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.

The purpose of my study was to examine how teachers in physical education experience different frame factors impact on their outdoor education and their choice of didactic approach. My study is based on Lundgren´s frame factor theory and Peitersen´s didactic learning model. I have used a qualitative research method to answer my questions. I have been using semi-structured interviews to interview six PE teachers who all teach at high school level.Based on my results we see that the teachers experience teaching hours and class sizes as the frame factors that mainly affect the outdoor education. Teachers often choose to split up the outdoor activities into sequences in order to achieve better learning.

Syftet med denna litteraturöversikt är att göra en utvärdering över de mekanismer som är viktiga vid tumörmetastasers nybildning av kärl s.k. angiogenes och med vilka metoder man kan hindra dem. Tumörceller som prolifererar ohämmat utan att stimulera angiogenes begränsas av brist på näring och ineffektiv bortförsel av slaggprodukter och kan därför sällan växa och bli större än cirka 1mm. Detta medför att även om det kliniskt finns många små metastaser i en patient så innebär det sällan något problem för patienten. Om tumörcellerna däremot muterar så att de kan stimulera angiogenes så tillåts tumörerna växa sig större och förstör då kringliggande vävnad vilket tillslut resulterar i patientens död. Mycket forskning görs i nuläget inom ämnesområdet och man har som mål att med hjälp av angiogeneshämmare göra cancer till en kronisk men hanterbar sjukdom istället för den sjukdom med dödlig utgång som den ofta är idag. Den första angiogeneshämmaren som godkändes för medicinskt bruk i USA var Avastin (Bevacizumab) som är en antikropp som binder till och oskadliggör vascular endothelial growth factor (VEGF), vilket är en av de faktorer som stimulerar angiogenes. Detta får som följd att de tumörer (60 % av alla humana) som uttrycker denna faktor hämmas i sin tillväxt.

Our main purpose with this paper was to figure out what makes a magazine successful. We wanted to analyze and examine factors of success for magazines, with a focus on music magazines, from a marketing perspective. Also, we wanted to see specific factors of success for the music magazine Groove. To do this, we interviewed seven people from different areas within the business with different kinds of expertise. We interviewed two people from Groove Magazine, two people from other music magazines and in addition to this, two people from a grand publishing company and also one person from a soccer magazine.

ABSTRACT: Introduction: There are intentions from the Swedish government to provide guidelines and tools for a healthy social planning. The field is in a Swedish context relatively unstudied regarding psychosocial health and the neighbourhood. Aim: The study aimed to examine how social planning can affect the health of individuals. The focus areas were contextual and compositional factors related to individuals' psychosocial health and the contextual risk- and health factors that exist in the neighbourhood. Method: A literature-based study was conducted and 15 scholarly articles form the basis for analyse.

Already in 1988, different levels of participation in the election between different districts of big cities in Sweden were noticed. The problem with low political participation in specific areas has almost always been theoretically explained through an individual perspective. This study is therefore focusing on the problem from a contextual perspective. The hypothesis for the study is as follows, in the case of Malmö the level of participation in elections are affected by social environment in which segregation will be the single highest factor. The dependent variable, participation in the election was tested by the independent variables representing social environment; origin, education, gainfully employed and income.

Abstract This degree project examines how much carbon dioxide that emits during the construction phase of a road project. This is to make it possible to compare how the amount of carbon dioxide differentiates between traditional road construction and Swepave construction, which is PEAB?s alternative way to design roads. To make the comparison a calculation tool has been produced. To compare the amount of carbon dioxide emissions a reference project was needed.

This thesis is a survey and also an investigation of the different factors that affects the cracking that occurs in the inserts at AB Sandvik Coromants production in Gimo. The work that has been done has focused on two main factors, namely, powder characteristics and pressing parameters.AB Sandvik Coromant produces tools and tooling systems for metal cutting. They have some problems in their production of inserts. The problem is that cracks sometimes occur in the body of the insert, after it´s pressed. In order to investigate this, a preliminary study was made in which production principles were studied.

