Arbetet har utförts på Saab Bofors Dynamics i Karlskoga och dess syfte var att undersöka om det är möjligt att använda modellbaserad prediktionsreglering, MPC, vid slutfasstyrning av en viss typ av robot. Som referensram används linjärkvadratisk reglering, LQ, eftersom denna reglermetod har undersökts tidigare och visat sig fungera bra vid slutfasstyrning, dock för en annan typ av robot. Anledningen till att man vill undersöka om det är möjligt att använda MPC är att styrlagen enkelt tar hand om begränsningar på systemet på ett direkt och intuitivt sätt.Styrlagarnas uppgift är att styra en robot i dess slutfas då det finns krav och önskemål på roboten som bör vara uppfyllda. Till exempel finns det begränsningar på styrsignalen samt önskemål om att träff ska ske i en viss träffpunkt och även med en viss träffvinkel. För att utvärdera resultaten undersöks och jämförs de två styrlagarnas prestanda och robusthet.För att kunna utvärdera styrlagarnas egenskaper och jämföra dem implementeras de båda i en befintlig detaljerad simuleringsmiljö, som har utvecklats på Saab Bofors Dynamics i Karlskoga.De prestanda och robusthetstester som har utförts uppvisar små skillnader på de två styrlagarna och slutsatsen blir därmed att det är möjligt att använda modellbaserad prediktionsreglering vid slutfasstyrning av en viss typ av robot eftersom det sedan tidigare är känt att linjärkvadratisk reglering är en bra styrlag att använda.

Corporate responsibility is a popular phenomenon of today. The interest for the subject is extensive and means for implementing corporate responsibility strategies within organizations are demanded. There are studies showing how management control systems can be used in order to implement general strategies into organizations. Still, management control systems designed for the implementation of corporate responsibility strategies, in particular, are not provided by the current academia. The aim of this paper is to contribute to studies within management control systems by studying the management control system specifically designed to implement corporate responsibility strategies.

The aim of this study is to examine some teachers and assistants? perception of conditions for students? democratic participation in the compulsory school for learning disabilities specialization training school. In order to deepen and more clearly describe the purpose of the study, three issues have been selected. Firstly, how do teachers and assistants perceive the concept of participation? Secondly, how do teachers and assistants perceive students opportunities for participation in teaching? And finally, do teachers and assistants perceive students? opportunities for participation in democratic activities of school? It is a qualitative study using semi-structured interviews.

In 1994 the EU directive of packaging waste was adopted. The result was that all EU member states developed different systems to manage packaging waste and recycling. This paper examines the various systems and the factors that affect the level of recycling. This is done by a cross-sectional study between countries. The results of my study suggest that take-back system generates less recycling than other systems, the mandatory deposit system can affect the recycling in a positive way.

Syftet med denna C-uppsats har varit att undersöka hur metoden Aggression Replacement Training (ART) används i arbetet med ungdomar. I ART tränas den unge i att förändra sitt aggressiva beteende och sina värderingar och ersätta dessa med positiva tankar och handlingar. Metoden är multimodal vilket innebär att den kombinerar olika delar i en och samma metod för att genom strukturerade övningar komma fram till bäst resultat. I vår undersökning har vi gjort fem kvalitativa intervjuer som vi sedan har jämfört med varandra och tidigare forskning. Vi fann att killar var överrepresenterade på ART träningen, att killar tenderar vara mer aggressiva och utåtagerande än tjejer.

This paper is about the different parts within the officers training that motivate the cadets to continue their employment within the armed forces after graduation, it also brings up the different parts that influences their motivation in a negative way. Six cadets from the 2011 class at the military academy at Karlberg have been interview in order to give their view on the following seven themes; reasons to take employment, collegiate attitude, comfort, study motivation, perceived education quality, the regiment and career. The responses have then been compared to the previous research at a cadet level which have been scarce. The result followed the previous findings about conscript?s motivation to continue their career and officers to end theirs.

Management control systems are a popular area of research and a lot of new research has been done over the past years. This development has been looking into new situations and circumstances, and interdisciplinary studies are being made to further understand the connection between different fields of study. A new field of study that has grown significantly over the past few years is the connection between management control systems and entrepreneurship. Leading researchers have proposed a number of questions for further research and one of them is the board of directors? use of management control systems in entrepreneurial firms.The purpose of this study was to examine the differences and similarities in the board of directors? use of management control systems between entrepreneurial and non-entrepreneurial firms.The study was conducted as a deductive qualitative study through interviews with respondents from entrepreneurial and non-entrepreneurial firms.

