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 master thesis in economics discusses the time use of today as well as the observed trends in time use over the last 20 years in Sweden. This is done by analysing time-use and consumption data at the microeconomic level, i.e. by explaining individual behaviour given the economic assumption of a rational behaviour. We reach the conclusion that the value of time is an important explanatory variable concerning the rationality in that time is used differently by different individuals and in the changed use of time. Furthermore, other variables such as social norms and the process benefit of a certain activity, i.e.

This study is qualitative and aims to describe and analyze how senior citizens with alcohol- related problems are recognized by social workers within local care for the elderly. The empirical material consists of eleven semi-structured interviews which was completed with the help of social workers within local elderly care. The findings of the study shows that the processing of the senior citizens alcohol related problem can be explained as an identified ?awareness process.? Further, the findings of the study shows that awareness is often made by others than the social workers themselves. The study has also showed that known versus unknown information about present alcohol-related problems, tends to be crucial for when and how awareness is made in the ?awareness process?. .

Today, maintenance is a big part of the daily life on board ships. It is also one of the bigger expenses a shipping company has and without any loss of quality tries to run as economically advantageous as possible. In the hunt for economical savings the shore-based industry has subsequently applied the use of condition based maintenance, CBM, were a component is maintained according to its actual state. This leads to a reduction of maintenance costs since no parts are unnecessarily replaced. However, within the maritime sector a periodical maintenance is still the most commonly used maintenance system.The purpose of this paper is to chart the factors that are the reason for the low implementation of CBM on board the Swedish merchant fleet's ships.

Syftet med denna studie är att utforska hur individer upplever sin prestation och själva inlärningssituationen då kunskap som ska läras in på ett språk ska återges på deras modersmål i form av tentamen eller i andra diskussionssituationer. Sex personer intervjuades om deras upplevelser att läsa kurslitteraturen på ett främmande språk och sedan återge den inlärda kunskapen på deras modersmål, i detta fall, svenska. Intervjumaterialet analyserades utifrån induktiv tematisk metod. Ur analysen framträdde tre huvudteman: förståelse av innehåll, förmågan att kunna uttrycka sig och slutligen, översättningsproblematiken. Den första två teman visade att prestation inte anses bli negativt påverkad av att den inlärda kunskapen ska återges på modersmålet.

The tomato is an important crop worldwide, and in recent years it has received great attention due to its rich content of carotenoids, which in studies indicate to have health benefiting properties. Many studies have been done in this area of research and in how to optimize the carotenoid content in tomatoes and tomato products. The objectives of this essay were to summarize present data in this field. The results were as follows:There are nine different carotenoids identified in tomatoes. Lycopene and ?-carotene are the ones that have been given the greatest attention.

Young men who commit sexual abuse is a complex topic. This study is based on litterature on the subject and the material is processed through a qualitative content analysis. The study aims to study how the litterature describes the reasons why young men commit sexual abuse. It also aims to explore what is described to be effective treatment of young men who committed sexual abuse. The study found that most of the young men who commit sexual abuse comes from families where violence and psycohological abuse occurs. Many have themselves been victims of sexual abuse.

This report aims to provide an insight into the particle physics of today, and into the research that goes on within the field. The focus is partly on the recent discovery of the Higgs boson, and partly on how software can be used to simulate processes in particle accelerators. Basic concepts of particle physics and the search for the Higgs boson are discussed, and experimental results, including those from the Large Hadron Collider, are compared with simulations made in MadGraph 5. Furthermore, simple new models of particle physics are created in FeynRules, in order to make simulations based on the models. To support the presentations of these aspects, some of the underlying theory is built from the ground up.

Issues regarding the environment are commonly discussed in the media. The most common problem that is discussed is how to decrease the emissions of greenhouse gases by human beings. The municipality of Kristianstad has chosen to work with a project named ?Biogas Kristianstad? which purposes are to use all of the produced biogas as motor fuel and to speed up the introduction of biogas on the local market. This is in an effort to decrease the effects on the environment in the municipality of Kristianstad.

This essay is about literature instruction in the last three years of Sweden?s compulsory school from one teacher?s and six of his pupils? perspective. The research is analysed from a socio-cultural perspective on learning and literature reception.The empiric material is based on interviews with the teacher and six of his students.The research shows that there is a difference between what the pupils read on their spare time and what they read during Swedish instruction. It also shows that the pupils wants literature full of action where descriptions of people and the setting don?t slow down the reading experience.The teacher is successful in finding literature the pupils appreciate but sees the value of literature on another level ? in the processing of the reading experience.

Our digital society encompasses nowadays different channels, which includes social media where many users consider it as a platform where they can fetch news or exchange news and information. This leads to a large spread of news exchange in a very fast speed, which involves the global users within social media to be a part of this social interaction. This study is focused on how Twitter affects the usage of the user?s news consumption. By reaching out to our specific target audience, which includes Twitter users in Sweden, we made a web based survey with a content of relevant questions.

The aim of the study was to through empirical studies interpret the relation between three partially investigated house foundations, on an abandoned farm in Langhammars on northern Fårö. This relation focused upon two main questions; the time of use and the spatial distribution of the archaeological finds.Trough comparative analysis two of these houses can establish to have been contemporary, the third one is too roughly examined. A discussion about the hypothec idea of two or three contemporary farms was made with a negative result.In house 1 smaller processing of tools of flint has taken place near the fireplace in the larger room. A concentration of pottery was also visible near the fireplace, likely to be connected to cooking and eating. The smallest room in the northeast part of the house could have functioned as a storeroom and/or held workshop activities.The archaeological finds and the distribution of it, strongly indicates that house 1 mostlikely consisted of a dwelling house and house 2 functioned as a workshop; linked to activities with handicrafts.

The spread of digital photography has created major changes in the previously stable Swedish photofinishing market. We investigate how companies act to survive in the face of technological change, through our research question: What strategies have actors in the photofinishing business chosen during the changeover from analog to digital photofinishing? Using a deductive method, we have conducted semi-structured interviews with 11 actors in the photofinishing business. Innovation management studies innovation from a number of perspectives, describing effects of innovations on the competitive ability of established actors, and on the value of their resources. The companies were not prepared for the speed of the change.

This report aims to provide an insight into the particle physics of today, and into the research that goes on within the field. The focus is partly on the recent discovery of the Higgs boson, and partly on how software can be used to simulate processes in particle accelerators. Basic concepts of particle physics and the search for the Higgs boson are discussed, and experimental results, including those from the Large Hadron Collider, are compared with simulations made in MadGraph 5. Furthermore, simple new models of particle physics are created in FeynRules, in order to make simulations based on the models. To support the presentations of these aspects, some of the underlying theory is built from the ground up.

This report aims to provide an insight into the particle physics of today, and into the research that goes on within the field. The focus is partly on the recent discovery of the Higgs boson, and partly on how software can be used to simulate processes in particle accelerators. Basic concepts of particle physics and the search for the Higgs boson are discussed, and experimental results, including those from the Large Hadron Collider, are compared with simulations made in MadGraph 5. Furthermore, simple new models of particle physics are created in FeynRules, in order to make simulations based on the models. To support the presentations of these aspects, some of the underlying theory is built from the ground up.