In this master thesis, control algoritms using arm side sensors are investigated for an industrial robot. The sensors can be position encoders placed after the gearbox and accelerometers on the robot arms. Control strategies are discussed and evaluated for different models of the robot, after which chosen strategies are applied to a realistic model. Control algoritms using arm side sensors (LQ, dual-loop and PD-PID) are compared to a PID-controller that only uses measurements of motor position for feedback control. The comparison are done with respect to disturbance rejection, oscillation damping, robustness and tracking performance of a reference trajectory.

Entrepreneurship is a subject of growing attention, especially within public policy, media and research. Many studies have been done, but the subject of entrepreneurial exit has to a large extent been ignored. The aim of this study has been to investigate how entrepreneurs at an early stage in their career think about exit within a near future, and what factors influence their attitude towards exit. The study was conducted through a survey answered by 253 entrepreneurs active within business incubators in Sweden. Based on previous research on entrepreneurial intentions, a model of exit intentions was developed, and tested against several other factors.

The aim of the study was to investigate the students´ attitudes towards mathematics, their knowledge in the subject area they find the least interesting and whether laborative/practical working methods could awaken their interest and curiosity. During our work, we have looked into previous studies regarding girls´ and boys´ attitude and performance in mathematics. We handed out surveys to students in grade 9 at a School with many people from other cultures and nationalities in Malmö in order to find the answers to our questions. The result showed that most of the students thought that the subject area "scaling" was the least interesting. The implemented action program was a laborative/practical task within the "scaling" area.

Information overload occurs when the amount of information exceeds the individual s capacity to efficiently process and use the information available. In this situation information instead of being an asset becomes a load. This interview study deals with college students experiences of information overload when working on their thesis. Focus lies on use of Internet based information resources. The main result was that the students experienced information overload in specific situations and steps of the process.

My purpose is to describe and analyse how care managers experience their position as middle managers in the public sector. I have used a qualitative interview method to answer this question and also to capture my six interview persons opinion and understanding of their own position as middle managers. From my six interviews I noticed some difference in their opinions about how it is being a care manger. The results show that the role as care managers have challenges such as to intertwine their own notion how the caring of the elder should be with strict politic decisions. Other challenges are the limitation of economic recourses and reorganisations.

Syftet med det här examensarbetet var att undersöka hur verksamma gymnasielärare har för uppfattning av de mänskliga rättigheternas ställning i ämnet samhällskunskap och om läraren anser att undervisningen om de mänskliga rättigheterna utvecklar elevernas demokratiska kompetens. Uppsatsen tar även upp hur mänskliga rättigheterna framträder i styrdokumenten. Det framgår att dess position har förändrats över tid och har i de nya kurs och läroplanerna fått en allt mer tydlig position. Undersökningen skedde med hjälp av kvalitativa intervjuer med fyra verksamma lärare.Samtliga lärare som jag har intervjuat anser att demokrati och mänskliga rättigheter är något som hör ihop med demokrati och att undervisning om mänskliga rättigheter utvecklar elevernas demokratiska förmåga. Kvantiteten och typ av undervisningen varierar mellan lärarna men ingen av lärarna undervisar mänskliga rättigheter på regelbunden basis.Det vanligast förekommande är att undervisningen sker i samband med att läraren undervisar om demokrati. .

 Language is an important indicator of the interdisciplinarity of a certain subject. Therefore this study evaluates the use of central geographical words and concepts, by teachers and students, in seven communal, non-optional subjects in a Swedish upper secondary school. This study provides results after observations of seven subjects on seven occasions, at one upper secondary school. This study shows that by a method of observation, central geographical concepts were used by teachers and students at various extents. Furthermore, the observations provide results of the concept use by over 100 students and 12 teachers.

"A discourse analysis of the debate on prostitution 1993-2011" The aim of this essay is to investigate how prostitution is constructed in the debate. The analysis is based off debate articles from four of the biggest Swedish news papers. Articles from two periods of time has been chosen, 1993-1999 and 2008-2011. The specific periods were selected because they revolve around the Swedish ban on the purchase of sexual services in 1999, and when it was evaluated in 2008. With a constructivist aim based on gender research, the themes and Subject positions of the debate are explored via discourse analysis.

Through this study we want to enlighten how different companies work with their internal branding and how well they succeed in this process. We also want to examine if there are any differences in this work depending on the companies market position. Following question is used to investigate this process;- In what way and how well are companies working, depending on market position to implement and maintain their work with the internal brand?For the study a theoretical model was created based on our existing theory. The model contains three main variables; create, communicate and uphold; i.e.

This survey is a qualitative study about how teachers see on the concept student leverage and what they say about how they in practice work with it. We have chosen to examine the subject from a teacher?s perspective, because almost all investigations and literature, that we have found, discuss student influence from a student?s perspective. That?s why we are interested to examine what teachers think of the subject.

In today?s industry it is starting to get more and more interesting with wireless systems and solutions for applications. To be able to reduce the amount of cables drawn to various machines which takes both space and an extra fee for every cable drawn. Some systems might require the user to use a handheld device that is directly connected by a cable which in some machines might be inelegant for the user.The goal with this bachelor thesis is to develop wireless monitoring of the machine operators position that is working with heavy industrial machinery. The thesis started out with researching different techniques for positioning a transmitter indoors, this was done in order to get a better understanding on how to go about.

Betting under ordered forms has been around for a long time, but the recent increase in Internet betting and the large sums of money that are now involved makes it even more important for betting companies to have correct odds. The purpose of the essay is to calculate probabilities for outcomes of football games using a statistical model and to see if you can find better odds than a betting company.The data contains the 380 games from the 2004/2005 season and the variables form, head-to-heads, league position, points, home/away, average attendance, promoted team, distance and final league position from previous season. After performing an ordered probit regression we only find the variable ?form of the away team? to be significant at the 5 % level. We suspect the presence of multicollinearity and perform a VIF-test which confirms this. To fix this problem we perform a second ordered probit regression where a number of variables are combined to index variables. In the second regression we once again find only one significant variable.

Enterprise learning is a pedagogic concept that implies that the students, in correlation with development of theoretical, subject specific knowledge, also develops enterprise competences that will be useful in their everyday life and on the labour market. Enterprise learning has grown over the last ten years, as well in school practicing as within research. In the mathematics subject, a strong educational tradition has delayed the introduction of enterprise learning. At the examined school, enterprise mathematics has been introduced during the spring term of 2010. This examination focuses on which of the enterprise competences that are developed and how they are developed.

The importance of daylight for humans has been known for a rather long time. Applying this knowledge in the science of urban planning is not very common, at least not in Stockholm, Sweden. Living in a country far from the equator with great differences between daylight and darkness during the year, daylight gets even more important for our wellbeing. This study aims to highlight the subject of daylight planning and contribute to the discussion about how to include daylight in the process of urban planning. By critically observing a new built district in Stockholm and applying guidelines of how to use daylight planning, this paper shows how important it is to include daylight planning early in the process.

This study is about female leadership. The purpose was to gain a better insight to qualities female managers in public sector assume they need to make an enjoyable leadership. We were also interested in finding out what they think is the joy and amusement in the leadership and how they consider responsibility and authority. We used a qualitative method interviewing female leaders at their work. In our analysis of the data we have looked for pattern and key words in a qualitative way.