The aim of our study was to examine how the elderly experience their meal situation in a sheltered housing. We have used a qualitative approach. We conducted individual interviews with six elderly in a sheltered housing to collect our empirical material. To reach the purpose of this study we tried to answer the questions: which factors affect the elderly person?s experience of the meal and which significance does the meal have for the elderly? To reach deeper understanding for our collected material we used Maslow?s theory of human motivation, the two concepts of Tönnies; gemeinschaft and gesellschaft, disengagement theory and the concept of Bourdieu, called habitus.

We have chosen to focus on the meaning of long-term income support dependency regarding health, goal setting and motivation for the recipient of economical aid. We have chosen to use semi structurized interviews to achieve our goal of reaching the clients experience of long-term income support dependency. The study consists of interviews of six clients whose answers have been analyzed through appliance of Kielhofner´s Model of human occupation, Scheff´s Shame in self and society.   Our results show regarding, 1) the factor health that long-term income support dependency may elevate the risk of illness and less experienced options of possibilities to act. 2) regarding the factor goal setting, that goals may be inefficiently used during social work with long-term income support dependent clients and may result in a disorganized relationship between client and social worker in the sense of making the parties pull in opposite direction. 3) regarding the factor motivation, that long-term income support dependency and the living with the emotion of shame elevates the risk of maintaining a negative image of oneself that limits the willpower to assimilate new knowledge and/or skills.

Derome Skog AB is a purchase company whose main task is to provide Derome Timber's sawmills in Halland with timber raw material. Because of the very hard competition in the roundwood market it is important to know what kind of purchase offers are required in order to buy a valuable product from forest owners.This study aims to elucidate the crucial factors when private forest owners choose to harvest and sell their forest. As base for this study, a questionnaire has been performed with private forest owners. The result of the study shows that it is not particularly often that the timber price is the crucial factor why the forest owners choose to harvest and sell the forest products; i.e. timber, pulpwood as well as energy assortments.

This is a qualitative study based on interviews with professionals who are cooperating at a children advocacy center, in swedish called ?Barnahus?. The center, Barnahus, pulls together law enforcement, criminal justice, child protective service, medical and mental health workers in to one coordinated team. Children suspected to be victims of any kind of violence or sexual abuse shall, at Barnahus, be offered coordinated efforts and support all the way from suspicion to possible intervention. The aim of the study is to examine how the participants involved relate to collaboration in Barnahus. The study will also present the success factors and barriers to collaboration that identifies by the participating actors, who are mentioned above.The study will provide insight and understanding of how collaboration can be represented in multiprofessional activities in practice..

Mental illness is today the leading cause of long-term sick leave and insomnia, anxiety, depression and burnout are among the most common conditions. The aim of the study was to investigate the stability of these conditions and how this is influenced by gender and age, as well as the extent to which these states are risk factors for each other. The participants were a random sample (n = 2336) from the general population in the age of 18-79 years. The results showed that stable illness was more common among women than men, and that stable illness decreased with aging. The stability itself was not affected by gender or age. Relations between the conditions were bidirectional and they constitute major risk factors for each other (odds ratios, OK = 2.37 to 6.46). The largest risk factor for a condition is, however, previous occurrence of the same problem. Previous burnout was found to be a significantly larger risk factor for future burnout than previous insomnia for future insomnia (OK = 9.63 and 5.74, respectively). The results suggest that insomnia, anxiety, depression and burnout, despite their differences, are similar regarding symptoms and underlying causes. The importance of early interventions to prevent comorbid conditions which are more complicated and more difficult to treat is emphasized..

Background: In our case study we have been studying a company that during the last seven years have tried to implement the control system Balanced Scorecard. They have during this period made three attempts. According to Kaplan and Norton, the creators of Balanced Scorecard, it should take about 16 weeks to implement a Balanced Scorecard. Purpose: Our purpose is to investigate which factors that influence the possibility to implement Balanced Scorecard. Method: We have conducted a case study where we have studied implementation at three levels in a company.

The purpose of this essay is to compare a theoretical strategic process model with the strategic work in a Swedish bank. The reason of the comparison was to identify which key success factors that is essential in strategic implementation processes. To make this study feasible three qualitative interviews were executed and it also presents data from a quantitative survey performed by the bank. The theory of the study examines eight different parts that needs to be looked at attentively when new strategies are formulated. The results points out that the work at large correspond, nevertheless the theoretical framework points out the importance of the business mission to impregnate the whole strategic process.