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.

The aim of this essay is to investigate the function and development of non-player characters (NPC) in the TV/computer game Dragon Age: Origins. The NPCs are analysed in order to see if their development is affected by the player character?s (PC) background and interactions. The game?s ethics is also investigated by studying how the NPCs treat the PC and what significance they give to his background and actions.The results show that the NPCs are affected by the PC?s interactions, and furthermore, that they are round characters, which is unusual in TV/computer games.

Bakgrund: Utformningen av finansiella rapporter och redovisning av löpandetransaktioner erbjuder företag att välja mellan att tillämpa ett antalolika redovisningstekniker.1 Det faktum att valmöjligheter existeraröppnar upp för bedömningar som kan gynna företaget.2 Ettredovisningstekniskt sätt att gestalta den ekonomiska verkligheten påett inkorrekt sätt i syfte att öka framtida resultat, är att belastaresultaträkningen med omotiverat stora nedskrivningskostnader.Termen big bath accounting karaktäriserar manipulation av resultatetgenom omotiverat stora nedskrivningar.3 Detta genomförs i regel förperioder då företaget inte skulle förmå att nå upp till uppsatta vinstmål.Syfte: Kartlägga hur investerare identifierar tecken på big bathnedskrivningar.Fastställa huruvida förmodade big bathnedskrivningarpåverkar investeringsbeslut. Beskriva big bath?seventuella påverkan, eller uteblivna påverkan, på investeringsbeslut.Metod: Studien har ett kvalitativt angreppssätt. Empiriskt material harinsamlats genom semi-strukturerade intervjuer med sex investerare,vilka är tillämpare av de finansiella rapporterna. Därefter harmaterialet används som underlag till studiens analys.Slutsats: Vi har genom vår studie kunnat kartlägga att investerare primärtidentifierar big bath vid byte av VD och/eller ledning.

The purpose of this thesis is to systematically describe and map how authorities define the school library and its function based on the current policy documents for the Swedish upper secondary school. The study is guided by the following questions: ? What dimensions does the school library have according to the explicit definitions, descriptions and requirements? ? What implicit arguments, references and unspoken assumptions about the school library and its role, function and significance can be derived? The study is delimited to the national policy documents, which have been divided into two groups ? structural and teaching focused ? corresponding to the two questions above. Further delimitations have been made to avoid noise and to manage a manual content analysis. Each question required its own analysis tool.

Gothenburg municipality has a lot of natural water. This paper enhances the function and importance of water in the city. It also deals with the problems of sewage water and flooding. Gothenburg has reached an advanced stage of water planning. By developing a Waterplan, the municipality highlight that water has an important position in the urban planning.

Aqeri has since the past year a new profile with name and logotype, which has createda need for an updated visual product identity. The company is a leading developer,producer and distributer of IT products suitable for extreme environments in industry,defense and vehicles. This new profile with the different segments has together with aproduct identity from two companies resulted in that they have no clear designidentity on their products. From this background the aim of this research is todetermine how a development of a design identity is done to implement it to Aqeri.The design identity can be defined as a product?s identity visualized through its formor appearance which defines what the product is.

The aim of this thesis is to define digital library, and to investigate a relation between the construction of a digital library and user needs. The main questions to be answered are: 1 What criteria was used when constructing a digital library, particularly concerning issues like purpose, function, design, supply, services, resources and future development of the digital library? 2 How do the digital library system designers and system builders criteria correspond with those of postgraduate researchers? And what factors affect the use? A digital library is an enterprise that gives access to information stored digitally and directly available on the net. The crucial is that the enterprise has a control over collection of information and responsibility to make it available to a defined group of users. In order to investigate the relation between the construction of the digital library and user needs, I have interviewed five key people involved with the work with the digital library and twenty postgraduate researchers from the Gothenburg University.

Företagens personal är idag en stor resurs, i många företag en av de största, men kan trots detta inte tas upp som en tillgång enligt dagens redovisningsstandards. Det finns idag många olika normgivande organ men det är FASB (Financial Accounting Standards Board) som har sammanställt de tre kriterier som en resurs måste uppfylla för att tillgodoräknas som en tillgång i företagens redovisningar. De tre kriterierna är: att resursen skall förväntas innebära ekonomiska fördelar för företaget i framtiden, den skall kontrolleras av företaget samt att den skall ha uppkommit som en följd av en inträffad händelse. Ett av problemen med humankapitalsredovisning idag ligger i att företagen inte anses kontrollera personalen på ett sådant sätt som FASB kräver. Detta kriterium brister i och med att personalen kan gå hem när arbetsdagen är slut eller säga upp sig när det så vill.Företagen kan idag synliggöra sitt humana kapital genom en tilläggsnot eller som ett supplement till de traditionella årsredovisningarna.

