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.

Syfte: Syftet med föreliggande litteraturstudie var att beskriva vilka omvårdnadsåtgärder sjuksköterskan kan använda sig av i det trycksårspreventiva arbetet. Syftet var även att granska urvalsmetoden som de inkluderade artiklarna har använt sig av.Metod: Artiklar publicerade mellan 2007 och 2013 söktes i databaserna CINAHL och PubMed. Resultatet baserades på tretton artiklar.Resultat: Resultatet utmynnade i fyra kategorier: 1) Riskbedömning; med användandet av ett riskbedömningsinstrument i det dagliga omvårdnadsarbetet minskade förekomsten av trycksår. Det framkom att sjuksköterskans kliniska blick var viktig för att upptäcka patienter med risk för att utveckla trycksår. 2) Tryckavlastande underlag; användande av tryckavlastande underlag var en viktig åtgärd för att förebygga uppkomst av trycksår.

Bakgrund: I Sverige ökade prevalensen av rupturer grad IV från 2,6% till 4,2% mellan åren 1994-2004. Årligen är det cirka tretusen kvinnor som drabbas av bristningar av grad III och IV i Sverige. Det är en stor spridning mellan Sveriges olika förlossningsavdelningar.Syfte: Syftet var att beskriva åtgärder för prevention av perinealbristningar av grad III och grad IV vid normal förlossning på samtliga förlossningsavdelningar i Sverige.Metod: Deskriptiv kartläggningsstudie med induktiv ansats. Det är en nationell studie som riktar sig till Sveriges alla förlossningsavdelningar. Endast perinealbristning av grad III och grad IV berördes.Resultat: Totalt deltog 38 av 47 (81%) av Sveriges förlossningsavdelningar i studien.

Purpose: This study examines pedagogues? thoughts about children?s understanding of death, and their reactions to the death of a relative. The aim is also to examine pedagogues? thoughts about their part in supporting bereaved children, and how they wish to do so. Method: Seven pedagogues, who work with six to nine year old children, were interviewed.

Background: Overweight is a health problem throughout the western world. Child health care (CHC) nurses and school nurses meet many children and their families and have the opportunity to work with prevention. The purpose of this study was to investigate the CHC - and school nurse´s experiences and reflections in the work on obesity in children. The aim was also to investigate the structural conditions CHC- and school nurse feel the need for this work. Method: The study had a qualitative approach with descriptive design.

The European Water Framework Directive (WFD; 2000/60/EC) was incorporated into the Swedish legislation in 2004 through the ordinance Förordningen om förvaltningenav kvaliteten på vattenmiljön (SFS 2004:660). The objective is that all water bodies shall reach a good status by the year 2015. In Sweden the comprehensive plans of the municipalities can play a large role in reaching these goals. A comprehensive plan deals with the long term water and land use of the municipality, which can facilitate an early consideration of water management in the planning process of the municipality. In Sweden five river basin districts have been established in accordance with the Water Framework Directive.

Purpose: This thesis aims to study how students in upper secondary school evaluate sources in their everyday school work and how the role of the school library and librarian officiate in this context.Methodology: A web questionnaire was conducted and 155 students from different schools, with or without school library and school librarian, participated. We coded and aggregated the questionnaires according to the strategies that are used when evaluating sources, identified by Francke, Sundin and Limberg. Cognitive authority, a theory by Patrick Wilson, was also a part of our analysis. Conclusions: The study shows that students use different strategies, separately or combined, as a way to evaluate sources. The teacher is regarded as a cognitive authority and is the main influence concerning source evaluation. It also shows that the role of school libraries and school librarians, in this context, seem to be non-existent.

Social media on the Web has become more common over the last decade and in recent years it has grown immensely. The social media with the highest amount of members is Facebook, where not only private persons are found - companies started to establish their profiles on the network in 2006. However, little is known about how these companies succeed and reach their audience with information dissemination and interact with them. The aim of this study is to contribute with information to local companies on how they can manage to maintain their activity with different approaches and strategies. This study examines how three different local companies chooses to spread information and maintain relationships with their members on Facebook.

