Dynamiken för en starkt accelerande robot har modellerats. Modellen linjäriseras så att roboten beskrivs som ett linjärt tidsvariabelt system. Denna representation beskriver roboten väl då robotens anblåsningsvinkel, vilket är vinkeln mellan robotkroppen och robotens hastighet, är liten. Eftersom det ej är möjligt att mäta alla robotens tillstånd har en observatör tagits fram i form av ett Kalmanfilter. Problematik vid framtagandet av observatören diskuteras i rapporten.

This thesis describes a system for dealing with free surface fluid simulations, and the components needed in order to construct such a system. It builds upon recent research, but in a computer graphics context the amount of available literature is limited and difficult to implement. Because of this, the text aims at providing a solid foundation of the mathematics needed, at explaining in greater detail the steps needed to solve the problem, and lastly at improving some aspects of the animation process as it has been described in earlier works. The aim of the system itself is to provide visually plausible renditions of animated fluids in three dimensions in a manner that allows it to be usable in a visual effects production context. The novel features described include a generalized interaction layer providing greater control to artists, a new way of dealing with moving objects that interact with the fluid and a method for adding source and drain capabilities..

Detta arbete beskriver en kvalitativ fallstudie som utförts för att undersöka hur ett företags produktportfölj samt varumärke kan skrivas in i gränssnittsriktlinjer för att framtida gränssnitt ska designas i enhetlighet med existerande produktportfölj samt varumärke. Fallstudien utfördes inom robotindustrin där en gränssnittsriktlinje utvecklades. Gränssnittet som var föremål för studien fanns på en handhållen enhet vilken används för att programmera och manövrera en robot. En arbetsgång i 13 steg togs fram, vilken anses kunna appliceras även på andra områden än robotindustrin för att skapa gränssnittsriktlinjer där både varumärke och produktportfölj tydligt framgår. En analys av de framtagna riktlinjerna efter utförd fallstudie, styrkte även denna uppfattning.

Incentive programs are one of the most important strategies that a corporation has in order to achieve its major policies and goals. The purpose of this paper is to identify these goals and their function, so that we later can analyze the incentive system?s effectiveness. The paper?s focus is on Max Hamburgarerestauranger AB?s incentive system, that is directed to the managers of all of its restaurants.We had interviews with the CEO, as well as the head of the Economics Department of Max H.

The aim of this thesis is to describe and critically investigate eight different evaluations of the retrieval effectiveness of webbased search engines. The questions to be answered in this investigation are: - What kind of relevance judgements have been used? - Which criteria have been used when judging the relevance of a document? - Which measures have been used? - How many queries have been used? - How were the queries constructed? - What document cut-off value has been used? - Has hypothes testing been applied? - What kind of webbased search engines have been included in the evaluations? The study showed that although the evaluations investigate the same phenomena, they are very different from each other in certain aspects. Generally the study showed that precision is the preferred measure in comparison to recall in the chosen evaluation even though all the included evaluations have constructed unique formulas for calculating precision. Some attempts to measure relative recall have been performed but they all suffer from different defects.

The aim of this study was to increase our knowledge about how the ?Conversational-contact with the social services? is experienced by the parents who attend it. The research was based on a qualitative method consisting of four individual interviews.Main issues of the study:? The parents experience of the content of the meetings with the social workers? Do the parents experience that the conversational-contact has contributed to some changes in their lives?Results indicated that all parents were positiv to the conversational-contact. Afterwards they felt more secure and stable both as persons and in their role as parents.

This project is a learning CD-ROM production aimed at first-time parents. It is using both sound and images, moving as well as non-moving. The purpose of the production is to be an interesting alternative to traditional books. We have been looking at similar productions like drivers license educational CD-ROMs and encyclopedias for inspiration and ideas on how to proceed. In order to give the content some dynamics, we've also added the element of 3D-animated sequences. The application is supposed to be run as a simple executable file with flash embedded.

