The thesis presents an optimally designed kinematic structure for a new 6-DOF haptic devicebased on TAU configuration. The configuration of the TAU-2 proposed by Suleman Khan andKjell Andersson [1] was modified and its mobility was verified by using Grübler criterion tohave a 6 DOF. Analytical kinematic models for the inverse and forward kinematics weredeveloped for the haptic TAU configuration to determine a set of optimal design parameters.Kinematic performance indices such as volume of the workspace, kinematic isotropy and payload index, were defined based on the singular values of the Jacobian matrix. The Jacobianmatrix was scaled to homogenize the physical units. The Jacobian matrix dependent on theposition and orientation of the end-effector gives local isotropy and pay load index, so globaldesign indices were defined, which represent the performance of the mechanism in the wholeworkspace.

Objective: In recent years there has been an increasing interest within the clinical (medical) science in measuring people?s health. When estimating quality of life, present practise is to use the EQ-5D questionnaire and an index which weighs the different questions. The question is what happens if the individuals estimate there own health, would it differ from the public preferences? The aim is to make a new prediction model based on the opinion of patients and compare it to the present model based on public preferences.Method: A sample of 362 patients with unstable coronary artery disease from the Frisc II trial, valued their quality of life in the acute phase and after 3, 6 and 12 months.

The study shows how seven informants, all studying at a university in northern Sweden to become art teachers, perceive and relate to controversial contemporary art in the context of secondary school art education. The study is based on semi-structured interviews. The study contributes to a nuanced view of these informants opinions and thoughts regarding provocative contemporary art, in relation to the school's democratic values ??and founding mission. The seven informants' responses were compiled thematically linked to the study's purpose and issues to allow for comparisons and analysis.

This study investigates how consumer attitudes toward a company are affected by the company?s Corporate Social Responsibility work and their marketing efforts thereof. The Swedish fast food chain ?Max? provides the empirical setting. The theoretical framework for the study is based on Vanhamme and Grobben?s (2009) model regarding CSR?s effect on a company?s reputation, which is connected to perceptions? effect on attitude based on Fishbein and Ajzen?s (1975) theory.

Protracted social conflicts, as those in Cyprus and Northern Ireland, are based on deep rooted perceptions of identity and definitions of "the other". According to the theory of discursive conflict transformation, war is primarily a social phenomenon, which is legitimated by a discourse of identity defined in terms of exclusionist boundaries and structural ideas of the social relations in society. In order to develop positive peace, the discourse of violence has to be challenged and the discursive structures that enable war have to transform into a counterdiscourse of inclusion and individuality. For the purpose of making a critical peace analysis, I have, with the assistance of established conflict theories, analysed the basic ideas behind the the Annan Plan and the Belfast Agreement and thus been able to interpret to what extent they may foster positive peace. I argue, that in order to provide basic needs on a group basis, power sharing arrangement, based on ethnicity or religion, exacerbates division rather than ameliorating it.

AbstractThis study focuses on three generations of Kurdish women's view on honor. The study is a qualitative research based on three individual interviews. The aim of this study is to examine how three generations of immigrant women from a culture of honor is influenced over time by the majority culture and its values together with how these women affect each other mutually both consciously and unconsciously within the family. The study is based on two questions: What does"honor" mean to the three generations of women who are Muslim and Kurdish? Did these three generations of women?s idea of honor change over time as they have lived in Sweden? Results of this study have shown that the concept of honor has its focus on the woman's body, sexuality and chastity.

This report discusses the development of lessons based on laborations for middle and high school.The purpose of the project was to research the possibility to affect students' attitude towards physicsthrough well-planned stimulating lessons. The lessons were based on the Light and Lasers OutreachKit, a teaching package made by the organisation Laser Classroom, and have been adapted for physicsin middle and high school. The lessons were developed on a pedagogical and didactical ground andwere improved with surveys and peer and self assessment. The lessons were based on laser light and itsproperties. One lesson covered the topic of single-slit diffraction, while the other treated geometricaloptics.

This report discusses the development of lessons based on laborations for middle and high school.The purpose of the project was to research the possibility to affect students' attitude towards physicsthrough well-planned stimulating lessons. The lessons were based on the Light and Lasers OutreachKit, a teaching package made by the organisation Laser Classroom, and have been adapted for physicsin middle and high school. The lessons were developed on a pedagogical and didactical ground andwere improved with surveys and peer and self assessment. The lessons were based on laser light and itsproperties. One lesson covered the topic of single-slit diffraction, while the other treated geometricaloptics.

The main purpose of a logotype is to harmonize with a company?s business concept and culture. This study is based on the receiver?s attitudes about three different logotypes - Volvo, Telia and Mcdonald's. It informs the reader about the importance of a logotype as a mean of communication and if the perceptions of the logotype harmonize with the profile of the company.

Abstract Over the years the consciousness of risk has grown. It?s hard to influence risks, therefore there are guidelines stating that significant risk must be included in the annual report. This paper is a case study; the purpose was to examine how four Swedish listed companies chose to disclose their internal and external risks. Risk is initially described in general sense and then it figures to what constitutes an economic risk.Through a case study of four Swedish listed companies? annual reports we have, through qualitative methods found how the companies chose to disclosure their risks.

The aim of this Master thesis is to analyse the interaction in between reading and writing based on young writers experience. My approach was to investigate how writersread literature and how they look upon their reading in relation to their own writing.Seven young people has been interviewed in this qualitative study, based a theory about their reading and reading habits. They were asked questions about reading habits and theirview upon the connection between reading and their own writing.Previous studies of Swedes´ reading habits prove that relaxation and pleasure are the most common reasons for literary reading. This differs from the present study, where my findings shows that writing people, more than other, read literature, in the way people in general read non-fiction. That is with a purpose beyond the actual ?situation of reading?.

According to the statistics, the number of older inmates in prison is increasing, and the care needs for this group are relatively unexplored. The purpose was to study prison officer?s perceptions of older inmates and their care needs. The study was based on a qualitative approach in which prison officers at one prison were interviewed. The interviews were analyzed based on earlier research and from a social constructionist perspective.

This study is comparing curriculums in Physical Education between Sweden and Finland. The comparison was done based on former curriculums and previous research. Results from previous research showed differences between countries and curriculums. The aim of the study was to find out if and why there were differences between the current curriculums based on goals and sports. The method was a literature analysis.

Purpose: The purpose of this study is to investigate the effect and potential of a non-styled home reportage, and how they influence and inspire to promote individual creativity.Method: I have used a qualitative analysis to be able to create a deep understanding. This is based on three interviews with women in age 22-27, which have a dedicated interest in interior design. I have also sent questionnaires to two persons who run interior design blogs.Conclusions: My analysis shows that the non-styled home reportage is the start of an inspirational process that is beyond consumption and status objects. It promotes individual creativity and willingness to create, based on personnel taste. The essay highlights the importance that the individual critically examines the aesthetics of interior design as presented in diverse media.

The main purpose of this study is to view the aims of the local authority of Botkyrka for their prehistoric village, and to compare those with the actual activities in the village.Because of no official formulated aims, the study were laboured through interviews, observations, analysis of evaluations and a parallell literature study.For the visiting pupils today, the village has an introduction, but not a follow-up. Pedagogically the follow-up is the most important part, seeing that it?s there the knowledge is created in relation to the experience.Through experience-pedagogy, based on learning by doing, try to attain an experience intended to generate knowledge. But in this case, the focus lands on doing, and the reflection fails to occur. This is a learning based on the situation, rather than on the reflection, situated learning..