The goal of this Master thesis has on the one hand been to create a simulation environment for robots, where not only the simulations in this work can be performed, but also similar robot simulations, and on the other hand to study regulators that can increase the possibilities of rejecting disturbances on an industrial robot. The robot model used has three degrees of freedom, corresponding to the three main links on ABB:s IRB7600. The simulation environment is created using Matlab, Simulink, and Robotics Toolbox. It is constructed in a general way and can be used for simulations of other robot objects created in Robotics Toolbox. A gain scheduling is added to the LQ-regulator, where the feedback matrix is varied depending on the arm position in the workspace.

This essay aims to explore continuity in water centric cult within the period of the Christianization of Scandinavia (ca 800-1100 AD) and to understand the changing of symbolism of water in pre-Christian cult and early Christian religion. It has previously been thought that Christian priests took over the old holy wells and renamed them after saint, all to ease the pagan people into a Christian lifestyle. But archaeological evidence shows that the cult at these wells, and other water centric sites, where almost completely abandoned a few hundred years before the Christians came to Scandinavia. The Christians should not have felt the need to transform this tradition since it was only practiced in a very small and supposedly private scale. On the contrary, religious activities at these wells seems to increase with the new religion and perhaps this is explained by Christianity itself.

In this research paper I have interpreted and analysed how it is possible for a Radical Right Populist Party such as FPÖ (The Freedom Party) to obtain electoral success in the end of the last millennium. In 1999 they were elected into the national legislative parliament with 26.9% of the votes and participated in the Shüssel government from February 2000. I believe this is an extreme case study and my method is the so called Disciplined-configurative case study. I?ve conducted this study by using earlier published research and than dividing these old theories into to three analytical categories.

AbstractIn the past decades the newspaper industry went through many changes but it has never had a problem of this kind. With the freedom the Internet brings us today and the wide range of information channels, the newspaper is for the first time seriously challenged.When the newspapers began to establish themselves on the internet they thought it was only to copy the content of the newspaper on to their webpage and the advertisers would come along. This move was not planed and had no vision. When the advertisers discovered Internets wide range of advertisement platforms they started to look for other places they could put their ads. This thesis is about the local newspapers ability to address the problem that the internet has created. I based my study on the following issues:Why has internet caused this problem for the newspapers?What are the prerequisites for local newspapers when they face challenges from the internet?How have the advertisers acted after the emergence of this challenge?To answer these questions I did qualitative interviews with different personalities within the newspaper industry, two local newspaper executives and two professors in media economics. In conclusion the result shows that there are different opinions regarding these questions and different views of how to solve them.

For centuries it was a crime to be without work or an income in Sweden. Those breaching this law were called vagrants and could be sentenced to forced labor. They stood outside of society in many ways as they were being criminalized. Society's view of them becomes clear by the laws enacted against vagrancy. The investigations that were made in creating the laws do not only say something about society's view of vagrancy, but something about the society itself.In Sweden we have a unique collection of investigations and referrals that are public records through Freedom of the Press.

The purpose of this study is to examine the changes in law and other types of politicialregulation regarding unauthorized absence during the reformation of the Swedish schoolsystem in 2010. How was this ?new? approach on unauthorized absence established; whatmade it possible and which view on ?unauthorized absence? does it implicate? The study hasa discourse analytic approach in which it examines central policy documents regarding thetopic of inquiry. The study has found that the alliance-government?s education policy onunauthorized absence is pervaded by one hegemonic discourse termed the mono-culturaldisciplinary discourse.

The thesis is aiming to investigate what happens in the customer-service worker interaction when the service worker is wearing religious attributes. In order to operationalize this the Muslim head scarf, hijab, is chosen as stimuli. Reviewing previous research and theory in this field, it is clear that people have a preference for people that they perceive to be like themselves, this is referred to as homophily. Further on, the study investigates the ethnicity dimension of the service worker customer interaction. Theoretical areas of attractiveness and color are also investigated.

Studien avser undersöka hur unga Jehovas vittnen håller sin tro övertygande. Frågeställningar har varit hur de hanterar den mångfald av världsuppfattningar, värderingar och normer som inte är förenliga med Jehovas vittnens lära, hur deras tro bekräftas kontinuerligt samt om de upplever sig skilda från den icke-troende världen. Tre unga Jehovas vittnen har intervjuats för denna studie. Deras svar har relaterats till vad tidigare forskning och sociologiska teorier säger om att hålla tro övertygande, att vara ung och religiös samt om att vara ett Jehovas vittne. Frågeställningar och syfte besvaras genom ett flertal faktorer som träder fram i studien: församlingen utgör en starkt normbildande primärgrupp och utgör en stabil plausibilitetsstruktur.

