In this masters thesis we consider a method for experimental identification of the inertial parameters of an industrial robot, using measured torques and joint angles. A dynamic model of the first three joints of the robot has been identified.To achieve good identification results, it is important to carefully choose the trajectory for the experimental identification. A method to generate trajectories using two suggested design criteria has been used and evaluated using an ABB industrial robot, and one of them yields good identification results..

Title: Eurythmics, and building boats -A study in tacit knowledge.The education of eurhythmics at Malmö Academy of Music, is a program where a major part of the tutoring is oral; very little written information about the method is used. This essay will examine the forms in which the current knowledge base exists, as well as the methods in which this information is transmitted from teacher to student, and in which form the knowledge about the method of eurhythmics is existing. The tools for analysis are the theories on tacit knowledge. Interviews and written surveys are used as qualitative research methods. The content of these interviews and surveys are presented in the results chapter.

Steel is an excellent material to build with, but consideration must be given to the fact that unprotected steel corrodes, rusts, therefore, as a rule, the steel must be protected in some way. This can be done by reducing the tendency of the steel to corrode by using stainless steel or by treating the steel with a protection method. The two most common methods of protection are corrosion protection paint and zinc coating. To determine the method, the corrosive category must first be evaluated and this is done in accordance to EN ISO 12944-2:1998.Stainless steel is available in many varieties but only some of them have properties that make them suitable for use as construction steels. There are many factors to be considered in the design of stainless steel to prevent corrosion from occurring.

Background: The lack of knowledge regarding preschool children's mental health prompted Uppsala University, in collaboration with Uppsala Kommun, to start a study in which children aged 3, 4, and 5 years are screened using the "Strength and Difficulties Questionnaire" (SDQ). This screening method has been introduced into the majority of Uppsala County child care centers (BVC), and the nurses' experience of working with this method is examined in this paper.Method: A qualitative approach with semi-structured questions was used to interview ten nurses who pioneered the SDQ Method. The interviews where recorded, transcribed and analyzed using content analysis.Results: Three themes and nine categories were identified from the interviews. The themes were: "Attitude and motivation are important when working with the form", "Clearer overall picture with preschool answer", and "A tool to identify difficulties". The results show that the nurses were satisfied with the form.

AHA is a Swedish abbreviation of "reveal threatened park and avenue trees" and is a method to assess the conservation value of individual trees, mainly in the park environments but also in natural stands. This method has previously only been practiced in southern Sweden (Sörensson 2008). To see if this method could provide satisfactory results in northern Sweden, I have studied it in areas around the Umeå River. This was done by studying the relationship between trees with different classifications of conservation value (as classed by the AHA method) and their content of species (species richness and abundance). Insects were collected using trunk window traps in a period of 13 weeks during the summer of 2014.

Nowadays Wireless LAN is playing a more and more important role in network systems. After 1999, in which the IEEE organization published its Wireless Local Network standard 802.11[1], many people saw the advantages of the standard but also the lack of support for multimedia streaming. A lot of research work has been done on the proposed IEEE 802.11e standard draft during the past 4 years. It is supposed to be able to fully support Quality of Service. The final version will be published early in 2004.

The purpose of this study was to bibliometrically investigate and describe the research area called ?extrasolar planets?. The research questions were: Which authors were mostly cited within the area when the first authors (and their co-authors) were considered? Which authors were found in most co-occurrences? Did particular author collaborations emerge? To which institutions were most authors affiliated and did the size of the institution have an influence on whether an author was cited? What was the geographic distribution of authors and institutions and were there any patterns of collaboration?Did the image of dominating institutions and countries depend on the viewpoint?How applicable was Lotka?s law on the collected data? The data was collected from citation lists in documents from the database Arxiv.org. The documents were extracted by using the search term ?extrasolar planets?.