Changes in swallowing function are common in elderly and chronically ill individuals. Therefore it is important to be aware of these changes and their prevalence. The aim of this study was to assess the prevalence of dysphagia in nursing homes in the municipality of Linköping, and to correlate dysphagia with variables that can be a cause or a consequence of dysphagia. These variables were gender, age, MMT-result, dentition, weight loss, medical diagnose or number of medications. The intention was also to examine the additional information regarding dysphagia supplied by pulse oximetry.Sixty nursing home residents aged 74-101 years were chosen to participate in the study.

The award-winning Norwegian novelist Karl Ove Knausgård achieved great success with his latest book, Min kamp. Both commercially and critically, the novel was praised for its seemingly successful attempt to transcend the boundary between fiction and real life. Focusing on the auto-fictional narrator?s struggle to balance his daily life with his ever so demanding aesthetic ambitions, the novel gives high-detail descriptions of the most basic day-to-day chores, intimately mixed with philosophical reflections on topics such as painting, literature and postmodern civilisation.This essay proposes an alternative perspective on the realism of the novel. Instead of relying on a correspondence theoretical view, which highlights the level of correspondence of a particular representation with reality, I seek, inspired by Martin Heidegger?s thoughts on works of art, to trace a poetics which sees the verity in a work of art as the ?unconcealment? of the world, or the coming-to-being of objects.

Sammanfattning Bakgrund: Med bakgrund i att ideella föreningar upplever sin verksamhet som ovillkorligt skattebefriad är det intressant undersöka den faktiska medvetenhet kring skatteredovisning, och hur den påverkar föreningarnas redovisningsval. Problematiskt är att samtidigt som ideella föreningars skatteregler är likartade, finns indikationer på skillnader i såväl medvetenhet som redovisningsval föreningarna emellan.Syfte: Syftet är att ur ett institutionellt perspektiv undersöka ideella idrottsföreningars medvetenhet kring skatteredovisning. Vidare avser vi undersöka hur denna medvetenhet uttrycker sig i föreningarnas redovisningsval.Teori: Teoribildningen utgår ifrån ett institutionellt perspektiv som förklarar organisationers ageranden. Fokus ligger vid formella regler och informella normer vilka utgör institutioner som formar organisationers beteenden. Vidare förklaras också vägberoende, som kan ses som ett resultat av organisationers tendenser att följa tidigare handlingsval.Metod: Tillvägagångssättet bygger på kvalitativ metod, i form av semistrukturerade intervjuer som genomförts med tio ideella idrottsföreningar i Uppsalaregionen.

Inledning: Svenska kommuners verksamhet betecknas som säregen. Till detta hör att kommunerna skiljer sig från den privata sektorn i avseende på målsättning och utförande. En utav de särdrag som finns inom kommunerna är deras redovisning av pensionerna som skall ske enligt blandmodellen. Ett flertal studier har lyft upp farhågor om att redovisningen enligt blandmodellen anses leda till diskretionära tolkningsutrymmen som troligtvis kommer utnyttjas av politikerna i syfte att påverka redovisningen. En del av de diskretionära åtgärder som antas vara möjliga är pensionsförvaltning av de förmånsbestämda pensionerna.Syfte: Studiens syfte är att förklara kommunernas val av förvaltning av de förmånsbestämda pensionerna.Metod: En deduktiv ansats har använts i studien för att kartlägga de olika teoretiska förhållandena mellan pensionsförvaltning och pensionsredovisning.

This master thesis deals with the differences in the design of the environmental scanning between different kinds of organisations, as well as the demands and regulations etc. in the respective environments that influence the environmental scanning. The content of the environmental scanning and the organisation of the function are outside the scope of this study. Two organisations that do not have an organised function but are scanning their environment were chosen for the investigation. A model for conducting the environmental scanning developed by Frankelius is used to analyse the practice of environmental scanning.

The Swedish government has declared the year of 2006 a special Year ofMulitculture. This has inspired me to look for similarities and differences allover the world, especially the use of rug carpets.During travelling to Indonesia and a visit to the sister of the Sultan ofYogyakarta, I experienced a pleasant moment drinking chilled lemonade. Wewere all sitting on carpets on the floor. To sit on, and get together around acarpet, is an excellent function which we don?t do in the western world.

This Master of Science thesis is conducted at the faculty Integrated Product Development at theRoyal Institute of Technology and in cooperation with EssNet Interactive AB, both situated inStockholm. In the report the final results and the road to get there is described as well as thedesign process and how the process is used to obtain the goal of this thesis.The author of this thesis has developed the design and the function of an interactive videoterminal (IVT) and by using semantics created an encouraging gaming design. The projectspurpose was to change the anonymous withheld shape and produce an experience of gamingmachine that has been absent. The work was aimed to answer the question: How does oneproceed to develop the IVT and by using semantics creating an understanding of gamingmachine?In general the author wants to show that small changes, with the help of design and its signals,can completely change the overall picture of a product.