This master thesis has been carried out at Scania R&D at the department for Powertrain Control System Development during the winter of 2010/2011. In the thesis the writer examine and evaluate the existing method for collecting information from the tests carried out during the development of the Powertrain Control Systems software. It also contains suggestions for how a new method that enhance the validation elements could look like.The master thesis uses Vicentes theories of the ecological approach and theories of how knowledge sharing of tacit and technical information works within an organization and between the organization and its customers. First a workplace analysis at Scania R&D is carried out to see how Powertrain Control Systems work and how they test their software. Second a control task analysis, where the aims decided on after the interviews, is compared to the existing method.

The ability to tackle NP-hard problems has been greatly extended by the introduction of Metaheuristics (see Blum & Roli (2003)) for a summary of most Metaheuristics, general problem-independent optimisation algorithms extending the hill-climbing local search approach to escape local minima. One of these algorithms is Iterated Local Search (ILS) (Lourenco et al., 2002; Stützle, 1999a, p. 25ff), a recent easy to implement but powerful algorithm with results comparable or superior to other state-of-the-art methods for many combinatorial optimisation problems, among them the Traveling Salesman (TSP) and Quadratic Assignment Problem (QAP). ILS iteratively samples local minima by modifying the current local minimum and restartinga local search porcedure on this modified solution. This thesis will show how ILS can be implemented for MSA.

This essay sets out to compare political participation in two e-petition systems: The Malmö initiative in Malmö, Sweden, and Better Reykjavik in Reykjavik, Iceland. The main question of the essay concerns the aggregative and deliberative qualities of the Malmö initiative and Better Reykjavik, as well as the relationship between aggregation and deliberation. This main question is divided into four subqueries that lead the empirical analysis. These are: (1) Which similarities and differences in terms of design are there between the Malmö initiative and Better Reykjavik? (2) To what extent have these systems mobilized an aggregative political participation? (3) What similarities and differences are there concerning aspects of deliberation? and (4) What is the correlation between aggregation and deliberation like in the two e-petition systems?The method in use is a comparative cross-sectional study with a 'most similar research design'.

Near Field Communication (NFC) is a short range wireless communication technology that enables data exchange between devices. NFC is used in many different areas, from subway tickets to authentication systems. This paper presents possible security threats to Near Field Communication and documented attacks that have been used to target various NFC protocols. Weaknesses in different NFC protocols will be presented and suggestions on how to counter certain weaknesses will be discussed. This survey will be valuable for companies interested in protecting their data when using or planning to use NFC systems..

The capacity to extract information from vehicles has the potential to be very beneficial. Performing analysis on information about fuel usage, emission values and other driving properties of a vehicle can lead to great economic and environmental benefits.This report contains descriptions of two prominent systems for retrieving information of this nature from a vehicle, On-Board Diagnostics and FMS-Standard, and of an implementation of FMS-Standard.The conclusion drawn after this investigation is that these systems do indeed offer access to the benefits mentioned earlier, although to varying degrees and with differing prioritisation..

Vi har i vårt arbete studerat hur ART (Aggressive Replacement Training) som metod kan användas ute i skolans värld. Frågan vi ställde oss var: Kan ART användas som resurs i grundskolan och i så fall hur? Arbetet syftar till att belysa och konkretisera ART både som behandlingsmetod för elever med aggressivt beteende samt i förlängningen, integrerat i skolverksamheten som skolämne. I teoridelen beskriver vi ART utifrån litteratur i ämnet, tillvägagångssätt och metodik. I empiridelen har vi intervjuat både elever och pedagoger/tränare ute i verksamheten.

AbstractA systematic replication study was conducted at the training site at the University of Karlstad. Student therapists performed cognitive-behavioural therapy (CBT) as a part of their master?s degree in psychology.  The systematic replication that took place was based on the work of Hiltunen et al. (2013), who evaluated the efficacy of CBT treatment conducted at the training site previously mentioned.

The ability to tackle NP-hard problems has been greatly extended by the introduction of Metaheuristics (see Blum & Roli (2003)) for a summary of most Metaheuristics, general problem-independent optimisation algorithms extending the hill-climbing local search approach to escape local minima. One of these algorithms is Iterated Local Search (ILS) (Lourenco et al., 2002; Stützle, 1999a, p. 25ff), a recent easy to implement but powerful algorithm with results comparable or superior to other state-of-the-art methods for many combinatorial optimisation problems, among them the Traveling Salesman (TSP) and Quadratic Assignment Problem (QAP). ILS iteratively samples local minima by modifying the current local minimum and restartinga local search porcedure on this modified solution. This thesis will show how ILS can be implemented for MSA.