At Uppsala university scientists have during the last years developed and built wave energy converters. This project is called "Lysekilsprojektet". The development has come so far that they are currently investigating how to gain profit in a mass production. For that reason they want to automate as many steps in the production as possible.The winding of the stator is one part that is being automated using industry robots. The stator is cable wound unlike many other generators.

In 2005 over 48 000 senior citizens fell so badly that the needed medical care and almost 1200 of them died. This makes falls in the elderly one of our biggest public health problems. Research in this area is extensive and although we know what causes a fall and how we in theory should work to prevent their occurrence, this is a problem that is increasing. There seems to be a gap between research and practice, and research into why this gap occurs is very narrow. The purpose of this study was to identify success factors with fall prevention from a staff- perspective.

Ramsta Robotics är ett företag som ligger i Uppsala. Företaget grundades 1999 av tre uppfinnare. Man har utvecklat en robot, som används för att göra rent i djurstallar. Tvättarbetet har hittills gjorts helt manuellt med högtryckstvätt. I framför allt svinhus ärarbetsmiljön direkt hälsovådlig ? bland annat på grund av alla de kväveföreningar som löses ut när vattnet blöter upp anläggningen.

På moderna missiler ställs inte bara krav på nedslagsposition utan i allt högre grad även på nedslagsvinkel. För hårt bepansrade mål är vinkeln kritisk då det finns risk att missilen studsar om den kommer in allt för flackt. Samtidigt ökar träffprestandan då en optimal nedslagsvinkel och nedslagsposition används. Med anledning av detta föreslås en styrlag för att reglera missilen efter på förhand genererade referensbanor i vilka nedslagsposition och nedslagsvinkel kan specifieras. Styrlagen är indelad i två huvuddelar och inleds med en optimal styrlag för att reglera ut navigationsfel från tidigare faser och ta missilen till referensbanan.

The aim was to investigate three anti-racist groups of pupils, their thoughts about respectively their work against racism. The aim was divided into the following questions: - What is, according to the groups, racism and what does the situation look like at the schools? - What does the dynamics in the group look like? - What courses of action are the groups using and how can they improve their work? - How can the groups be described according to the terms work group and basic assumption group? To answer these questions I made three group interviews, one with each group. I analysed the results partly according to earlier research and literature, partly according to the group theory of WR Bion, using the terms work group and basic assumption group. My conclusion is that the word racism seems to have been affected by inflation, since the groups include bullying as well as anti-racists.

This essay contains a comparative analysis of Erik Olin Wrights Marxist class analysis and Michael Hardt and Antonio Negris post-Marxist class analysis as presented in their books ?Empire? and ?Multitude: War and democracy in the age of Empire?. I discuss the shift in analytical focus from state level to global level that Hardt and Negri's analysis represent and the ensuing relevance of this for contemporary class analysis. The essay also address the challenge and implications posed to class analysis by the ever increasing economic globalization, from a material production to an ever growing immaterial service economy and the decrease in state power in controlling capital and labor movement. I propose that analytical understanding of class conflict help us to a better understanding of the mechanisms and dynamics that generate social and economical inequalities and that an updated Marxist class analysis still have much to contribute to our understanding to how these issues not only shape our society but also our capacity to counteract them..

Obese horses with insulin resistance are often also afflicted with laminitis. Horses with these symptoms are given the diagnosis equine metabolic syndrome (EMS). Signs of insulin resistance are excessive accumulation of adipose tissue on the neck, around the withers and on the dorsal area of the hindquarters. Insulin resistance means that the function of insulin is defective and does not stimulate glucose uptake by the cells in the body in the correct way. This will result in an increased insulin release.

Focus of this study is an examination of the Swedish school today, its transformation and complexity when also the community outside of school undergoes changes in shape of among other things a different population composition and new political ideas. More specific the aim of the study is to understand how Gustav Adolfsskolan in Landskrona, a compulsory school in south of Sweden, legitimates the language rule that is in effect in the school. It?s a relatively new measure undertaken in the school and both the problems in the school and this measure have been widely discussed in the public media. The theoretical sources of inspiration have come from Weber, Galbraith and Elias and include power relations and dynamics within social mobility when people establishes in new places.