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.

The intention of this study is to perform a content analysis based on a theoretical framework founded on multi-level governance, MLG. The thesis examines the formal changes within employment politics between 1999 and 2004 (Sweden´s action plan for employment) and 1998 and 2007 (the spring budget proposition). I will investigate how multi-level governance has effected the Swedish employment politics. Furthermore, the purpose of the thesis and the questions under consideration are: How have the formal Structures within Swedish employment politics changed since Sweden?s admission to the European union, particularly during the periods 1997-2008 and 1999-2004? And: How do the changes in Sweden, together with the European union directive concerning employment, coincide in the so-called employment strategy?While performing the analysis I have focused on multi-level governance.

The work examines geographical variations of bicycle use in Trondheim municipality with the aim to create an understanding of what influences the use of bicycles and explain the geographical travel pattern for cycling. The work focuses on the how physical Structures generates different transports effects. Where bicycle travels in Trondheim municipality are undertaken is described by using network analysis in ArcGIS, based on aggregated data from the travel habit survey (RVU) in 2009/2010. Trondheim municipality is divided into smaller geographical units (zoner) whose characteristics are described by 19 variables, categorized into 6 groups; Distance, Land use, Topography, Bicycle Facilities, Road characteristics and Demographic factors.By linear regression analysis in SPSS and ArcGIS Spatial Analyst, an explanatory model is elaborated. The variablesdistance to the regional center, workplace density, percentage separate bike paths and hilly terrain explains 78 percent of where cycle journeys are undertaken.

The aim of this study is to create an increased understanding of shared leadership and how it takes shape in the relationship between first-line managers in human service organizations. Shared leadership is seen as a complement to the traditional one-man leadership and briefly means that two managers share the role that usually is held by a single leader. The study has a qualitative approach based on semi-structured interviews with managers in human service organizations. The interviews mention the mangers thoughts and experiences about shared leadership and gain approval in the hermeneutic science field. The study is analyzed based on symbolic interactionism where perspectives from the theoreticians Mead and Goffman are used.

Problem: How does the organisational culture affect the internal communication between the middle manager and his or herssubordinates?Purpose: The most common way is to study how the communication affect the organisational culture. In our study we have examined the reverse perspective. The purpose of this study would be to explain how the organisational culture affect the internal communication between the middle manager and his or hers subordinates.Theories: The basic theories in the study are The basic model, Internal communication, Levels of culture, High-power culture, Socialconstructions, Organisational Structures and Leader Member Exchange Theory.Method: The study is based on the qualitative approach. We have used interviews for our collection of raw data.

The purpose with our essay was to examine which clients/patients get treatment for alcohol problems from either health care units or social service units. We also wanted to find out how staff in these units considers the importance of social background in the assessment of treatment. The questions we have focused are: How do the clients/patients get in contact with the units? How does staff in these units consider the importance of social background in the assessment of treatment? How is the social background like for the present clients/patients? To fulfil the purpose with our investigation and to get answers to our questions, we performed an explorative examination and applied a qualitative method in the form of a semi-structured interview with six persons. The investigation showed that clients/patients get in contact with the units by looking for treatment by themselves or by relatives and other organisations.

Denna uppsats belyser könsstrukturer på universitetsfältet, med syfte att undersöka om och varför detspråkliga begreppet forskare tillskrivs manligt kön av studenter som läser forskningsreferat i kurslitteraturen.Metoden som använts är experimentell och består av en könsneutral provtext, där en refererad forskare enbartnämns vid efternamnet Björk, och ett frågeformulär där 92 studenter har fått tillskriva denna forskare ett kön.Resultatet visar att 71 procent av de studenter som besvarat frågan tror att den refererade forskaren är enman. Det finns även en tendens till att de äldre studenterna har en större benägenhet att tillskriva forskarenmanligt kön än vad de yngre studenterna har.Resultatet har utifrån Simone de Beauvoir tolkats som att kvinnan fortfarande betraktas som det Andra iförhållande till mannen, som utgör normen inom akademien. Att begreppet forskare tillskrivs ett visst könhar, utifrån Pierre Bourdieu, tolkats som att studenterna besvarat frågan utifrån föreställningar som finnsinternaliserade i deras habitus, som i sin tur står under stark påverkan från de inre strukturer påuniversitetsfältet som framhäver mannen som det dominerande könet..

