Modern missiles must meet higher and higher demands. They should be autonomous, have long range and still have a big effect on the target. To maximize effect on target some missiles not only minimize miss distance, but also try to hit with a certain angle; often perpendicular to the surface of the target. In this thesis a method to guide the missile in the terminal phase of its mission where both point of impact as angle of impact are specified. The method consist of two parts.

More people are likely to be diagnosed with cancer and the number of people living with cancer is expected to increase, which means that patients live longer with cancer and different treatments. All patients in Sweden should have access to a nurse navigator to facilitate the cancer Trajectory. The purpose of this literature review was to delineate patients' experiences of the care given by the nurse navigator. The result is based upon twelve scientific articles included in this review. The results show that the experiences of the patients can be divided into four different categories: emotional support- being present and offering supportive talks, support for physical symptoms- counseling and relief from symptoms due to illness and treatments, educational support- receiving information and knowledge about the disease and cancer Trajectory and coordination support- collaboration with other healthcare professionals involved in patients´care.

The aim of this study was to investigate the individual meaning of experiences of migration and day-to day life experiences before and after migration, of women that had migrated from the Middle-east area to Sweden. This was to be done with a psychological health perspective looking for stressors and salutogenic factors. A phenomenological approach was used. Eleven women where interviewed with three open questions on a Trajectory theme. The analysis was supported by software Sphinx Lexica and software MCA-Minerva.

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.

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..

Cancer is one of the most common diseases and it affects not only adults but also many adolecents and children every year. Those who are affected of disease face many challenges that will affect their lives. The aim of this literature review was to illuminate adolecents experience of cancer and how it affects them in their daily living. The result showed that the adolecents experience many physical and mental side-effects from disease and treatment. They expressed the need of information, support and understanding from their families, friends, school and care givers.

Cancer is one of the most common diseases and it affects not only adults but also many adolecents and children every year. Those who are affected of disease face many challenges that will affect their lives. The aim of this literature review was to illuminate adolecents experience of cancer and how it affects them in their daily living. The result showed that the adolecents experience many physical and mental side-effects from disease and treatment. They expressed the need of information, support and understanding from their families, friends, school and care givers.

I detta examensarbete har ett system för navigering och styrning av ett autonomt fordon implementerats. Syftet med detta arbete är att vidareutveckla fordonet som ska användas vid utvärdering av banplaneringsalgoritmer och studier av andra autonomifunktioner. Med hjälp av olika sensormodeller och sensorkonfigurationer går det även att utvärdera olika strategier för navigering. Arbetet har utförts utgående från en given plattform där fordonet endast använder sig av enkla ultraljudssensorer samt pulsgivare på hjulen för att mäta förflyttningar. Fordonet kan även autonomt navigera samt följa en enklare given bana i en känd omgivning.

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.

???This research traces the Trajectory of those methods of teaching grammar that five different teachers in Swedish from Stockholm municipality use in their practice. ?Their both constructive and negative attitudes towards grammar were in fokus when looking after the connection between their own experience of learning/teaching native language grammar and the methods that they are actually using in their own classes. I was trying to gain knowledge and achieve the purpose of this research by means of a qualitativ method.

Migration is a worldwide phenomenon that has occurred for thousands of years in a vast variety of species. The general knowledge of migrating animals is poor even though billions of animals from a range of different groups migrate every year. The human impact on migrating ungulates is high and many populations are declining globally due to direct and indirect causes. Hence it becomes vital to study the migration phase and the habitat and resources selected during migration. The objective with this study was to identify the habitat characteristics and resource selection of moose during migration and compare the selection between different seasons and utilization distribution (relative frequency distribution for the points of location of an animal over a period of time) categories.

By using the cyborg as a structural tool to analyze certain aspects of human interaction with what can be perceived as landscape or landscape architectural elements, this thesis seeks to explore the concept of the cyborg landscape in order to place human practice in the context of postmodern ideas of the end of true nature. Ever since human kind has externalized evo-lution by using tools and extending the body with technological inventions, we have also taken our surroundings out of their natural Trajectory. Everything we do that is conditioned by the use of technology is altering that which we perceive as nature and natural. Since we have been doing this for millennia we have of course also altered our surroundings by the influence of technology.This thesis uses three examples of landscape or landscape architectural elements that are conditioned by the integration of technology to explore this practice through a postmodern model of analysis based on the concept and basic premises of the cyborg, or the cybernetic organism. A cybernetic organism is in short an organism that has functioning technological parts integrated into its system.