The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

Bakgrund: Över hela världen finns brister i ungdomars sexuella hälsa. Det är inte helt ovanligt med könssjukdomar och oönskade graviditeter. Tidigare forskning visar att det här problemet har funnits länge men att inte mycket har gjorts för att ändra på det. Syfte: Syftet med den här litteraturöversikten är att belysa hinder och möjligheter gällande sexualundervisning och rådgivning utifrån sjuksköterskans hälsofrämjande arbete. Metod: En litteraturöversikt med sökning efter material i databaserna Cinahl och Scopus.

This paper contains an analysis that sets out to investigate how sustainable development is portrayed in textbooks used in gymnasium level civics education. The study covers three textbooks, all in current use. The paper sets out to explore the relationship between the books chapters on economics and those about environmental issues. The sum of these two parts is in the context supposed to make up the books big picture of green sustainable development, i.e. the ecological aspect of sustainable development. An analytical model will be used to categorise and compare the three textbooks.The method chosen for this is analysis of ideas by use of ideal types.

Narratives about UFO:s and extraterrestrials can be regarded as part of an everyday religiosity, yet the issue has been poorly studied outside an American context, within the discipline of Religious Studies. In this paper, I therefore seek knowledge about the further development of these narratives within the Swedish UFO-movement from the 1960?s until today. Influenced by social anthropologist Claude Lévi-Strauss´ discussion about mythems as the smallest components of a myth, I argue that the stories which emerge within the Swedish context differ from the American ones. This difference consists of both loss of certain mythemes and the addition of others to this mythic complex.

Using a symbolic interactionistic analytical approach, this essay aims to study the socialisation of young women?s sexuality in treatment institutions for young women. Through qualitative interviews with staff members at said institutions, concerning their views on young female sexuality, and how they discuss sexuality with the young women in the institutions, my aim was to identify the socialisation of young women?s sexuality. I have also investigated how the staff experiences their own sex as an important factor in conversations about sexuality with young women, as well as the possible effect sexually mixed or sexually segregated institutions exert upon conversations about sexuality.

This essay looks in to the logistics operational significance during the Korean war,1950-1953. The purpose is to give an orientation about how the logistical functioninfluenced the events during the Korean war. Aiming on the investigation anddescription of the logistical organisation and it?s consistency on operations. To achievethe purpose the author searched the answer to two main questions during the analyse ofthe different texts.

The purpose of this study is to identify the points-of-difference that should form the basis for Bryggarsalen?s future marketing efforts. Bryggarsalen is a newly established conference business in Stockholm. To be able to identify these points-of-difference, Bryggarsalen?s marketing problems have been studied from the resource-based view, claiming that the source of sustained competitive advantage derive from a firm?s unique bundle of resources.

This study focuses the gendered relations of the Military Academy of Karlberg. More specific the study is investigating the experiences among young women and men cadets of suppression techniques. The purpose of the study is to get more knowledge about the work climate and suppression techniques at the officers? training program 2007/2010. The research questions employed for the study were:- Do the women and men officer students/cadets have any experiences of master suppressiontechniques at the officers? training program?- What kind of master suppression techniques occur at the officer?s training program?- What kind of master suppression techniques do women experience?- What kind of master suppression techniques do men experience?The study is a survey and data were retrieved by a questionnaire sent out to the participants.

The purpose of the essay is to examine the views on sexuality that guide the Swedish Migration board and court?s judgments and decisions in asylum cases. The essay investigates seven cases from the Swedish Migration court regarding asylum seekers from seven different countries seeking protection in Sweden due to their sexuality and/or gender identity. By applying discourse analysis, along with the theoretical perspectives of Judith Butler and the postcolonial critique of Chandra Talpade Mohanty, the essay discuss what kind of criteria and/or practice is demanded of the asylum seekers to be rendered as trustworthy. The essay concludes that the asylum seekers are considered untrustworthy by the migration authorities when not acting according to a (hetero)normative sexuality.

This essay describes my work as a director in a specialized orientation within psychodrama, surrealistic psychodrama. Using the language and performance techniques of theater and under the guidance of a director, psychodrama creates an improvised narrative or story. The essay describes several dramas I have directed, reflecting on my actions and choices as a director and group leader. I examine whether my working method has allowed me to be spontaneous and creative, which I believe the example of "The dangerous bear" demonstrates. The process enabled me to establish trust and receptivity so that a newly constituted group dared to investigate conflicts in symbolic ways associated with illness and death.

This essay deals with 18 year old boys´ experience of their usage of pornography. My main focus was the pornography found on Internet, which includes pornographic films and nude pictures.Both developmental and social psychological perspectives were applied in the study. These theoretical perspectives were chosen, because boys´ view of sex, especially during their adolescence, are influenced by the increased supply of porn and that boys understanding of porn are influenced by values present in our society. The methods used were three focusgroups and a short survey with simple questions regarding pornography. The choice of methods was based on my standpoint that an open discussion concerning porn was less offensive of integrity, in comparison of working with individual interviews.

Many children are being abused by daily basis. Mostely they are abused by a parent or another person that is close to the child. Mostely the child abuse never is reported to the social services or to the police, and even if the perpertrator is known, only a few cases are brought to prosecution. If a case allthough is drawn before the court of law, there are still too many of the perpetrators that are being acquitted. In other words, the legal security for the abused children is way too low.When suspiscions arise that a child is exposed to child abuse there are several inquiries that starts at the same time.

The aim of this Masters thesis is to examine the library discourses concerning the phenomenon and concept of digital libraries in Swedish library press 1980-2002. What changes can be identified? The questions are: what is said about the conditions for the phenomenon; how is the concept of digital libraries used; who makes these statements; what are the relations between these discussions and the library context in which they are made? Five Swedish library journals, BBL/Biblioteksbladet, DIK-forum, Human IT, Svensk biblioteksforskning and Tidskrift för dokumentation, were examined. The method used was discourse analysis. The theoretical starting-point was Foucaults discourse theory.

Sexualitetens och den sexuella hälsans betydelse för människans välbefinnande är väl dokumenterad. Emellertid visar forskning att kvinnor med cancerdiagnos inte får den hjälp de önskar av sjukvården gällande sexuell hälsa. Detta faktum accentuerar behovet av att förstå vilka mekanismer som ligger bakom. Studiens syfte var att identifiera hinder och förutsättningar för samtal om sexuell hälsa mellan sjuksköterskor och kvinnor med cancerdiagnos. Studien utformades som en litteraturöversikt med kvalitativa studier.

Denna uppsats är en studie av bisexuella kvinnors erfarenheter av att bedriva politik i vardagslivet och på mer kollektivt organiserad nivå. Vi har undersökt hur respondenterna uppfattar det egna politiska handlingsutrymmet och hur de ser på möjligheterna att i en olikkönad relation bedriva sexualpolitik. Syftet har varit att undersöka hur kvinnorna går tillväga för att hävda ett politiskt engagemang i olika kontexter. Sju öppna samtalsintervjuer och en mailintervju har genomförts med kvinnor som har bisexuella praktiker eller begär och/eller identifierar sig som bisexuella. Vi har undersökt kring vad de formar en politisk identitet samt hur de använder handlingsstrategier som uttryck för en kritisk, politisk position.