This thesis approaches the problem of estimating the arm angles of an industrial robot with flexibilities in joints and links. Due to cost-cutting efforts in the industrial robots industry, weaker components and more cost-effective structures have been introduced which in turn has led to problems with flexibilities, nonlinearities and friction. In order to handle these challenging dynamic problems and achieve high accuracy this study introduces state observers to estimate the tool position.The observers use measurements of the motor angles and an accelerometer and the different evaluated observers are based on an Extended Kalman Filter and a deterministic variant. They have been evaluated in experiments on an industrial robot with two degrees of freedom. The experimental verification shows that the state estimates can be highly accurate for medium frequency motions, ranging from 3-30Hz.

Every year the Swedish gambling monopoly serves as a significant source of income for the government. This income is later distributed by the government on various areas for the common good. The question is wheather the state is allowed to preserve this lucrativemarket for itself by any means necessary. Also is it enough to claim that the monopoly exists to protect the citizens, and thus escaping the conditions of EC-law, and its struggle to harmonize trade between the member states? This thesis describes the Swedish gambling monopoly and its relationship with EC-law.

This thesis addresses the driving forces behind the Swedish state?s procurement of Helicopters 14 and 16 and the decommissioning of Helicopter 4. These actions have significantly affected the Swedish Armed Forces, especially the Helicopter Wing, in carrying out their operational tasks. On numerous occasions the Helicopter Wing has been unable to perform its tasks. For instance, the Nordic Battle Group 08 had no helicopters to exercise with and, until recently, Sweden had completely lacked the ability to hunt submarines with helicopters for almost ten years.This thesis also aims to compare the decisions in 1999-2000 regarding Helicopter 14 with the decisions in 2010-2011 regarding the acquisition of Helicopter 16, to find if there is a general trend and how much the Armed Forces were able to influence decisions.

Background: Documents and legislation inform us that parts of the public health service of Sweden, at a political level, aim to support people?s sexual health. Statistics show there has been an increase among young woman, seeking help for sexual pain during intercourse. The diagnosis that the media has come to observe lately is vulvar vestibulitis. In general there is a lack of knowledge about the existence of this state of pain and its causes, which impacts woman to get appropriate help and support in time.

The purpose of this essay is to illustrate the preparation of total and civil defense education in schools in the 1970s to gain insight into how the school looked and pondered the complicated world that existed outside the school's doors. By using the concepts of welfare state, welfare and civil defense culture, I have studied relevant materials to get answers to questions treating the total and civil education in schools after Lgr69, the way the state sees the subject and if it is possible to detect a civil defense culture in schools and if so, how it will be expressed.     The results show that the state emphasized education as incredibly important because knowledge of how to act in a crisis or war could be extremely crucial for the individuals and their survival. The education was so important that it got a role as a main factor in Lgr69. But even if the education was important the teachers had huge problems with the schedule and many teachers couldn´t educate all facts because they didn´t have enough time.

The Court of Justice of the European Union has progressively revised the rule of purely internal situations to ensure a wider scope of application of the economic freedoms as well as the EU citizenship right to move and reside freely within the Union. This development, combined with the increasing importance of fundamental rights, has strengthened the family life protection of those EU citizens who come within the scope of EU law. The limit between the individuals who may benefit from a EU right to family reunification and fundamental rights protection and those who find themselves in purely internal situations has, however, become more legally uncertain. The disadvantage suffered by those who fall outside the scope of EU law is known as reverse discrimination.The 2011 case Zambrano confirmed the trend towards an increasingly generous EU law protection of family life in cases where the exercise of freedom of movement and enjoyment of EU citizenship rights is potentially restricted by a Member State measure. By contrast, in the subsequent McCarthy- case, it became clear that families in purely internal situations may only rely on national immigration and procedural law to obtain family reunification and protection of their fundamental rights.

Vaccinology is an ever expanding field. As a member of the veterinary staff it is important to stay up to date with the continuous new scientific data and recommendations that affect the care that our companion animals receive at the veterinary clinic. This paper presents adverse vaccination reactions, their cause, risk factors and suggestions how we can minimize the risk of adverse vaccine events in dogs. Dog owners in Sweden were allowed to answer a questionnaire about adverse events following vaccination. Lethargy, edema and pruritus were among the most frequently seen adverse effects.

Through a thorough analysis of the current situation, we have highlighted differences inworking methods for the various workshops and drew up proposals for improvements incombination with a practical work description that can be implemented in the company..