This thesis represents my individual final research in Societal Risk Management. The aim of the study is to research whether the method called Responsible Beverage Serving has had the desired effect of diminished alcohol-related violence in Karlstad City, after its implementation into the ordinary operational agenda for Karlstad district in the county of Wermland. According to the method, the alcohol-related damages as well as alcohol-related violence in a society can be reduced by refusing to serve minors and clients who are excessively intoxicated.In order to be able to reach the aim of the thesis, the subsequent questions must be answered;Has excessive drinking reduced in the bars and clubs in Karlstad City?Has it become more difficult for minors to be served alcohol in the bars and clubs in Karlstad City?Has the police reported amount of assaults outdoors diminished regarding the alcohol-related violence in Karlstad City?This research is an intervention study and uses a quasi-experimental design. The intervention itself is the method called Responsible Beverage Serving.

Value stream mapping is a tool that is frequently used by many different companies. It is a great tool used to achieve the work that follows the theories of lean production. The tool is used, however, only frequent on the factory floor and the method is also designed based on this type of use.An interest of applying the method on administrative parts of the company has occurred lately. Administrative parts of the company refers to the part that does all the planning such as purchasing, receiving orders, customer contact, contact with factory floor and other work that is made around the actual manufacturing. But the knowledge about applying value stream mapping on the planning part of the company is lacking because the method is relatively new.In this work, a comparison is made between the introduction of value stream analysis on production and planning.

Scintigraphic examination of the esophagus has for some time been the method of choice for the study of motility dysfunction in humans. The method has not yet been described for horses hence the lack of reference values for passage time for a bolus through the esophagus in healthy subjects. The purposes of this study were to measure passage velocity and time for a bolus to pass through the esophagus in healthy subjects, as well as to evaluate the reproducibility of the method. Eight warm-blooded trotters were used in the study. The horses were sedated with a low dose of Acepromazine prior to onset of the study.

Purpose/Aim: The aim with my study is to reveal changes in the construction of gender in weekly press over time. To do so I study the picture of the woman on front pages of the Swedish magazine Veckorevyn.Material/Method: Qualitative research method, semiotic picture analysis.Main results: There have been a lot of changes in the picture of the woman in Veckorevyn over the years and the results points to a more objectifying picture. The woman has gone from doing something and actually having a role, to simply being there to be looked at, all passive..

In this report we describe an adaptive simulated annealing method for sizing the devices in analog circuits. The motivation for use an adaptive simulated annealing method for analog circuit design are to increase the efficiency of the design circuit. To demonstrate the functionality and the performance of the approach, an operational transconductance amplifier is simulated. The circuit is modeled with symbolic equations that are derived automatically by a simulator..

The theologian Sarah Coakley has developed a theological method, which she calls théologie totale.This essay examines the methodological criteria for this method. To understand how its anthropology, epistemology and theology are shaped, the criteria are analyzed within a theoretical framework, in which mainly David F. Ford's theological typology and Stephen Bevans models of contextual theology play parts. The material consists of Coakleys texts, essentially the first part of Coakley?s projected systematic theological work.

Purpose/Aim: The aim of this essay is to study the expectations towards the launch of an intranet in a large organisation.Material/Method: A qualitative method has been used to fulfil the purpose of this essay. Indepth interviews have been made with eight informants of dioceses.Main Results: The study shows that the eight informants of dioceses all are positive towards the launch of an intranet in the organisation. They believe that it in time will lead to a more effective intern communication with less channels and more efficient messages..

Background: Sleep-disturbances in persons with Alzheimer´s disease are prevalent. They are characterized as increased frequency and duration of awakenings, decreased slow-wave sleep, REM-sleep and increase of day-time napping. Depression and lower quality of life are associated with sleep-disturbances. Altogether a significant source of stress for caregivers and an important factor in institutionalization. Non-pharmacological treatment alternatives are rare.Method: Single-case A-B-C design, with non-concurrent multiple baselines, a pilotstudy.Aim: To explore if an educational program on sleep, sleep disturbances and behavioural change directed towards caregivers improved sleep, depression and quality of life in persons with Alzheimer´s disease living at home.