In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

The objective with this essay is to establish the benefits of inserting media as an obligatory topic in the upper secondary school. In order to succeed with this I will not only type this essay I will also produce a medial production in the form of a film.  I have interviewed two senior masters on Södertörns College where I have reviewed different questions that relate to the matter's weight in school values and the society. In the study I will also reflect over existing research within the area and to link these to the issue and those interviewed opinions. In the film I also present statistics within the communication technology's increase and an explanation how one obligatory topic becomes an obligatory topic..

SammanfattningUtveckling sker inom golfen i Sverige och kunskapen om golfens olika delkapaciteter ökar, men hur ser ?helheten? ut? Detta är en är nulägesanalys på SAS Masters Tour utifrån fyra utvalda hörnstenar samt deras delkapaciteter som vi finner relevanta för elitgolfare i Sverige. Hörnstenarna är fysiskträning, psykiskträning, golfträning samt sociala aspekter.Syfte och frågeställningarSyftet är att ta fram en nulägesanalys utifrån hur elitgolfspelarna tränar idag samt deras egna uppfattningar om vilka behov en elitspelare bör kunna tillfredställa utifrån fyra utvalda hörnstenar.Frågeställningar:1. Vilka delkapaciteter prioriterar elitspelarna?2.

SammanfattningUtveckling sker inom golfen i Sverige och kunskapen om golfens olika delkapaciteter ökar, men hur ser ?helheten? ut? Detta är en är nulägesanalys på SAS Masters Tour utifrån fyra utvalda hörnstenar samt deras delkapaciteter som vi finner relevanta för elitgolfare i Sverige. Hörnstenarna är fysiskträning, psykiskträning, golfträning samt sociala aspekter.Syfte och frågeställningarSyftet är att ta fram en nulägesanalys utifrån hur elitgolfspelarna tränar idag samt deras egna uppfattningar om vilka behov en elitspelare bör kunna tillfredställa utifrån fyra utvalda hörnstenar.Frågeställningar:1. Vilka delkapaciteter prioriterar elitspelarna?2.

At Sandvik Materials Technology, Argon gas is used as furnace atmosphere when heattreating hot rolled wire. Upon heating chromium steel wire, a rich oxidelayer forms on the wire surface. The abstract of this masters thesis is to enhance the understanding of the constitution of the oxidelayers and the influence of the furnace atmosphere. This will be achieved by performing a number of annealing experiments on laboratory level. Also, the aim is to understand the chemical reactions and physical mecanisms controlling the pickling process.

The art of riding is a fugitive art, which signifies that the means available for documentation of performances are insufficient, and that the equipment used by the old masters are important clues for the understanding of their art. The most specialized tool used for riding is the bit, in particular the curb. As museum catalogues become accessible to the public through the internet, riders will look for information about bits. It is then important that the information provided in the catalogues is valid not just for the curator, archaeologist or art historian, but also for the rider.In this paper, I add context to the bits by explaining two opposing philosophies of bitting, and how they affect the design of the bits. This is followed by a brief history of the art of riding and how the bits have evolved since the 16?th century.

The aim of this two-year masters thesis is to look for the Swedish public library´s core business, using theories about competence. The approach is qualitative. It is done by studying the Unesco Public Library Manifesto, the Swedish library legislation, the education in library and information science, two important Swedish library related journals and by asking public librarians about their work and point of view regarding competence.The research shows mainly two sides of the core competence of public librarians: information technology competence and literature knowledge. The conclusion is that the two meet in the idea of mass education, which could therefore be called the Swedish public library´s core business..

