In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

AbstractThe purpose was to investigate whether a recovery perspective, viewed from a psychosocial approach is applied in municipal / private and county related care and rehabilitation. A recovery perspective means that the attending staff ensures that the clients are viewed as holistic individuals, where all aspects of life are considered to ensure adequate care and rehabilitation. A questionnaire was answered by staff in psychiatry, social psychiatry and addiction treatment from different areas of the municipal / private and county related sector.The results show no difference in application of a recovery perspective between these two types of organizations. However, there is a slight tendency (non-significant) to lower-rated general individual competencies for municipal / private. There is also a strong tendency (non-significant) to a general difference between the aspects of the implemented recovery perspective, where the tendency is that the respondents as a whole estimate that the organization to a greater degree creates good conditions for a recovery perspective compared to the degree they are actually working on that basis.

I have examined acclimatization models in pre-school. My emphasis is on the shorter acclimatization models. To begin pre-school is a big change, not only for small children, for the whole family as well. It is important to get a good acclimatization in pre-school, and one of the things it takes to achieve that is to interact with the parents. The reason why I chose this subject was because we have not studied much literature about this subject during our education to become pre-school teachers.

The aim of this study was to investigate how disabled pupils feel about school lessons in physical education. Previous studies in the area show that many disabled pupils think that this is a problem. Drawing on data from one-to-one semi-structured interviews with six students in the age of 11-14 years, this study focused on how students with disability cope with their impairments and physical activity in school. The interviewees? background displays a wide range of sport related activities and besides school the interviewees seem to be engaged in different sports associations on their leisure time.

Our project is divided into two parts, one production and written report. The main focus was the production part, were we used PHP to create simple solution for handling SMS and MMS with direct communication with the mobile operator server. We communicate with sockets and can handle CIMD2 and MM7 protocol. To get our components easy to use we have created two classes to handle SMS and MMS. To demonstrate our technical platform we created a website were you can create an account.

This master's thesis on the subject of public law will deal with the implications ?Directive 2001/18/EC on the deliberate release into the environment of genetically modified organisms? might have on the Swedish legal system. The purpose of the directive is to harmonize the European Union States legislation regarding licensing of the deliberate release of GMO?s into the environ­ment, this to maintain a high level of environmental protection and at the same time preserve the internal market of the European Union. The thesis will primarily examine how the provisions of the directive relating to the general principle of good administration have impacted the proce­dural autonomy of Sweden.

The aim of this Master's thesis is to study what place public libraries have in local politics, particularly from the point of view of the politicians. To answer this, I have interviewed politicians, participated as a silent observer of a public debate, and studied articles on library politics in newspapers and other press. The results show that politicians in general have a positive view of libraries and good co-operation with library professionals, and that they have a fairly up-to-date view of libraries. They are, however, less interested in library issues in general, and are often complacent with the way things are already running. The newspaper studies show that library issues are usually only discussed when a specific library is somehow in danger.

This dissertation aims to explore how an investment appraisal differs depending on if it is conducted by a municipal or a private real estate company. Municipal and private real estate companies are not performing on totally equal terms in the property market. A municipal company in Sweden has a public service mission. The consequence due to that mission is that they have limited yield potential but on the other hand the right to certain subsidies. They are also limited by the law of public purchasing (in Swedish: Lag om offentlig upphandling) in the investment process.

To thoroughly think with safety and security in mind is an important issue in planning of public city spaces. Spaces intended to be available to all inhabitants of a city should have a welcoming appearance. Unfortu-nately, this is not the situation in many pedestrian walkways, parks and such spaces, possibly due to lack in safety and security. This master thesis intend to examine questions at this issue ? what makes you feel safe and what causes insecurity in public city spaces. The safety aspect treats the human psychological and sociological ways of perceiving her milieu and other humans in it, and how the physical shape of her surroundings can affect the sense of safety.

The workplace has a direct impact on the physical, psychological, economic and social well-being of the workers. A healthy workplace leads to increased health among the employees which also makes the employees more productive (Källestål, 2004). A poor working environment can have negative consequences for individuals, companies and society (SOU, 2009:47).This is a qualitative study that investigates companies? view of health promotion and how they practice health promotion in working life. Five private and five public companies, with representatives from the management were interviewed.

Background: Nursing staff use touch on a daily basis, often without reflecting over it. It is not only the touch itself that emerges, everyday nursing staff get involved in the meeting with patients. The use of touch can be divided in to different kinds of touch, due to its purpose these are instrumental- and expressive touch. Purpose: The purpose with the study was to illustrate what physical touch means for the meeting between patient and caregiver. Method: A literature review has been done, based on ten scientific articles and by these four domains emerged.

The use of the robust and durable woody ground covers is increasing, not in the least in public places. The group includes low shrubs of different height that effectively build low, tight vegetation that covers the ground. Despite all the good qualities the knowledge about them is quite low and there are ideas about them of being dull. The woody ground covers manage to struggle against weeds effectively by competing for nourishment and water, but above all, by the canopy of the ground covers that prevent the weeds from getting enough light. In that way the woody groundcovers can effectively compete with the annual weeds.

This thesis examines the verification of the terms and conditions stated in contracts based on the Public Procurement Act. In March 2013 the Swedish state procurement commission released " Good Business - A Strategy for Sustainable Public Procurement " (SOU 2013:12), which found that the proportion of control and verification is relatively low. The thesis examine how verification is carried out and looks for an explanation to why verification is not more oftenly performed. To answer these questions two care studies, based on seven semi-structured interviews, is presented as the empirical material. Network theory has been used to analyse the empirical results, and aspects of commonly used theories such as contract management and "Markets and Hierarchies" by Williamson has also been taken into account.

The workplace has a direct impact on the physical, psychological, economic and social well-being of the workers. A healthy workplace leads to increased health among the employees which also makes the employees more productive (Källestål, 2004). A poor working environment can have negative consequences for individuals, companies and society (SOU, 2009:47).This is a qualitative study that investigates companies? view of health promotion and how they practice health promotion in working life. Five private and five public companies, with representatives from the management were interviewed.

Background: When a child ends up in a hospital the whole family will be affected. The family?s situation can be turned upside down and the daily life can be affected. The nurse needs to have a holistic approach when caring for the child and the rest of the family. For the nurse to be able to provide personalized information and care, they need a relationship with the child and family.