The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

The purpose of this thesis is to study how some librarians working at a public library experience problems that can occur at the reference interview, slightly focusing on communication difficulties. Therefore I interviewed three librarians working at the reference desk on a daily basis. I chose to limit the study to public libraries and to the south of Sweden. My main question is: what difficulties can a librarian encounter during a reference interview and what can he/she do to treat these? In support of my main question I have three subordinated questions:What reasons can there be to a librarian not understanding a user?s information need?What methods are useful for a librarian to enhance the condition of the reference interview? What attitudes and qualities can be of use for the librarian at a difficult reference interview?For the collection of empirical data I chose to use semi-structured interviews.

To end up as an immigrant in an unknown country and to try to participate in the majority society means both psychological and physical difficulties where their whole life is changing. Gemensamma Krafter is a prevention changing work in a housing area in Borlänge. It works among other things as a meeting place for people from different cultures. The aim with this study was to describe and to get increased understanding for the lives of a number of immigrant women who lives in Borlänge/Sweden and which importance ?Gemensamma Krafter? has had for them.

This essay studies how advertisements in various anti-smoking campaigns can influence and persuade by using anti-logos as counter-arguments to the tobacco industry's logos. In contrast to tobacco advertising arguments such as freedom (logos), pleasure (pathos) and trademark (ethos) the anti-smoking campaigns create anti-logos arguments with various connotations such as repulsive pictures and sexual implications to influence groups of people not to start smoking or to quit smoking.Advertisement of tobacco does not exist nowadays due to legal restrictions in the western world; however several decades of myths created in the consumer consciousness still exist. Thus one can speak of a tobacco advertising ideology that exists and the various anti-smoking campaigns trying to change that ideology.The purpose of anti-smoking campaigns is to conduct a kategoria of myth that tobacco advertisement has created over the years. Anti smoking organizations do this by creating a new ideology to affect consumer?s attitude toward smoking and the tobacco myth with an anti-myth.

Under operation Iraq Freedom uppvisades i media en bild av en snabb och tempofylldframryckning mot Bagdad. Denna bild kontrasterade mot den som normalt förknippas med USArmy och dess krigföring. Skulle denna bild kunna vara med verkligheten överrensstämmande?Har nya tankegångar och doktriner fått ett sådant genomslag att US Army anammatmanöverkrigföringens elementa och faktiskt nyttjar det, även på taktisk nivå? Har teori såledesblivit praktik?Syftet med denna uppsats är följaktligen att verifiera eller falsifiera en hypotes, utgående i frånatt amerikanska enheter ur US Army anammat manöverteorins nyckelbegrepp och numeraanvänder sig av manöverkrigföring på taktisk nivå och således lyckats implementera en ny teori ipraktiken. Detta har gjorts genom att genomföra en fallstudie av den tredje amerikanskainfanteridivisionen (mek) och dess agerande vid olika händelser från dess att framryckningenstartar i Kuwait den 20 mars och intill Bagdad faller den 9 april.Analysen visar att divisionens agerande under dessa studerade händelseförlopp i hög gradpräglades av manöverkrigföring och att förbandet följde gällande doktrin vilken i sin tur byggerpå hörnstenarna i manöverteorin.

AbstractEssay in political science, C-level, by Julia Leonsson, spring semester 2007Tutor: Susan MartonFreedom ? The political philosophy of our time?An analysis of the ideas of the international debate aboutChávez socialistic politicSince more than 2000 years there has been an ongoing discussion about whether state interference is a good thing or not. Most international organisations on the international political arena are today founded on neoliberal values, and it has developed in to the hegemonic ideology of the world. The socialistic politics of the Venezuelan president, Hugo Chávez is thereby a somewhat unusual strategy. The purpose of this essay is to examine to what extent the international debate about Chávez socialistic politic can be understood through a neoliberal perspective.

The investigation analyzed the implementation and application of the Swedish National Archives' new Process-Oriented Archives Description Model to activities of the hierarchical, function-oriented and decentralized university organizations.The basic reason why a new archive description has evolved is because documents are becoming more and more digital. It requires a new interpretation of how evidence is secured for their reliability and authenticity, and a new way of looking at provenance, for the purpose of describing and searching electronic documents. The new archive description model's logical structure is based on business processes.The relationship between the new archive description and a function-oriented organization's activities can be seen from the different outlooks of processes between archive activities and activities of the organization. It is also reflected in the modification that all universities have made ??of the new archive description model to be more flexible and pragmatic to fit a function-oriented organization.The relationship between provenance and process-oriented archive description is mainly the link between documents and business processes that produce them.

The purpose of this thesis is to investigate whether the lower secondary school teaching in religion leads to a positive understanding and openness, concerning different religions and cultures. We want to study how pupils in grade eight and nine in two lower secondary schools in a multicultural community comprehend different religions. Since we choose a pupils perspective we decided to do a questionnaire to get a wide ground. As a complement we interviewed twelve pupils and also did observations during their religion classes. During our study we focused on three different themes.