The post-modern western city is going through two central changes in the organization of paid labour. One is the switch from production of goods to production of services, and the other is the increasing rift between well-paid labour with permanent jobs, and temporarily employed workers with low wages. Both of these processes are rasified and gendered, and strike harder against women, young persons and people of emigrant background. The flexible capitalism creates an informalization of the economy, breaking with earlier regulations of the labour markets, in which workers also need to find informal strategies in their individual and collective struggles. In this paper, I search for these ?new? experiences of living and working in late capitalist society, by doing open interviews with three women of Latin-American origin, working without official permission (without documents) in the informal economy of Stockholm.

Our consumption habits are today under development and alteration. The market for mobile commerce is increasing, as well as the use of social networks with mobile devices. This relatively new approach to online shopping requires that retailers adjust to new strategies related to trust issues. The purpose of this study is to examine how social networks affect the establishment of trust between retailers and customers in mobile commerce. We investigate what kind of strategies retailers apply in order for consumers to gain trust in the mobile environment.

Hedge funds? importance within the financial system has during the most recent years increased dramatically. These special funds are unique instruments that differ from traditional mutual funds in a variety of ways, however especially in how they expect returns. Due to the fact that hedge funds are able to hold short positions they possess the possibility to become market neutral investment vehicles.Because of this possibility to sustain positions neutral to market fluctuations, the concept of absolute returns became a unique selling point for hedge fund managers and promises of stable returns unchallenged by market conditions was assured. This research paper aims to examine the theory of absolute returns in hedge funds by examining hedge funds from the Nordic region during the last years of economic turmoil that has occurred by  analyzing the results from their strategies, partially by quantitative measurements as well as qualitative.  The results show that none of hedge fund strategies managed to deliver absolute returns over the chosen period..

The main purpose of this thesis has been to identify and discuss problems connected with the preservation of newspapers in Sweden. Another purpose was to see if the preservation of newspapers has been influenced by the fact that preservation studies in general concerns printed monographs and digital materials. This qualitative study is partly based upon interviews with four librarians experienced in working with newspapers and preservation. The thesis deals with cultural heritage in general and on a more specific level with newspapers where the following questions are dealt with: Why preserve? Who preserves? How to preserve? and What is preserved? Strategies used for preserving newspapers such as paper, microfilming and digitization are described as well as legal deposit, the Swedish microfilming programme and TIDEN, a digitization project of newspapers.

Drink! The Marketing History of The Coca-Cola Company: A Modernization Perspective examines the development of The Coca-Cola Company?s marketing history, from the founding of the company in 1886 until today. The Coca-Cola Company has been superior on the market for over a century. It has also developed along with the urbanisation of its society, which is interesting in a modernization perspective. The essay investigates the marketing strategies of the company, with focus on three themes: gender, sponsorship and interactive culture phenomenon.

Men commit more suicide than women all over the world. They commit more violent crimes and are more inclined to alcohol abuse. There are studies that relate this behaviour to the hegemonic image of masculinity.My work focuses on Switzerland. The suicide rate in Switzerland is worrying, for men between 15 and 44 years suicide is the most common cause of death. There is no national suicide prevention and no information or prevention that highlights the connection bet- ween the hegemonic image of masculinity and the suicide rates.

Introduction: Balance is a complicated term which includes a static, dynamic and functional part. These parts have, during a long period of time, been included into the existing training programs through several different balance exercises, which aim to prevent sports injuries mostly focused on the knee and ankle. In floorball these injuries are common and a sports injury prevention program is required.Purpose: The purpose is to explain the balance term and relate it to injury prevention training and the existing theories. A second purpose is to see whether five weeks of balance training increases the balance ability in female floorball players and thereby increase the test values in the two tests.Method: Twenty female floorball players participated in the study and were divided into a training group and a control group. They performed a Star excursion balance test (SEBT) and a Multiple single leg hop stabilization test (MSLHST) before and after a five week training period, containing exercises of balance.Results: The training group showed improvement after the training period, however only one significant result was found.