The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

To be able to plan different treatments, accurate data is required. The collection of data is often expensive and that?s why the aim is to lower the inventory costs without loosing the accuracy of the data. Holmen Skog has in its strive to lower the costs, decided to evaluate two different methods for forest delineation, computer aided forest delineation and digital stereo view. This study?s purpose is to evaluate these two methods in regard to usability for a beginner and how good the delineation gets.

This thesis describes the redesign ofequipment designed for drying bags thatis used in Fresenius Kabis´manufacturing of their nutritionmedicine in Uppsala. The need of thistask arise during the start of thedevelopment of a new packaging line werethis equipment were meant to be used. Anevaluation of the bagdryers capacity andcapability was necessary.The work started with gathering ofinformation from suppliers of the usedcomponents and from the responsibleengineers for this equipment. Aneducation to learn how the equipmentworked and how to operate it were taken.That was followed by the creation of astudy plan were the tests were plannedto test different parameters effect onthe drying result and to see if thebagdryer managed to handle the bags ofthe correct format in the pace that theequipment should be designed for.The test results detected a need ofdesigning a unit with a function thatholds the bags in place while passingthrough the dryer in order to attainhigh quality results. The results werelater used for optimization of thedesign.

Intergovernmental Panel on Climate Change (IPCC) recognizes glaciers as the best land-indicator of climate change. A variety of studies have concluded, using both modeling and field studies, that above all climate parameters precipitation, particularly winter precipitation, and summer temperature controls the change in glacier mass balance. With global warming almost all glaciers on Earth are losing mass. In this study, the summit-glacier constituting Kebnekaise's south summit (called the Southern-summit henceforth), Sweden's highest point, is studied to see how it is affected by winter precipitation and summer temperature during the period 1968?2013.

All human beings need and have the right to a language. How a language is learned and used depends on the individual conditions. This study considers the work to development the language done by pedagogues in a special school for mentally retarded children. How do pedagogues work to develop the language in children who are so different and have so different conditions and needs? That is the central aim of this study.

I have worked with Bergum in different courses on the IntegratedConservation of Built Environments program and I thought it was a veryinteresting subject. This is the main reason why I chosen to write mybachelor paper about Bergum.In 1650s Bergum was situated on the border between Sweden and Norway,because of that it occurred some war conflicts.Today Bergum is a socioeconomic border and is situated in an areabetween the city?s concrete suburb and the countryside.The difference between the city?s concrete suburb and the countryside mayfeel like two different worlds, were the social contact is fractional.With this paper, I will indicate a countryside area on the boundary to the citythrough time and try to survey the building history. I will also try todemonstrate the socioeconomic differences between the areas.I will demonstrate Bergum history from prehistory to present time, were I willdiscuss the agriculture history, Vättlefjäll?s forest history and also thedeforestation and replanting.

Real-time systems are required to answer to external stimuli within a specified time-period. For this to be possible, the systems behaviour must be predictable. The use of active databases in real-time systems introduces unpredictability in the system, e.g. due to their use of active rules. The behaviour in active databases is usually specified in ECA-rules.

Organizations today face big challenges as a result of increased exposure. A distinct and recognizable identity is required to differentiate. Consistent and coherent communication about what the organization stands for and where it is going is crucial if you want to succeed. This is a case study of how organizational members from two real estate companies that have merged into one, perceive their merged organization. The method is depth interviews with management representatives and focus group interviews with members from different levels of the company.

The aim of our bachelor thesis was to study how the personnel incharge of the mobile websites at two University Libraries and thestudents at those Universities viewed the mobile websites, and iftheir views in any way differed.Our research questions were:Why have the examined Libraries chosen to offer mobilewebsites?How do the students at the examined Universities experience anduse respective mobile website?Are there differences between the staff?s intentions with themobile websites and how they are used and experienced by thestudents, and how could they be explained?Semistructured interviews were conducted with six staff membersresponsible for the mobile websites and eleven students that hadexperience in using these. The theoretical framework for thisthesis consists of Klasson?s three models for University Librarianspersonas, and the parts of Rogers theory about diffusion ofinnovations that concerns the attributes of innovations and thecommunication channels.The result of the study indicates that there are some differencesabout how the students use and experience the mobile websitesand the staffs intentions for them. The students required contentwhich the staff had discarded.

Aim: The aim of the current study was to investigate nurses? experiences of caring for palliative patients in palliative home care, and to examine the coping strategies they use.Method: The study was empirical descriptive with qualitative approach. The data was collected by nine semi-structured interviews and analyzed by using manifest content analysis.Result: By analysing data three categories: Positive experiences of palliative home care, Stressful experiences of palliative home care and Problem-focused coping strategies, and 15 subcategories, were distinguished.Conclusion: Experiences of palliative home care were both of positive and challenging characters. Stressful situations were managed by problem-focused coping strategies. Nurses are in need of the work situation at home to become more ergonomic and designed to protect the nurse?s physical wellbeing.

The main purpose of this master thesis is to study the information support by the head office of the Swedish social insurance office to its administrators. The thesis only focuses on information that concerns laws, regulations and instructions. The study is based on an interview with the head of the division of law at the social insurance head office and a questionnaire answered by administrators in four different counties. The purpose with the interview was to find out about the information strategy of the head office and in the questionnaire the administrators could describe their opinion of their information support. Our special interest was the information channels and how the administrators were able to absorb the essential information.

Intimate partner violence against women has gone from a concealed family affair to a public issue. The health care services are often those who first come in contact with abused women, despite this many women are not identified as victims of domestic violence. The purpose of this study was to describe nursing care of abused women and factors influencing the care. The study was conducted as a literature review where 18 articles were analyzed. The result showed the importance of the nurses? role in screening for abused women.

The aim of this research paper was to examine the help required by refugee children with post-traumatic stress disorder (PTSD). In addition to this, we also examined the help the refugee children are currently receiving. We have examined this from the perspective of the theory of the ecology of human development. The method we used was qualitative and we conducted eleven profound interviews with professionals working with the target group in question. The essential questions were; which needs, according to the professionals, do refugee children with PTSD have, what characterises the professional's work to help the children and what possibilities and obstacles there are in giving the children optimal help.The results strongly conclude that it is important for the children's development to have at least one supportive adult in their surrounding, a positive experience at school and during leisure activities.

Marketers are today confronted with new forms of media and tend to use different strategies to exploit these media. The podcast medium has emerged in a time of changes in terms of media planning. By using stimuli containing identical context with different forms of advertising, this thesis seeks to explore whether ads, sponsorships or product placements is more favourable for an advertiser to practice in the podcast medium. The purpose of this study is to investigate the differences in communication effects, such as attitude towards the brand and purchase intention, depending on the form of advertising. Testing if previous research, made on the same format but in different media, is applicable in the podcast medium carries out the study.

The purpose of this essay is to find out what new graduate teachers conceptions are of their own leadership in the classroom. The paper also aims to examine the different leadership styles the teachers perceive themselves to use. My study is based on qualitative data collected through interviews, where the informants are newly graduated teachers in grade 1 to 6. Using a qualitative approach has made it possible for me to get a deeper understanding of this study. I have also used previous research in this area where Arfwedson (1993), Franssons & Morbergs (2001) and Paulin (2007) presents a number of experiences that student teachers and recent graduate teachers has shared.