This paper studies the Swedish Alien?s Act regulations regarding individuals in need of international protection. The purpose of the essay is to examine the differences between the three grounds of protection that are found in the Swedish Alien?s Act. Central questions have been whether the origins of protection statuses granted in this act are national or international, as the UN convention relating to the status of refugees and also the progress of the European Union?s Common European Asylum System both are affecting the Swedish legislation.

Syftet med studien är att undersöka effekterna av en läs- och språksatsning. Fokus ligger på att identifiera faktorer som påverkar skolor att delta, huruvida dessa har förbättrade elevresultat samt läs- och språkutveck-larnas upplevelser av förändringar i undervisning, lärarkompetens och elevernas måluppfyllelse. Undersök-ningen omfattar två extremgrupper; dels åtta skolor som deltagit, dels åtta skolor som ej deltagit. Data kommer från Skolverkets databaser samt från en enkät ställd till skolornas läs- och språkutvecklare. Den teoretiska ramen utgörs av en pedagogisk samspelsmodell.

The purpose of this paper is to explore to what extent some Swedish bishops (1972-2014), mainly archbishops, were influenced by postmodernity as described by Lyotard in his report La Condition postmoderne (1979).This report had a tremendous impact on the western cultural and philosophical debate in general during the very end of the twentieth century. I am trying to find out if this impact could also be observed in the religious sphere and particularly in the Church of Sweden. My theory used, is mainly based on the ideas presented in La Condition postmoderne and my method is a hermeneutical reading of eight pastoral letters. These letters were written during the time that the Church of Sweden transformed from being an officially recognized national church to a free church among other free churches and in this respect ended to be a part of the official governmental power. The terms postmodernism or post-modernity were scarcely used at all in the pastoral letters but on the other hand the bishops seemed to share many of the ideas that Lyotard presented, such as the view on the metahistory/metanarrative and the connection of knowledge to power, the necessity of dialogue and openness and the importance and the role of creating and maintaining language games..

Thid thesis concerns pre-Roman religion in Gaul, taking as its starting point Caesar's De bello Gallico. Caesar's account of the Gauls and their religious customs is compared with the accounts of Lucan, Pliny the elder and Ammianus Marcellinus. These are also compared to, and contrasted to, the archaeological evidence. There is some discussion of the nature of the common interpretations of this evidence. The concept of 'the Celts' is touched upon, since much of the relevant evidence has, in our time, been thought of as Celtic.

The purpose with this work is to describe the language that is built around the chronic fatigue syndrome (CFS) in Sweden. Our questions are: What does the professional field look like; who writes, about what and for which kind of readers? How do they describe the expressions and the upcoming of CFS? For which reasons can CFS be considered as a medical diagnosis/illness? How can CFS be understood from a social perspective? Our theoretical starting point is a social constructive theory and also Karin Johannisson's theory about medicalization and Foucault?s theory about power. We have from a literature-exposition of Swedish articles from 1989 to 2006, done a social constructive discourse analysis with help from Laclau & Mouffe's discourse theory, and Fairclough's model of social practices. In our textual analysis we found three dominating discourses: A medical discourse, a social/cultural discourse and a general/popular discourse.

The purpose of this essay is to investigate the term equableness in the Swedish elementary school with a take-off point in the free school reform from 1992. This essay starts with the political background of the terms equableness and freedom of choice and the official governmental guidelines. Research from Bo Malmberg and Gabriel Sahlgren act as a framework for the whole essay as their theories are tested. The main problem is presented as the question: is the debated concern regarding a lowered equableness since 1992 justifiable? Both researchers define equableness as a difference in grades but undertake a collective versus a more individual approach.

Det finns både nationella och internationella lagar och överenskommelser som ligger till grund för stridskrafters användande. Det finns också politiska styrningar från regering och riksdag om hur verksamhet ska bedrivas i form utav handlingsregler, som ligger till grund för Försvarsmaktens Rules of Engagement. Det finns alltså två dimensioner som Rules of Engagement kan reflektera: en politisk och en legal.Syftet med detta arbete är att synliggöra vilka begränsningar och möjligheter sampelet mellan politiska intressen och rättsliga grunder sätter på den taktiska handlingsfriheten. Frågeställningarna har besvarats utifrån en fallstudie på ubåt 137 grundstöttning utanför Karlskrona. Som teoretiskt verktyg för att möjliggöra analys har begreppet taktisk handlingsfrihet använts.Resultatet av denna uppsats är att den legala dimensionen är från början redan given, förankrade i sedvänja, traktat och internationella överenskommelser.