Asset management in insurance companies differs from conventional asset management to the extent that respect has to be taken to both assets and the commitments the insurance company has towards its customers. A model that has proven to fit well regarding the matching of assets and liabilities is the Asset Liability Management Model (ALM model). In addition to the matching in the balance sheet, the ALM model can be used in a company's work with strategic portfolio allocation by applying it as a basis for analyzing investment strategies with expected risk and return. From this, the ALM model also becomes relevant for calculating key figures according to the legal framework Solvens II which includes laws and regulations regarding the demands on economical strength (solvens) of insurance companies.Hence, the goal of this masters thesis has been to, on behalf of Bliwa Livförsäkring, create an ALM model to support the asset management department of Bliwa in their work with defining a credible way of analyzing the future risk and return of Bliwa's asset portfolio and insurance undertakings.The ALM model generally consist of four submodels, the scenario model, the liability model, the asset model and the company model, where the scenario model often is named as the core of the ALM model. The course of action has been to develop these submodels individually, with focus on the scenario model.

The purpose of this Masters-thesis is to examine the impact of identity politics on (a) Turkey's foreign policy towards Europe and the EU, and (b) Europe's/EU's political attitude towards Turkey, and what implications this may have on a possibly future Turkish membership in the EU. It is a more interpreting thesis than it is an explaining one. The examination shows that Turkey has considered Europe as a political model, while Europe has used the muslime Turkey as a threat to determine its own identity. The negotiations between EU and Turkey this autumn will have great impact on the identity of both sites. If the EU accepted Turkey as a member, the union could gain a chance to spread democracy to the islamic world and thereby earn global respect.

This thesis is based on two different parts. First a presentation and a brief insight of the most comprehensive picture educational structures/theories and their various branches in Sweden from the post war period. Secondly a presentation of my artistic masters project Fantasy World, where I together with a group of children aged 7-12 freely created an artwork in the form of a world of its own, in sculptural expression. The idea behind the thesis has been to study how the perception of picture education and children?s creation has been in the recent decades and how different picture educational theories looks like and then to compare with the idea behind my project and how it may look in practice..

The aim with this Masters thesis is to examine the professional knowledge of the librarian. The method used is text analysis of a state public investigation, SOU 1969:37, that concerns librarian education. The theoretical starting point is a theory of knowledge thats descended from Aristotle. Three different forms of knowledge are central concepts in the theory: the theoretical, the practical and the ethical. The main issue in this thesis is: In what ways did the investigators look at the librarians knowledge? Was it in a changeable period of time? In that case, what reasons could there be? The conclusion shows that educational political changes were affecting the whole educational sphere at the late 1960:s, and in the beginning of the 1970:s, including library education.

This Masters Thesis considers tracking of ground targets. Since ground targets often are difficult to detect with sensors a track is easily lost in ground target tracking. The main question in this thesis is whether information on close targets and observations of them can be used to make the tracking more reliable. An algorithm using Kalman filters and JPDA-association to create a group track for vehicles travelling together has been implemented in Matlab. Using the state of the centre of the group the state of a vehicle in the group can be updated.

This examination paper is the account for the author?s work while arranging and registrating the business archives and business records of the Herman Bergman?s Foundry in Stockholm, Sweden. It is part of the one year Masters program in Archival Science at the University of Uppsala. The records are from the beginning of the 1900s to the 1970s. Most of the business archives are from he 1940s to the 1950s.

The objective with this essay is to establish the benefits of inserting media as an obligatory topic in the upper secondary school. In order to succeed with this I will not only type this essay I will also produce a medial production in the form of a film.  I have interviewed two senior masters on Södertörns College where I have reviewed different questions that relate to the matter's weight in school values and the society. In the study I will also reflect over existing research within the area and to link these to the issue and those interviewed opinions. In the film I also present statistics within the communication technology's increase and an explanation how one obligatory topic becomes an obligatory topic..

This masters thesis is a study of how the expression quality literature is used in widespread newspapers and magazines. Wittgensteins idea of language games is used as a theoretical starting point. The analysis of 37 articles draws a picture of five language games that are called; the taking over, the polarising, the example giving, the gender critical and the ironic language game. The expression that quality literature is most often put in relation to is popular literature. The line between the two is sometimes distinctly drawn in the articles and sometimes quite vague.