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.

How can the object based art help us, as viewers and as makers, to access a supplanted emotional state?One way of positioning yourself within the corpus-field is to step outside the traditional borders of the field and aim for other values within the objects, such as a visible working process, a storytelling or an emotional relationship to the object.  It is a way of taking a step from the traditional silversmithing towards some kind of free undefined corpus-art.  To reach for suppressed feelings is one way to find an importance within the artistic work, to give it a purpose.By investigating the concept of the sublime and the surrealist movement I try to find examples on how you, both as a viewer and as a maker, can put yourself in an emotional/intuitive state.  Through interviews with Jewellery and corpus artists I get a maker?s perspective which I compare with my own reactions to their work.Works of art can be used as a catalyst to reach, and maybe also to process, unattended feelings. This creates a strong emotional connection to the work.  As a maker you can, for example, do this by working with it as a theme, or by using an intuitive working method.

The study aims to shed light on the phenomenon of employeeship at a Swedish Staffing Agencise . This has been done on the basis of two questions. How can employeeship look like in a service? What is the role given employeeship in developing contexts? In order to answer the purpose and issues have a quantitative approach been used. Based on the theoretical frame of reference has the form of surveys created.

The aim of this work is to analyze if a change in the benthic community can be detected two years after a restoration of a small stream. The samples were taken in a small stream at Tinnerö Eklandskap just south of Linköping. In addition to the restored area, two reference sites upstream and downstream of the restored area were sampled to compare to the restored site. The method used for sampling of benthic fauna in the stream was kick sampling. ASPT, Berger-Parker and Renkonen-indices were used to find out if there was any difference between the reference areas and the restored area.

Abstract? ?there is no reason?to assume that prehistorians cannot study ancient symbolism and beliefs. The question remains, however, how best to study symbolism within the material confines of archaeological research?(Fogelin 2007:63)With my essay I would like to bring up the meaning of the soapstonelamp for the Thule culture in Greenland. Humans in the arctic area, from the same in the north of Scandinavia to the inuites in Greenland, have a common way of viewing the world that stems from anemismen.

The aim of this thesis is to investigate new knowledge about how children search for library material and which strategies they use, and if the latest research gives any answers whether we should adapt systems and services or teach information seeking in a better way. In this thesis knowledge is understood as research publications but also results from projects in library practise, and studies concerning children 6 to 18 years old are included. The method used is a knowledge survey. We have gathered and evaluated documentation from different sources like citation and reference databases within the field of library and information science. The result implicates that there are, both in old and new documentation, three main search strategies children use in their search for information in a library context; they browse, they search in library catalogues and they use some sort of reference service.

I många organisationer är minskade utbildningskostnader ett av de viktiga skälen för att använda e-learning. En av de metoder som används för detta är att dela inlärningsmaterial och information mellan olika system. På så sätt behöver samma material inte skapas om på nytt och analys av insamlad information blir mycket enklare. Sharable Object Reference Model (SCORM) har länge varit en standard för att återanvända inlärningsmaterial, men har med tiden blivit förlegad. E-learning utvecklas tillsammans med teknik och interaktions-möjligheter.

This essay contains a discoursive analysis of fifteen travel reports from five of the largest papers in Sweden. The travel reports contains recaptions from wildlife tourism experiences were the predators are the main target, or at least one of the main targets. Seven of the reports are from Sweden and eight of them from Russia, Rumania, Finland, Turkey and the United States. Predators in this essay aims to those in Sweden called ?the big five?, these are: bears, wolves, lynxes , wolverines and golden eagles.

Research where personality in animals is studied is becoming more and more common. In this area there are different concepts like behavioural syndrome and animal personality and they usually talk about consistency in behaviour over time and situations. This consistent individual behaviour can be used as an indicator of how individuals can handle and adjust to new situations in the environment. Because of this, personality studies in animals are very important in animal welfare. In this study personality in dairy cattle in lose housing were studied.

Six different Digital Proofing Systems from three different techniques have been evaluated as totechnique, printing quality, economy and usability. Digital proof from two paper qualities, coatedand uncoated, has been compared with references printed in offset, to see how good they match eachother. Only two Proofing Systems manage to print on reference paper. The other Proofing Systemsuse special paper for digital proof.Measurements and visuell judgement show that the Digital Proofing Systems visualise referencepictures with quite good quality. Proof optimised for coated paper visualise the colours with goodresult.

Too high levels of noise lead to various health problems and cost society billions of SEK peryear. In this thesis we have examined a model of the A40E articulated hauler at VolvoConstruction Equipment in Braås. We have tried to reduce cabin noise in an articulated hauler,while also providing a way on how to proceed with a machine when the cabin does not measureup to the sound requirement. The best way to find leaks were with a reference source of model4205 and its speaker HP 1001 from Brüel & Kjaer in the cab and then walk around and listen towhere the reference source was more prominent. In this way, we found that the edges and theplugs were sensitive areas.

Here I study some European films from the late 1950?s and the early 1960?s by directors like Fellini, Visconti, Pasolini and Godard. By comparing them with different sociological studies on the subject of female prostitution I try to find out if these films are interested in the actual situation of the prostitute, or in their own image of the phenomenon. Is she an object used for sex or just an sex object? Is she positively or negatively pictured? With realism or as a stereotype? Which aspects of her situation is shown and which ones are concealed? What is the view on the men who actually use her services?It seems natural that different types of films, with different types of prostitutes, illustrates different aspects of what prostitution might be.

Establishing a reference interval for plasma fibrinogen in foals Fibrinogen concentrations were analysed in EDTA preserved blood plasma samples from 34 thoroughbred foals born in 2001 and 2002 at one stud farm. The foals were between 0 and 240 days old at the time of the sampling, and there were 19 fillies and 12 stallions in the group. The foals were examined for clinical symptoms of disease and their body temperature was measured before blood was sampled from the jugular vein. From totally 156 blood samples, 31 were selected as originating from clinically healthy foals, and used to determine a reference range for thoroughbred foals. Samples originating from foals showing clinical symptoms of disease or an abnormal body temperature at the time of sampling, were classified as coming from unhealthy animals.

Sisyla is a joint project between the counties of Skåne, Blekinge, Jönköping, Kronobergand Kalmar in Sweden. A geographic database has been built with the aim to study theservice situation of the area. The main purpose of this thesis is to find a method toinvestigate the quality of the Sisyla database and to apply it. The method is adjusted tothe standard ISO 19114. The agreement between the database and reality was studied ina test sample.

This report reflects an examination work performed for Getrag All Wheel Drive AB during the spring of 2005. Among the companies range of products there exists some concern regarding the amount of clamping force and friction on bolted joints caused by the assembly torque.The aim of this project has been to determine if there is a simple way in which to identify and then practically apply testing methods for clamping force and friction through utilization of existing testing equipment.Three separate methods of clamping force and friction determination have been tested in rear drive unit, RDU, at a 30 Nm assembly torque. A fourth and final method, screw elongation with ultrasound, has been used as reference. The methods are:?Torque-Tension test.?Screw elongation with micrometer.?Joint stiffness test.?Screw elongation with ultra sound for reference.The results from tests can be viewed in table below.MethodTorque-TensionMicrometerCs=318 kN/mm Assembled with torque wrenchMicrometerCs=318 kN/mm Assembled on lineUltra-soundCS=311 kN/mm Ultra- soundCS=318 kN/mm Joint stiffnessTheoreticalClamping force-21,8 kN17,6 kN17,3 kN17,6 kN17,1 kN17,3 kNFriction-0,110,1470,1530,1470,1520,149.