During spring 2012, six students at the Royal Institute of Technology in Stockholm carried out agroup project in the field of mechatronics as part of the thesis for the bachelor degree. The resultwas a robot with active balancing and the purpose of this report is to describe the development,manufacturing and problems that arose during the project. The finished robot has two wheelsmounted in line with each other, like a bicycle. Measurement data from an accelerometer and agyroscope are used together in a complementary filter for determining the angle from the verticalplane. For balancing, a PID controller was used to control the rotation of a reaction wheel, whenaccelerating causes a straightening torque.

Based on different integration policies, we aim to examine how five municipalities in Stockholm County are working to promote integration at a local level with focus on voter participation and to some extent, representativeness among foreign-born. Statistics provided by SCB shows that foreign-born tends to vote to a lesser extent than those born in Sweden. Further, we aim to examine the implementation of two policy documents established at a national level concerning integration in contrast to policy documents established at a local level in each different municipality. Further, we aim to examine summaries of actions taken in response to the local integration programs, as well as personal interviews. Each municipality will be considered separately, but we thus seek to make a comparative study.

On a request from the water sewage plant Gryaab in Gothenburg a power quality survey wasperformed. The voltages and currents have continuously been sampled in the incoming 10 kVsubstation HSP01 from April-August 2008. Power quality measurements were also performedin Gryaabs other 10 kV substation HSP04 fed from HSP01 and at the terminals of theinduction motor IN_PU4040 of 1.3 MW which controls one of the four large inflow pumps tothe plant. The reason for the latter measurement was due to registered negative transients eachtime the motor was connected to the grid. The cause of the transients could be explained by thecoupling in the substation, the ageing of the motor which could result in damage of thebearings or resonance in the motor circuit which amplifies high frequency harmonics.

AbstractParticiapation from the citizens in a democratic society is one of the ground pilars for the function of the democratic society. The goal for the Swedish contemporary democracy is to complement the representative democracy with different kinds of participatory activities for the citizens. But is it working? The purpose of this essay is to exame the problems that might occur when the citizens participate in a wider extent than just voting. The focus is problems connected to the democratic value political equality.

This study aims to show how teachers talk about their teaching with regards to gender in relation to literature.We have interviewed four teachers of Swedish for upper secondary school to discover how they feel about, and understand, the fact that gender is a factor in the teaching of literature and that they should present to the students literature written by both male and female authors. To analyze the interviews we use Sannersted's (1991) theory about teachers as street-level-bureaucrats ("närbyråkrater"). He states that teachers are persons who have to follow what politicians have decided but they are fairly free to choose how they do it, but to be able to follow a decision as closely as possible three qualifications have to be met. The teachers have to understand the decision, be able to follow it and want to follow it. We find that the teachers that we have interviewed are aware that they discuss gender issues with their students and they all claim that they present a variation of authors to their students.

We have seen a revolution in the area of communication on a worldwide scale. We begin talking about terms as globalisation, integration and deregulation of the financial market. Companies have been tax planning for decades, the questions is if Internet has made an increase of companies than uses tax planning and which roll Internet plays. It is hard to really pinpoint all the effects of the Internet because of the relatively new area of research. This thesis will take various factors under study such as globalisation, development of the offshore industry and the fight against harmful taxation by the OECD and other organisations in order to describe the effects of Internet.

The aim of this paper is to describe how to measure welfare effect of the deregulation and increased competition of the public transport by railway in Sweden. The paper also includes a numerical example of how to measure the welfare effect. In our study we use public data from SJ regaring quantity and ticket prices for the period 1996 - 2005. We have used equivalent variation, EV, as the method to measure the welfare effect. We demonstrate how to derive the equation to calculate EV by starting with a Marschallian demand function.

A design methodology to mitigate timing problems due to long wire delays is proposed. The timing problems are taking care of at architecture level instead of layout level in this design method so that no change is needed when the whole design goes to backend design. Hence design iterations are avoided by using this design methodology. The proposed design method is based on STARI architecture, and a novel initialization mechanism is proposed in this paper. Low frequency global clock is used to synchronize the communication and PLLs are used to provide high frequency working clocks.