In April 1986 an accident occurred at the nuclear power station in Chernobyl. Radionuclides were spread all over Europe including Sweden. Today there are still measurable concentrations of 137Cs in the different ecosystems in the contaminated parts of Sweden. The wild boar is the second most popular game in Sweden and today the Swedish population consumes more wild boar meat than ever. As the wild boar population increases the wild boars are moving further north towards the contaminated areas, which creates an interest to study the state of 137Cs in wild boars in these areas. Muscle samples from wild boars collected during 2010-2013 were analyzed based on 137Cs content.

??The aim of this study was to define students? needs and wishes about the content of a health website. A questionnaire was distributed to 531 students at three different Universities studying two different education programs, of which 98 participated. The research was based on relevant articles, studies and literature. The study shows that students are interested in a health website and there seems to be a demand, among students, to improve their health.

Politics in today's society unfolding more and more in the media, but the media content is limited. Therefore, the media must constantly make choices, choices which are specific to each object. The purpose of this study is to examine how Olof Palme is portrayed as a politician and private individual in the documentary film Palme - älskad och hatad, and also how Carl Bildt is portrayed as a politician and private individual in the documentary film Bildt - excellensen.To study the documentary films I use a qualitative textual analysis with a focus on a narrative analysis. In the narrative analysis, I have been inspired by the categoricalcontent- based approach to study the documentary films. In my analysis, with the help of theories of mediatization of politics, documentaries and stories, I interpret and analyze the films to make them more understandable.The conclusions of the study is that Palme in his role as a politician is portrayed as a humane person who cares about the individual.

Our state of emergency is good - is the public library prepared for the future?Our state of emergency is good! These are the words spoken by Prime Minister Per Albin Hansson in 1939. He claimed that Sweden had nothing to fear from a future war, we were safe. Today we know it was not so. Is this the situation for Swedish public library of today? Is the public library ready to face the future, or is it only fancy words?We have to form the future, not let the future form us.

This thesis investigates the underlying factors behind sexual risk-taking and non-risk-taking behavior with regard to Sexual Reproductive Health (SRH) among adolescents in Lusaka, Zambia. The Qualitative Approach was used for data collection and analysis and using the theory of Social Construction, the author explains how different contexts and aspects in the Zambian Society, that is Traditional, Socio-economic, Political, etc., influence the sexuality or sexual behavior of young people in Zambia. Hermeneutics was used to interpret the meanings in the texts/transcripts acquired through data collection and from the author?s knowledge and understanding of the Zambian historical and cultural contexts within which the participants of the research were constructed. Max Weber?s Ideal Type concept was also used to explain that each young individual?s sexual behavior is uniquely constructed by societal aspects.

This thesis provides a systematic literature review of a selection among current papers andarticles on Green Information Systems (IS). The main focus is on the current state of Green ISin academic research. This study aims at gaining a deeper understanding and a clearer view ofthe state-of-the-art of IS for environmental sustainability research, with the goal of clarifyingthe diffuse idea of what Green IT/IS is, and what differentiates Green IS from Green IT.To support the objective of this study, the articles selected for data analysis were collected byusing a systematic literature review as research and analytical method. Within the thesis, adescriptive angle with an interpretative character is used to analyse the data extracted.A theoretical framework based on concepts from sustainability, Green IS and Green IT isemployed in order to analyse and compare terminologies and frameworks used in the studiedarticles. Furthermore, the different dimensions of sustainability and the various terms used todescribe Green IS are analysed comparatively.The result and analysis are discussed in a conclusion confirming the on-going ambiguity ofthe terms Green IT and Green IS and the transformative power of IS.

Abstract The extraction and usage of energy give rise to immense environmental problems which helps to accelerate climate change. Energy is an important resource for the community and there are a variety of different types of energy sources available, that are either classified as renewable or non-renewable energy sources. The usage of renewable energy sources cause less environmental impact than the usage of non-renewable energy, which in turn means that the energy?s strain on the environment is strongly affected by the type of energy source used.The aim of the study is to describe to what extent attitudes towards renewable energy are affected by whether the individual is male or female, by examining the hypothesis regarding how women have a closer connection to nature and to a larger extent shows on an pro-environmentally friendly behavior than men, and if it also can be detected on issues related to renewable energy and thus imply that women have a friendlier approach towards renewable energy than men. A number of ecofeminist believe that women have a stronger bond with the nature through her embodiment as a woman and by her maternal role, which according to previous research also leads to the fact that women shows on a more extensive environmental behavior.Through a qualitative research method in the form of semi-structured interviews has three female and three male respondents been asked questions with regards to the environment, individual responsibility and energy.