AbstractAt a time when the discussion of feminism is hot in the media, in the schools and in the cottages so I have been interested in how feminist worlds order might look like and what are the roads there. There are plenty of barriers in the community, some of them you easily could influence.This essay problematize and define the problems behind the difficulties of reaching a feminist world order, but also the factors that are important to achieve this world order. How colonization that began several hundred years ago spread and secured the patriarchal society and its influence all the way to the society of today. But even more immediate factors, on how we ourselves are involved in shaping our society in terms of where we live, how we educate ourselves, and what jobs we choose. Status symbols in society as economics, profession and political influence are all to be reckoned with when it comes to influencing society.

The investigation aims to clarify to what extent non-conscious thought has efficacy in e.g. decision making and also examine some aspects of the question whether decisions are caused by free will. This will be conducted through an analysis of new research pertaining to neuroscience, economics, the combination of the two within neuroeconomics; evolutionary theory and especially the new theory of Unconscious thought (Nordgren & Dijksterhuis 2006) which will enjoy special scrutiny due to its recentness in the scientific field. A decision strategy ought to put high-level conscious cognition to use where it's most effective and this is on a different level than the canonized one. Meta decision making is decision making pertaining to which decisions ought to be made consciously.

Uppsatsen Religionsundervisning för livet - En förskjutning från lära i religion, till lära om och från religioner, har syftet att redogöra för den utveckling av religionsämnet som skett framförallt från Lgy70 till Lpf94 men även beskriva religionsämnet dessförinnan i skolan, samt att redogöra för hur man kan arbeta med utgångspunkt i moral, etik och livsfrågor i gymnasieskolan och motivera detta arbetssätt utifrån Lpf94 och kursplanen för religionskunskap. Metoden som använts är en deskriptiv litteraturstudie.För att uppnå syftet har följande frågor besvarats:1- Hur har religionsämnet förändrats i skolan?2- Är det motiverat att undervisa i religion, med utgångspunkt i moral, etik och livsfrågor?Litteratur som använts för att besvara frågeställningarna är bland annat, Härenstams Kan du höra vindhästen? Religionsdidaktik- om konsten att välja kunskap, Grimmits Religious education and human development. The relationship between studying religious and personal, social and moral education, Alméns Livstolkning och värdegrund. Att undervisa om religion livsfrågor och etik, samt Erikssons På spaning efter livets mening.

Equality is a central aspect within development work. All development work is expected to be influenced by a gender equalty thinking, and these directions are distributed by the Department of Foreign Affairs, through Sida to Forum Syd and down to the very grasroot level, through Forum Syds local cooperation organisations. The essays question of research is a reflection over empowerment, with other words how international organisations influence other societies understanding of the society dynamics. This aspect triggered my interest for the subject, aswell as the link between aid, equality and men, and how these factors are in need of eachother. My study is mainly build on theoretical starting points, and not on earlier studies.

The authors of this paper intended to study and compare local secondary schools(municipally owned schools) and independent secondary schools(privately owned schools) in Stockholm County. The purpose oft his paper is to explore how secondary schools market themselves and whether the view and use of marketing is different between municipal and independent secondary schools. The essay is by nature multi-case study and interviews were conducted with representatives from four high schools, two municipal and two independent, one representative from Education Committee and one from Privet Schools? Association.The introduction of School reform in 1992 enabled opening of privately owned schools and empirical datas hows that before 1992 secondary schools did not have the same extent of competition and the need of marketing was not widespread, but today there is fierce competition among secondary schools. The introduction of School reform changed the conditions for the Swedish school market, greater freedom of choice led to atougherfight for the students, which in turn increases the competition between secondary schools.

On the internal market within the EU, freedom of establishment under articles 49 and54 TEU stipulates that companies have the right to set up businesses in other MemberStates. On the internal market there are 27 different national tax law systems whichhave caused obstacles regaring taxation between Member States. These obstacles havebeen shown deterrent when a company enters a new market. One problem area is thelack of cross-border loss compensation for groups. This means that cross-bordergroups is over taxed when they are unable to set of gains against losses.

By means of group contributions the legislator has made it easier for company groups to transfer profits from a parent company to a subsidiary. A parent company can choose to reconstruct by acquire a company, create a subsidiary or perform a partial fission. The choice can affect the possibility for a parent company to perform a group contribution with deduction right.The parent company has to own more than 90 percent of the subsidiary?s shares for a whole taxation year or since the subsidiary began to carry out any economic activity in order to perform group contributions with deduction right. If a subsidiary is acquired, it has to be owned for a whole taxation year before group contributions with deduction right can be made, unless the acquired company never has carried out any economic activity before.