Inom utvecklingsområdet haptic är det fria arbetsområdet för singulariteten viktigare änsjälva singulära punkten när det gäller haptic-mjukvaran, då användaren spontantförflyttar verktyget för enheten och inte fritt kan planera en bana för att undvikasingulära punkter. En singulär punkt i arbetsområdet tenderar att skapa komplexaförhållanden såsom oändliga krafter och moment i styr- o reglerteknik designen, som ären viktig del i haptic-applikationen. Det huvudsakliga syftet med denna studie var attupptäcka och undvika olika typer av singulariteter i olika delar av arbetsområdet ochsamtidigt optimera processtiden i ARES haptic enheten. För kartläggning av det friaarbetsområdet för singulära punkten används simulering och beräkning avarbetsområdet för ARES haptic enheten. Simuleringen beskrivs med hjälp av tvåmetoder, där den ena metoden är aritmetiska intervallberäkningar för parallellarobotstrukturer och den andra metoden bygger på att samla in stora mängderinformation om arbetsområdet genom simulering.

The aim of this thesis is to examine the politics and activities of the Social Democratic students´ association Spartakus. Their relationships and political and ideological differences towards the Swedish Social Democratic Party (SAP) and the remaining parts of the Social Democratic youth organisation (SSU) in Linköping during 1969-1971 are examined. To fulfil this aim I have studied relevant literature and interviewed people who were active in Spartakus, as well as people from SSU and SAP in the municipal during the period. I have also studied written material produced by the students´ association itself during the period. The theoretical frame of reference consists of Dahl´s theory on a democratic political order, and party theories like the mass party theory of Duverger, theories from Sjöblom, Panebianco, Lipset and Tingsten and also Gidlund&Möller´s theory about different kinds of party members.

The background of this study is an article in the hunting magazine ?Svensk Jakt? where Karl Hedin claims that his sawmills has not noticed any significant moose damages in the timber. The purpose with the study is to find out the causes to the moose explosion and what it has led to in today?s forests. A questionnaire has been sent out to sawmills in the region Dalarna with the purpose of finding out if sawmills receive moose-damaged timber and what they think about how they foresee future development. There were two causes of the moose explosion, that had effects on the moose population. The first cause was that the moose hunters wanted to raise the moose population, and by raising the calf shooting and by saving the cows they succeeded. The second cause was changing methods in Swedish forestry.

The background of this study is an article in the hunting magazine ?Svensk Jakt? where Karl Hedin claims that his sawmills has not noticed any significant moose damages in the timber. The purpose with the study is to find out the causes to the moose explosion and what it has led to in today?s forests. A questionnaire has been sent out to sawmills in the region Dalarna with the purpose of finding out if sawmills receive moose-damaged timber and what they think about how they foresee future development. There were two causes of the moose explosion, that had effects on the moose population. The first cause was that the moose hunters wanted to raise the moose population, and by raising the calf shooting and by saving the cows they succeeded. The second cause was changing methods in Swedish forestry.

There are changes in Sweden's foreign policy, and Sweden is no longer a non-aligned and neutral nation. Sweden has expressed a willingness to actively participate in creating peace and stability in the world by giving and receiving military assistance in case of war, crisis or disaster. This is described as complete turnaround in Swedish policy compared to the neutrality and non-alignment during the Cold war.However new research shows that defence cooperation is not new in the Nordic region. Sweden cooperated secretly with Denmark and Norway, two NATO countries, about co-operative defence of Scandinavia during the Cold War.Is our historical picture wrong and what we perceive as new and revolutionized not particularly new? Is today's open Nordic defence cooperation a continuation of what was done in secret during the Cold War? The essay investigates and compares two different Swedish defence cooperation?s where one was previously secret and the other is open.

Today, buildings utilize 40 % of the total energy consumption. New energyrestrictions and directives have entered the construction industry. Photovoltaic is asustainable, clean and quiet solution that integrates well in the urban environment buthave not yet reached a breakthrough on the Swedish market. The conditions for solarenergy production are often set in the early planning stages where they rarely arebeing prioritized.This master of engineering project focuses on identifying problems regardingimplementation of photovoltaic in city development projects and giving suggestions topossible improvements in the planning- and construction process. It also givesrecommendations on how the conditions for energy production can be optimized inthe early zoning stage.By conducting simulations with PVsystV5.21, on three ongoing city developmentprojects in Umeå, Malmö and Stockholm and by carry out and analyzing interviewswith city planners, constructors and architects, some conclusions have been made.Several improvements, both politically, with changes in the subsidization systemand/or instatement of a new law with feed-in tariffs, and within the solar- andconstruction industry itself, with better communication between different parts of theprocess as well as better use of experience, can be made.

Bakom mitt intresse för kreativitet och konstnärligt skapande, ligger inte bara ett långt arbetsliv i en lärande funktion för vuxna inom detta område, utan också en lika lång erfarenhet av ett eget sådant skapande. På den kurs som de senaste fem åren har varit min huvudsyssla, en kurs riktad till och förbehållen sjukskrivna och arbetslösa, har jag lagt märke till att dessa ?studier? ofta har lett till en positiv utveckling och synbar tillfredsställelse för deltagarna. Detta har också kunnat bekräftas genom en studie som Region Halland lät genomföra 2008 (KJ skolutveckling 2008 sid. 27).

