In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

The study aims to shed light on the phenomenon of employeeship at a Swedish Staffing Agencise . This has been done on the basis of two questions. How can employeeship look like in a service? What is the role given employeeship in developing contexts? In order to answer the purpose and issues have a quantitative approach been used. Based on the theoretical frame of reference has the form of surveys created.

To live in a relationship demands hard work with good communications, mutual respect, compromises, empathy and an understanding of your partners feelings and needs. For a person with ADHD all of this can cause difficulties and create a strained relationship, but it can also mean a relationship with thrills, adventure, spontaneity and passion. This study is built on a qualitative method using triangulation, where the studies empirical materials consist of 4 interviews along with observations online. The empirical material is applied on the theories: love, conflict and coping. The purpose of this paper is to increase the understanding of how it is to live in a relationship with a partner who has been diagnosed with ADHD. The questions at issue are: How does everyday life work with a partner who has ADHD? What different aspects (positive and negative) are there to live in a relationship with a partner that has ADHD? How is the possible if any help and support perceived in their relationship and everyday life? The results showed that a relationship with a partner that has ADHD looks like any other relationship, but that it can differ due to the possible difficulties that are at hand.

Today, many people have the need of contemplation due to higher stress levels in every day life compared to before. By examining the conditions of a secularized place of contemplation in greenbelts close to residential areas, I hope to contribute to a more balanced picture of how we utilize our greenbelts in the future. This kind of place is not a common phenomenon in our everyday outdoor environment.I have taken my starting-point in the traditional memorial and by that means been able to study the design of an existing delicate environment intended for mourning and contemplation. In this paper I review foremost the secularized place of contemplation in greenbelts close to residential areas from two central questions. First I examine its possibility to function as a place for mourning and contemplation.

Background: Fibromyalgia is a psychosomatic disease that emerges without any known cause. For a long time, it has been believed to be a part of the menopause. Between 0,7 and 4,8 % of the women in Scandinavia are diagnosed. The most obvious symptom is pain. Aim: The aim with the literature review was to describe how women with fibromyalgia experience their lifesituation.

This is a qualitative research paper, which aims to examine how religion classes are conducted in inner-city and suburban schools. Interviews have been performed with two religion teachers, one at Grindtorp School in Alby and one at the English Gymnasium in Södermalm. There have been performed interviews with eight students, four from each school. The students have a different age, sex and religious beliefs. With these interviews we can get a better understanding how the students of today?s school think about the religious education.

The aim of this study is, using the Swedish expression ?kulturtant? (cultured lady) as starting point, to understand how and why women consume the products of the culture industry more eagerly than men. The study is using the concepts put forward by Pierre Bourdieu; fields, capital and habitus. It is a qualitative study based on discussions in focus groups, interviews and material gathered through Google Alerts. In the literature this gap between the sexes with regard to the higher consumption on behalf of women has been referred to as the ?puzzle? of women´s cultural consumption.The empirical results show that the women in the study are well aware of what they want to gain by participating in cultural activities like reading, going to concerts, watching plays or going to the movies.

Within telecommunication and routing of tra?c in IP-networks a protocol named?Open Shortest Path First? (OSPF) is widely used. This means that a server dealswith the routing over a network with given weights by calculating shortest paths touse for routing. If we assume that a desired tra?c pattern is given the problem isto ?nd out if it is possible to set the weights so that the desired tra?c pattern is apart of a shortest path graph.

The purpose was to investigate how conversationalinteraction is pragmatically affected in Huntington?s disease; whetherthis can be assessed by means of a questionnaire completed by a closepartner and how the close partners consider communicative ability haschanged since the onset of illness. Three dyads, consisting of a personwith Huntington?s disease and a conversational partner were involved.Conversations were analyzed with respect to the parameters in thequestionnaire and through Activity Based Communication Analysis.The results showed word finding difficulties, impaired turn taking,feedback and body language, repair, articulation and prosody.Agreement between communication analysis and the close partnerreport varied between 54-65 %. The close partners consideredcommunicative initiative, articulation, turn taking and sentenceintonation as much changed.

This is a study of the way power relationships change when women start to play candombe in Montevideo, Uruguay. Candombe is a type of music, which is traditionally played by men within the black minority in the country. This study has been done with an intersectional point of view, taking the social categories gender, class and ethnicity in account. The method used was participatory observation in a field study made in Montevideo between November 2008 and February 2009.This study?s main conclusions are that the power relationships change with the participation of women in candombe in several important ways: The women legitimize an alternative way to be a woman when they take the men?s role as a drum player.

Every six baby that is born gets colic. It means that the child cries for at least three hours three days a week. For the child?s parents this is one big strain and feelings like despair, helplessness and isolation are common. The nurse?s task is to support the parents through respectful and empathic actions in order to relieve sufferings and increase their feelings of confidence.

The aim of this study was to examine differences between happy and unhappy people, with respect to individuals interpretations, their attributonal style and in what way the priming effect is related to their attributional style and well-being. The participants were 74 senior high school and 21 undergraduate college students. Participants were asked to read a short story, some words were in bold type, and thereafter for their subjective perception of the words in bold type loading and memory of them in a recognition list. Attributional style was operationalized with an own constructed instrument. The results show that happy individuals interpreted more words as positive than negative in comparission with unhappy individuals.

The point of departure for this essay is the observation that themunicipality of Lund is giving priority to handicap associations overother forms of associations. This act can be regarded as trespassinginto the realm of civil society. In respect of this, two aspects appearto be particularly interesting to explore. The first is to determinewhich perspective of freedom the municipality of Lund holds. Ireconstruct how the liberal and the communitarian state relate to thenegative and the positive freedom.

Internship is a new form of interaction between the academic world and the market and a phenomena increasingly popular among elite universities in Europe. The educational system has traditionally kept an academic approach where the institutions for higher education have acted isolated without extensive influence from the market. Today pressure from the market has led to intensified interaction between the universities and companies among many European elite universities. We have carried out a situational analysis concerning interaction between the academic institutions and companies in Europe. More specifically, we looked at the potential for Stockholm School of Economics (SSE) to strengthen its position on the educational market by adjusting its strategies and implement internships as a part of the education.

In September 2008, a proposition to limit auditors? liability for statutory audit was launched by a Swedish Government official report. Auditors? legal liability in this respect has been joint and unlimited for more than 60 years in Sweden. By using a qualitative literature study method, this paper aims at discovering how the proposed change in legal liability affects the legitimacy of auditors in Sweden.