The purpose of this essay is to examine Marjane Satrapi?s comic novel Persepolis from a gender and postcolonial perspective. To reach this I have used several theories from mainly three different fields of theory: gender studies, postcolonial theories and theoretical texts which focus on the form of comics.My analysis has shown that idols, heroes and other cultural symbols are important for the creation of the main character Marji?s identity, but that she at the same time has many Marxistic influences. These casts of mind do not stand in opposition, but become an expression for her hybridity.

The purpose of this Master thesis is to investigate how the relation between users and librarians is affected by higher education librarians? talk about information literacy. The thesis uses Norman Fairclough?s critical discourse analysis in analysing four articles written by Swedish higher education librarians and in answering how information literacy, users and librarians are constituted. The analysis indicate that the questions have no distinct answers, there are discrepancies between, as well as within the texts.

?Boverket? the Design Regulations in Sweden, also called BKR has for a long timebeen the mandatory standard that has guided and regulated construction design. Butat the end of 2010 BKR was replaced with Eurocode. This report deals with thecomparison of these two standards when it comes to wood construction. Duringwinter 2009/2010 there were many roof collapses due to excessive loads on theroofs across Sweden.

A qualitative study is presented concerning children?s participation in the local decisionmaking in Swedish municipalities. The study also aims at finding out what are considered to be successful factors and obstacles connected to the implementation of children?s participation in local decision-making. The study contains a summary of the convention on the rights of the child, focusing on article 12, as well as previous research findings concerning children?s participation and factors enabling respectively hindering participation.

The relational database model was defined in the 1970?s and is the dominating database type today.  The main difference between data from a relational database and a hierarchical data structure is that the relational database stores records in tables. The records have no particular order, but can include links in terms of relationships with other records. A hierarchical structure organizes data in the form of a tree structure  and  can for an example be found in organizational Structures in which different levels involves different responsibilities. If the data stored in a relational database is to be presented in a hierarchically, a conversion of the data structure is required. The intention of this paper is to describe how such a conversion can be performed.  To investigate the conversion methods, case studies has been conducted on the basis of a specific organization?s hierarchical structure.

This Master?s thesis concerns the information behaviour of pastors in nonconformist churches (especially new evangelical and Baptist church communions) in Sweden in their spiritual service to the local parish. The thesis also looks into how the information flow functions in the pastors? context and why the information need appears as it does. The theory used in this study is contextual analysis based on Buckland?s, Weber?s and Patrick Wilson?s theories on authority and power Structures.

Trough the contact with the HR (Human Resources) department of home care management in Halmstad municipality, emerged from the management a wish for a documentation for what should be included in leadership at middle management level in the future. People in middle management positions have a large impact on the operation staff and are also in charge of the individual corporate performance and its success. As we have previously been active in the management of multiple role configurations, including middle-management positions, we have some prior understanding of the complexity of this position. The study was conducted with the aim to investigate different aspects of what leadership for middle managers in home care management in Halmstad municipality may mean to them. With the help of different theories and models various aspects were analyzed due to the impact of leadership.Due to the studies purpose and questions, two focus groups was conducted and interviews with respondents from both the lower and superior positions in home care management in Halmstad municipality was done.

Studien koncentrerades på den ökade uppmärksamheten kring pokerspel i media. Intresset tycks ha ökat kring detta "fenomen" vilket fört med sig både kommersiell uppmärksamhet och kanske en ökad nyfikenhet för dem som tidigare inte varit spelintresserade. Föreliggande analys diskuterade varför ett sådant intresse plötsligt fått genomslagskraft. Diskussionen inleddes med ett teoriavsnitt där flera teser togs upp. Dessa kom att handla om livsstilar, risktagande, tillfälligheten, Internet och spel i vardagen, störst utrymme fick Anthony Giddens.