I dag är turismen en väldigt snabbväxande näring. En förutsättning för turism är någon typ av förflyttning. Då turisten tar sig från sin vardagliga miljö använder den sig oftast av någon typ av transport. Största delen av transporterna medför utsläpp skadliga för miljön. I dagens samhälle är miljöförstöringen allt mer hotande.

In recent years, awareness of the climate change has increased around the world. Environmental issues have been taking into consideration, both by individuals and companies. Therefore the demands for new environmental friendly technology have increased, also known as cleantech. To further establish and develop cleantech it requires capital. Venture capitalists have as well seen the potential.To increase the number of Venture capital investments in cleantech, it is important the investments generate good returns.

Litteraturstudien har som mål att reda ut vad Atopisk Dermatit hos hund (CAD) är för något, hur det diagnosticeras och hur sjukdomen kan förebyggas. Eftersom 10-15% av hundpopulationen är drabbade av sjukdomen som ofta innebär klåda och lidande för hunden är det av stort intresse att arbeta för att förebygga förekomsten av sjukdomen samt för effektiva behandlingsmetoder. Immunförsvaret, diagnosticering, miljöexponering, genetiska faktorer och hudbarriären är områden som behandlas i studien och är faktorer som direkt eller indirekt påverkar varandra samt uppkomsten av CAD. Det genetiska arbetet är av stor vikt för förståelsen kring CAD vilket är viktigt för att hitta bra behandlingsmetoder. Genom Genomewide association studies (GWAS) har en kandidat region påträffats innehållande potentiella regulatoriska mutationer på genen PKP2 som kodar för ett proteinet Plakophilin 2 som finns i desmosomer vilka associeras med utvecklingen av CAD hos svenska Schäferhundar.

We have during these three past years been getting formal knowledge in business economics and believe that, now in the end of our education, we are qualified to the demands that are put on the labour market. The purpose of this report has been to write about, such an extensive subject area as public purchase though we feel the education is lacking this area and have therefore decided to do our dissertation in public purchase.Due to lack of time we have not been able to investigate in the extent we wanted, we had to delimit in sort of municipality and purchase product. We have been investigating in how the process of purchase of aid in Malmö municipality approaches because we wanted to enter deeply into those studies.This rapport represents the process of public purchases of aid from both the suppliers point of view as well as the purchase units. All the steps in the process are presented in our investigation.By writing this rapport we have presented the division of responsibility of aid, it is divided between Region Skåne and the municipality in Skåne. In Malmö the responsibility is divided between two activities, one of them is Hjälpmedelcentrum who is responsible of the municipality part and the other is Hjälpmedel Malmö who.s responsible of the regional part.We have decided to investigate only on the municipality part of the responsibility division and have gradually found out that they in Hjälpmedelcentrum reuse their aids after them being returned from the needed ones in the municipality or even after that the need has stopped, the unit can by reuse save on new purchases.In the end of writing this rapport we noticed that owners of small businesses have a difficult time of getting in the market of public purchase.

A favourable economic situation in Sweden has lead to a very good market for agricultural real estates. The estate agents? ads in the daily newspapers, where they actively are seeking assignments, give a hint that the supply is smaller than the demand for agricultural real estates. This situation ends up in a competition between real estate agents to get as many assignments as possible to meet the demand from the market. Describing and explaining the sellers? decision process may give a specific agent an advantage towards other agents.

Foreseeing future changes in economic activity is of up most importance to a wide array of actors. The time lag in the presentation of official GDP statistics means that to somewhat accurately capture a tendency of where the business cycle is heading one need turn to qualitative sentiment indicators such as Purchasing Managers? Index (PMI) and official sentiment indicators for valuable clues. This thesis uses in-sample and out-of-sample methods to evaluate how well PMI and official Business Tendency Surveys (BTS) in Sweden and Denmark fair against the year-on-year growth rate of industrial production. Moreover, various Swedish regional sentiment indicators get examined and a case study of the indicator for the Öresund region is performed.

Smallholder farmers in Uganda suffer from declining productivity. With a rapidly increasing population, marginal land is taken into production and the current land management leads to loss in soil fertility and escalation in soil erosion. There are studies indicating that the use of agroforestry increases soil organic carbon (SOC) compared to systems without trees. Soils which are high in carbon have many advantages, for example better water holding capacity, which can reduce stress on crops during drought. The aim of this study was to determine the effect agroforestry has on SOC concentration in small-holder farming systems in Uganda. The intended system to study was farms practicing agroforestry methods or not in intercropped plantain (cooking banana) fields.

Environmental management systems are a way of systematizing and streamlining an organization's environmental efforts. Within its EMS the organization determines it´s environmental policy and various environmental objectives. In order to achieve their environmental objectives the organization produces action plans that describe how they will work towards the objectives. Stora Enso Skog AB´s districts have been assigned to produce action plans for the company´s environmental objective of 90 % approved everyday nature consideration in final felling and any targets included within this objective. The purpose of this study was to investigate how the districts work with these action plans and how this could be improved.