On a request from the water sewage plant Gryaab in Gothenburg a power quality survey wasperformed. The voltages and currents have continuously been sampled in the incoming 10 kVsubstation HSP01 from April-August 2008. Power quality measurements were also performedin Gryaabs other 10 kV substation HSP04 fed from HSP01 and at the terminals of theinduction motor IN_PU4040 of 1.3 MW which controls one of the four large inflow pumps tothe plant. The reason for the latter measurement was due to registered negative transients eachtime the motor was connected to the grid. The cause of the transients could be explained by thecoupling in the substation, the ageing of the motor which could result in damage of thebearings or resonance in the motor circuit which amplifies high frequency harmonics.

There are different ways of developing a second language. The purpose of this qualitative study is to investigate whether and possibly how music, focused on singing, can improve the development of Swedish as a second language. Through interviews with three vocal teachers, from three different schools in Sweden, and observations of one of the vocal teachers, information about how they work and think about the subject has been collected. The vocal teachers teach groups of second language learners by singing songs made especially for second language learning. The vocal teachers consider singing beneficial in the development of the pronunciation and improvement of the prosody, which affects the students? capacity to sound like a native Swedish speaker.

Women ledaers and profitability, is there a correlation? Earlier research show different outcome on the correlation between women leaders and profitability. A Swedish consultant firm, Caran has a belief that more women leaders would create more financial profit, we ask us if that is the true situation. Using two different IC measurement methods we have shown the difficulties in calculate intagible resources, which methods that can/ can not be used and if women leders create financial value. We found the women leaders in Caran to add more value per dollar spent on the woman leaders than the value added per dollar spent on men leaders.

Abstract________________________________________________________________Författare/Author Richard TähtinenTitel/Title Youth hockey from a coach perspective. A qualitative study about coaches´appreciations concerning youth hockeyThe aim with this study is to strengthen the knowledge about coaches´ appreciationsconcerning youth hockey. This study contains interviews with three leaders that operate onthe strategic level within youth hockey and three coaches working with youth players in theages of 11 and 12. I have divided my main results into 4 categories, based on an earlier studyfrom Karin Redelius (2002). These categories include the following themes:1) Competition on the good and the bad2) The importance of winning3) Shake-out versus sports on children’s terms4) Instruction, play and learningThe main conclusions in this study show that leaders on the strategic level appreciate youthhockey in a very similar way.

Wood has always been an important material for people, and it is used for many applications. As for example, fuel for cooking and heating houses, construction materials and for constructing means of transport. Since wood also is a material that with time biologically degrades due to activity by micro organisms and wood fungi it is important to find ways to protect and further lengthen the life span of the material when in service. One method is to decrease the amount of water in the material by impregnation with an hydrophobic oil. The Linotech method which uses only pure linseed oil is one such possible method. The aim of this study was to investigate the possibility to at the same time impregnate and stain/colour wood samples of pine and spruce by using the Linotech method.

I detta arbete har vi försökt skapa en metod som skulle kunna hjälpa ljuddesigners inomindieföretag att med begränsade resurser komma fram till en kvalitativ ljuddesign genom attanvända en form av återvinning. Syftet med vår metod, som vi kallar för pantametoden, går utpå att återvinna ljudmaterial med hjälp av effekter för att skapa nya och kreativa ljud som går attanvända i en produktion. Vi kommer att gå igenom de nödvändigaste delarna för att visa hur vitillämpat vår metod, exempelvis vilka verktyg som finns och hur de kan användas för att uppnådet resultat som eftersträvas. Metoden har testats på två stycken spel som vi har varit med ochutvecklat, och där vi har bidragit med ljuddesignen med hjälp av vår metod. Vi kommer attpresentera vilket resultat vi har uppnått, och vilka problem som har uppstått..

The aim of the present study is to describe the experiences of high school students as regards the effects of their activities, in and out of lessons, being published on the web. In addition, a further purpose is to acquire knowledge about whether a website could be used as means of increasing the students level of attention, and focus, to their activities in school; and, furthermore, how such a website should be designed to correspond with the students requests.The implemented methods are interviews with students, school administrators and teachers. A survey was conducted covering the student?s personal experiences and opinions. Furthermore, an interface test of the website was performed.