purpose: The purpose with the thesis is to judge if organisations? work with Corporate Social Responsibility gains more legitimacy by affiliating to Globalt Ansvar.Research method: A survey made through telephone interviews with representatives from all of the fifteen Swedish companies which today are affiliated to Globalt Ansvar.Conclusions: In order to give the affiliated companies more legitimacy, Globalt Ansvar has to be a legitimate initiative.

A Road project?s frame is built up of a decision- and consultation process, where the results of the preparatory studies are being discussed. The aim with a consultation process is that all theopinions and knowledge from the operators' will be taken into count in the basis of information, that is needed in order to the different involved operators' to take a decision.The aim of the essay was to investigate how the decision- and consultation process for a road project, the E4 section between Uppsala Läby, turned out. The aim is also to bring up how theprocess could have been done more correctly. The study was carried out through a qualitative method with an analysis of materials from the National Road Administration's archives, the associated Environmental Impact Assessment (EIA) and through interviews of the different operators.My theoretical basis has been a Stakeholder Analysis and its principles, and theory about different executions of social planning.The result showed that the decision- and consultation process has been bursting in democracy and consideration taking of the different operators' opinions, has been Poor from the developer?s, in this case the National Road Administration's, side.

 This bachelor?s thesis purpose is to examine how library staff experiences the meeting with non-Swedish speaking users of public libraries, and how they solve different situations. Today there is not much research on this subject but we find these questions important to study because we think it is good to be aware of the situations that can arise and discuss how to solve any problems. To have a basis for this qualitative study we conducted group interviews with library staff, where they are asked about their experiences with non-Swedish speaking users. In the analysis the results of the interviews are compared to previous research and related to communication theory, which is the theoretical framework for this study.

The aim of this literature review was to elucidate how suicidal and self-harming patients should be treated and cared for, mainly in the acute phase in somatic care. Searches were conducted in databases with relevant keywords. Qualitative and quantitative articles were included, would not be more than 20 years, be written in Swedish or English, and match the aim of the study. Results showed that nurses and patients felt that the treatment would be respectful, non-judgmental and characterized by active listening and clear communication. Poor care was described as disrespect and lack of understanding.

Treatment wetlands been showed efficient for reducing pollutant in waste water. In Lajeado ? RS, Brazil the landfill has Poor leachate water treatment. It is necessary to supplement the treatment plant because they need to reduce BOD, COD and nitrate of the water going to recipient. A subsurface flow wetland (SSF) can be a good choice.  In order to be able to design an efficient SSF it is important to understand how the grain sizes of a substrate affect the reducing of pollutants in waste water.

The Swedish school system?s curriculum states that some of the schools goals are to; help to develop pupils? sense of belonging, solidarity and responsibility for people outside the restricted group, combat discrimination and degrading treatment of individuals or groups and to show respect for individuals. (Lgr 11). Eriksson and other authors in School ? an arena for bullying (2002) refer to the professor and psychologist Dan Olweus, who points out that bullying can develop serious consequences for the bullied one.

This study was made for the Swedish forest company Sveaskog because the sawmills they delivered timber to had noticed a high frequency of bucking splits in their products. Coworker Jim Edström at Sveaskog also wanted to know if there was a big difference between different felling heads. The purpose with this study has been to find out the amount of bucking splits and if there is any felling head brand that did a bigger damage that the others. The study was made in two steps, where the first part was a literary review to find out results and conclusions in earlier studies. The best measuring method to check bucking splits was the known ?trissmetoden?.

Background: Pain can be a constant problem in many older people's daily life, associated with particular physical and social disability, depression and Poor quality of life. Dementia diseases are often associated with old age. Communication difficulties are one of the consequences of the disease, which clarifies the role of nursing staff in detecting and assessing pain. Objective: The aim was to compile knowledge about how nursing staff can identify pain in people with dementia. Method: A systematic literature review, where data were collected through manual and database searches.

Bakgrund: En god munhälsa spelar en viktig roll för de äldres livskvalitet ochvälbefinnande. Munhälsan påverkar hur individen talar och äter, men den är även viktig förindividens självkänsla. Det är därför viktigt att vårdpersonalen i det dagliga arbetetintegrerar munvård i omvårdnadsrutiner för de äldre. Syfte: Syftet med denna studie var attbeskriva konsekvenser av en dålig munhälsa hos äldre personer för att öka kunskapen hossjuksköterskor och övrig vårdpersonal. Metod: Studien består av en litteraturöversikt, därnio vetenskapliga artiklar med kvantitativ ansats har analyserats.

The aim of this Master?s Thesis is to examine the importance of literacy and reading in a country like Jamaica. What role do public libraries and bookmobiles play in promoting literacy, and how does this work correspond with the UNESCO public library manifesto?To answer this, interviews were conducted with nine Jamaican librarians, and study visits were made to libraries and bookmobiles. In addition, development plans, policy and other relevant documents were analyzed.

Unwanted vegetation on the land of electric transforming stations is a problem, in the sense that it contributes to higher fire risks and also constitutes an obstacle for people performing maintenance operations at the station. Such unwanted vegetation is controlled using herbicides and mechanical measures. Since the use of herbicides implies environmental hazards, there is a need to find alternative ways of fighting the unwanted vegetation. Investigation into suitable plants for ground cover, trials in the greenhouse, trials in the field, soil analyses and compilation of experiences from similar trials are parts of this work. The paper also contains analyses of possible environmental benefits and economical gains. There is also a final discussion of some proposals regarding alternative weed controlling methods.

The purpose of this study was to describe perceived psychosocial work environment and musculoskeletal complaints among baggage handlers, and to evaluate whether there is any linear relationship between them. The study is a questionnaire based cross-sectional study, and part of an ongoing larger project. Therefore, the number of forms has been limited to those that were collected in the project by 2010-11-25 (N=117). The questions analyzed in the study come from the Copenhagen Psychosocial Questionnaire and ?Nordiska Ministerrådets formulär om besvär i rörelseorganen?, respectively.

 Every day media reports acts of violence in various kinds. Crime statistics shows that threats and violence are increasing in regard to both frequency and intensity within the nation. Nurses in the ambulance service are often the first to meet with a patient, therefore these nurses often find themselves in situations where violence and threats occur or have occurred. Drug addiction or some kind of illness are often reasons behind threats and violence.Earlier studies within this area of knowledge are mostly foreign and therefore little describes Swedish nurses` experiences of threats and violence within the ambulance service.The purpose of this study was to describe nurses experiences of threats and violence in the meeting with patients within the ambulance service.The study is a qualitative interview study performed within the School of Life Sciences at the University of Skövde. Six nurses were interviewed with the criterion that they should have experienced threats and violence within their occupation.