The task in this thesis is the steering of one of Saab Bofors Dynamics robots using Sliding Mode Control, a method they never used before. The robot constitutes a system which in addition to perturbations and uncertainties due to modeling imprecision, hold the difficulty of being highly time variant. In order to be able to keep required performance with uncertainties and modeling imprecision present, the use of robust control methods like Sliding Mode Control is necessary. SMC is based on the states of the system being forced to stay on or in the direct vicinity of a hyper plane in the state space which is chosen in a way that gives the system dynamics desired properties. Other advantages with sliding mode are reduced order dynamics on the switching surface and total insensitivity to some uncertainties and perturbations.

The purpose of this study is to illustrate why Norway is not a member of the EU from a rational choice perspective. In order to fulfil this purpose, two questions will constitute the framework of the study. These are:1. What are the arguments of the EU-opposers in the Norwegian EU-debate?2.

The water tower in Uppsala city forest was built in the late 1950's in what is now a nature reserve. The unique place was supposed to be visited by people, which is currently not the situation. This bachelor thesis aimed to perform an analysis and make a design proposal for the environment surrounding the water tower. The analysis was performed using the methodology previously described by architect Arne Branzell. The methodology focuses on how a space is perceived by a person moving through it.

The overall aim of this study is to clarify the situation in school for children with language disorder from the parents? perspective.Data were collected through five interviews with parents who have children of different ages and with various diagnosis within the language disorder spectra. A qualitative method based on a narrative inquiry was used and each interview was based on a interview guide with the following themes: the child?s difficulties, starting school, the school?s pedagogy, homework, action plans, participation and the future.Each story has its own themes, but there are also themes that are common in all interviews. One common theme in the parents? stories is that school has a lack of knowledge when it comes to language disorder.

This thesis focuses on the problems involving immigrants and their voting behaviour in Sweden. We presuppose that immigrants vote in a far less extent than Swedish citizen according to general statistics. We try to explain and give solutions to this problem. To our help we use both integration theory focusing on multiculturalism and electoral participation theories.Starting off in these two theories, we have further analyzed a number of policies issued to solve the participation dilemma. The policies were issued in order to elevate the socio-economic standards, inform citizens and close the distance between voters and politicians.Our results show that what work best is long term ventures aiming at integrating immigrants to the Swedish society.

Syftet med uppsatsen är att undersöka gymnasieelevers intresse för historia som skolämne med utgångspunkt i didaktikens grundfrågor (vad och varför). Detta för att jag vill bilda mig en uppfattning om elevernas inställning och syn på historieämnet och ämnesinnehållet som en inledande del av ämnesplaneringen och historiekursens upplägg. Arbetet ger en översikt av tidigare forskning kring historieintresse och historiedidaktik samt forskningsresultat från liknande större undersökningar. Med hjälp av enkätundersökningar ville jag studera elevernas intresse för historieämnet och vad de intresserar sig för bland ämnesinnehållet samt varför de är intresserade av historia. Sammanfattningsvis pekar mina resultat på att eleverna har ett någorlunda stort historieintresse och att de anser ämnet som viktigt att läsa i gymnasiet.

The aim of this essay has been to find out whether the individual development plan does make it easier to teachers to discover any needs of the students to get education or material changes and by that make adjustments in the classroom. I chose to seek information by interviewing special educators at four compulsory schools, since they have an overall apprehension of how the work is carried out at the school, especially the work with students in need of any form of extra support.All students at the Swedish compulsory school shall have an individual development plan. The purpose with the plan is, besides that the student is to be given possibilities to form his own pedagogical and social goals, that the teacher shall get early signals if a student may be in need of getting education and materials changed and adjusted for to easier manage his studies. The individual development plan of the student should have the function as a tool to the teacher to facilitate for his students.The answer of my question can be sum-up in a no, the inherent potential in the individual development plan is not utilized by the teachers that seem to have the apprehension that the plan is for the student all by him/herself. The teaching staff has obviously not understood the use they can get out of it. .

This study test the short-termism of companies listed on the market OMX Stockholm 30. We will use a deductive point of view where the purpose of this study is to investigate whether corporate short-term returns can be explained by the independent variables related to corporate governance and compensation practices. This is to investigate whether there is an intentional action on raising the short-term return in order to achieve a higher CEO compensation. In the study, theories dealing with corporate governance and agency theory have resulted in two hypotheses. Basic Hypothesis H1 is: if short-termism of Swedish industry due to the company's short-term returns can be explained by the independent variables related to the company's management and compensation. This hypothesis could not be verified through the quantitative study. Alternative Hypothesis H2 is: the compensation of a CEO can be explained by the independent variables related to company performance and size.

The purpose of this essay is to examine how a newly built library and an old library from the sixties work out of an experience and feeling oriented view. Are the fundamental conditions of an old library compatible with the library standards of today? To be able to carry out this examination we have chosen two rather small Swedish libraries. One is the public library of Hässleholm, which opened in the year 2000, and the other is the public library of Kristianstad opened in 1965. The material used to attain the purpose of the study consists of literature studies and qualitative observations and interviews.

Depression in young adults is a serious condition causing serious suffering for the victim. By finding risk factors for depression the opportunity for early preventive action is increased, which, in turn, may prevent a negative course. Two risk factors which have been shown to be related to depression are shame and rejection. Therefore this study examined the relationship between shameproneness, rejection sensitivity, shame-related events and depressive symptoms. The self-report questionnaires used were TOSCA, RSQ, Shaming index and BDI-II.

In this thesis I have decided to take a closer look into my own ?backyard?. A river that runs through my hometown, Akureyri, has been a thorn in some people?s side. Glerá river has taken lives but it has also given the town possibilities to develop.

The aim with this thesis is to study the risk management in construction projects at the Swedish Road Administration, SRA. Furthermore, the aim is to find the effects of the risk management. The theorem of this thesis is that the positive effects of the risk management in construction projects create additional value to the project. These additional values are that the project itself becomes resilient and that the project goals are achieved without any significant disturbances.This thesis shows that the risk management in construction projects do not follow the guidelines set out by the SRA. This is due to a lack of education in the method and a difficult method all together.

The main purpose of this essay is to study ideas concerning the concept of ?art? within the discourse of the exhibition space that is part of a fanart community. In order to do so I have used a hermeneutical and to some extent structuralistic, discourse analysis. I have examined structure and rhetorics in two established and popular communities, Fanart-Central and deviantART.My conclusions states that personal ideas regarding artistic value are undermined the joint policies, because of a collective rhetoric somewhat inherent in the community structure.When a lot of works are being based on internal knowledge of symbolics and historical narratives, this may to some extent have consequences where unfamiliar observers might fail to notice elements of possible significance. Moreover, certain interests in keeping a united front of ?quality art? may also affect a general idea immediate to what signifies fanart.

What impact does the Swedish society have on the practice of Islam? That is the main topic of this thesis.As a result of migration, the distinction between a specific region and a culture or religion has been mixed. Islam is not just part of the Middle East but is more and more institutionalized in the Western, and the Swedish society. Sweden, which is one on the most secular countries in the world, has developed into a country where the view on religion have been privatized. Religion can be practiced, but not in public.

The honour norm is strong within the Middle East but is scattered all over the world. As a result of immigration, the honorary context has become more established in Sweden. Violence, committed in the name of honour, is commonly executed by male family members. Thus, young men are forced, in some degree, to participate in the oppression and control of their sisters. Violence exercised in the name of honour, can be traced back to the patriarchal family system in which woman are subordinate to men.