In modern industrial robots the components in the transmission contain nonlinearities. These nonlinearities need to be to estimated either for better control or to use the parameters for diagnosis of the system. There is a lot of work done within system identification and mainly within the field of iterative parameter estimation.This thesis considers recursive grey-box identification for a nonlinear model of the transmission in an industrial robot. The nonlinearities that are identified are friction, spring stiffnes, hysteresis and backlash. These nonlinearities are a part of the models that are presented in this thesis.

A multivariate cross-sectional model is used in this thesis to proxy for expected earnings and to estimate return on equity for 214 companies over the period 2009-2013, using Swedish data. The model, which has never been tested on Swedish data before, is first confirmed to function as a forecasting model for expected return. Furthermore, the model is evaluated through a comparison with two univariate models based on the assumption that return on equity follows a mean reversion process. Forecast accuracy is calculated as the difference of estimated returns and actual returns. The results show that the univariate models' forecasts are superior to the multivariate model's..

A possible treatment for patients with lymphoma and myeloma is stem cell transplantation (SCT). SCT is preceded with cytostatic treatment. There are several side effects related to this treatment, for example fatigue, nausea, constipation/diarrhoea, pain, mucositis and loss of appetite. Aim: Investigate which side effects related to the treatment where most troubling after SCT and if nurse assessment and patient assessment differ. Methods: A quantitative empirical study with repeated measuring.

The requirements for wastewater treatment plants (WWTP) are gradually increasing, partly because of higher incoming loads, which in turn require a more efficient treatment process. In parallel with environmental and economic goals there are also desires to lower energy consumption without compromising the wastewater treatment. Furthermore, there is a demand on WWTP´s to alter eutrophication in aquatic systems through better nitrogen and phosphorus removal. An increasing number of WWTP´s have acquired biological nitrogen and phos-phorus removal. A by-product of this type of biological treatment is the formation of nitrous oxide, which is a potent greenhouse gas.

The purpose of this study is to examine what professionals tell about stress, rewards, impact and treatment in the professional treatment with young sexual offenders. Eleven qualitative interviews of half-structured design brought up results about the professional role in the treatment process. During the interviews the professionals described which methods of treatment they work with. We examined the methods through literature research, which was added to the study whit the purpose of strengthening the interview data. The professionals consider their work important and meaningful and they feel safe in their working role.

AimThe aim of this study was to evaluate the effects of MotVikt´s obesity-treatment program on eight severely obese subjects, concerning Body Mass Index, Waist-Circumference and Weight after three and a half months and Sense of Coherence, Body Image and Self-experienced Health after three months. The question in focus was: Did MotVikt´s obesity-treatment program have any effects concerning the factors mentioned above?MetodInformation was collected with questionnaires that were filled out by the eight subjects, three men and five women, who participated in MotVikt´s last round of treatment. Data concerning waist-circumference, weight and BMI were provided by MotVikt. The questionnaires that were used to get information about Sense of Coherence, Body Image and Self-Experienced health were SOC-29, BSQ and IQOLA SF-36.ResultatThe average BMI in the group has decreased with 2,9 kg/m2, from 39,7 till 36,8.

To investigate the possibilities for effective soil tillage, that could imply lower costs, lower negative environmental impact and in addition a meaningful occupation for foraging pigs, a field experiment was carried out in Gränna, Småland, during growing season 2006. The experiment contained two treatments that were repeated three times and were carried out on a couch grass-infected fallow on a light soil close to Sweden?s second largest lake, Vättern. Ploughing was one treatment and pig rooting followed by ploughing, was the other. The experiment was conducted according to the guidelines of organic growing and seedbed preparation was done the same way in the two treatments. The pigs, three groups of five half-year old Linderödssvin (an old Swedish breed), was encouraged to perform an even tillage by strip-grazing, i.e.

The aim of this study was to investigate whether there is a social-psychological relevance in allowing animals to be involved in therapy work. I have examined if the animals may contribute to effects on human relationships between caregivers and patients, and if the animals can contribute to helping patients to achieve better well-being. Through previous research and a quantitative interview I have received answers to the following questions: How are animals used in the treatment work? How do animals affect the relationship between caregiver-patient? In what ways do animals in treatment affect relationships between people? How do the professionals who work with animals believe that animals can affects the patient? I have interviewed people working in different kinds of treatment work using animals. The areas examined include work with animals at youth care, police, disability care, elderly care and school.

Every six baby that is born gets colic. It means that the child cries for at least three hours three days a week. For the child?s parents this is one big strain and feelings like despair, helplessness and isolation are common. The nurse?s task is to support the parents through respectful and empathic actions in order to relieve sufferings and increase their feelings of confidence.

It?s known that the drug information patients get at discharge from hospital is often insufficient. Patients? ignorance of which drug they use and how to take them can lead to drug related problems, can cause suffering and heavy expenses.The aim of this study was to shed light on the patients? understanding for drug information, which was given at discharge from hospital. The literature survey was used as a method and based upon a systematic choice of scientific articles, which were found in different databases during the period of April 1 to May 31, 2008.

The aim of the study was to investigate nurses? perception about patients? participation in medicine treatment and how to make the patient participate. A qualitative method was used and six nurses were interviewed. The nurses? perceptions of patients? participation in medicine treatment were characterized especially by patients having good knowledge about their medicines.

Equal treatment in school is an on-going debate in the Swedish society. At the same time teachers around the country struggles to make ends meet because of a heavy workload. Voices have been raised that teachers no longer have the time to actually be teachers since they get piled up with paper work and other administrative tasks. However, schools are bound by law to take action against harassments and discrimination of any kind. There is also an overall policy in the Swedish national curriculum that every school must embrace diversity and actively teach students about solidarity and respect.

This study explores the effects of two different post-treatment methods on stain reduction in glazed creamware from the late 20th century. The objects stains have been characterized by type one and type two stains which is the result of prolonged contact with food residues, were subjected to the same initial stain reduction. The two post-treatment methods examined are soaking the objects in deionized water and surface rinsing with deionized water. The comparative analysis included photographs under normal and UV-light exposure to assess stain visibility, weight measurements before and after treatments to monitor the absorption and evaporation of liquids, and observations throughout the experiment. The results revealed that while type two stains showed significant alterations after treatments, specifically after soaking, type one stains remained unaffected by both methods.

Today, our cows experience a harder pressure to achieve higher milk yield. To manage this challenge the animal needs first class feeding and treatment. An important aspect of the feeding is to fulfil the need from the cows of especially fiber; and fiber with a sufficient proportion of long particles. Both too much and too little fiber is bad for the wellbeing of the cow, and she might get diseases like acidosis. Many models for feed management have been developed to secure that the animal gets enough of e.g. fiber with a sufficient proportion of long particles.

Today more effective computer programs are in use, regarding design of geotechnicalconstructions. There is a risk that the theoretical background of the computerprograms, its limitations and the signification of the choice of soil parameter isforgotten when the computer programs become more user-friendly.This Master thesis deals with simulation and analysis regarding three computerprograms, FEM-design, with the addition Raft, Plaxis and BE-slab. Comparisons aremade for settlement and maximum moment in a concrete-plate. FEM-design is a threedimensional FEM-program, foremost created for design engineers. Plaxis is a twodimensional FEM-program, intended for geotechnical engineers while BE-Slab is aBoundary elements program in two dimensions that is mainly used by designengineers.