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.

The aim of this study was to investigate in what way content marketing can be understood through podcasts as an alternative marketing tool. The material which the study was based on is Ölpodden, a podcast initiated by Carlsberg Sweden. The study intended to shed light on the interdiscursivity that emerges when brands are communicated through podcasts. Another aim was to understand how relationships and identities are constructed through the podcast by examining its intended audience. In order to achieve this a critical discourse analysis was used as both underlining theory and comprehensive method.

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 essay is to investigate the construction of sexuality in Swedish school libraries through the lens of Foucault?s concept of power/knowledge. Five libraries were investigated, using two kinds of method: discourse analysis of titles, classification codes and subject headings of sex education materials, and qualitative interviews with librarians working at each of the libraries. Most sex education materials were classified within the medicine section, illustrating the continued authority of medical discourse in matters concerning sexuality. Books for younger audiences were often written for either boys or girls, reproducing a binary understanding of gender.

Syftet med denna studie är att undersöka hur textila modeföretag kan använda sociala medier. Vi frågar oss också hur företagen ska använda medierna för att få en närmre relation med kunder och hur sociala medier kan skada och stärka textila modeföretag. Vi gör en studie på hur textila modeföretag ska lyckas skapa närmre relationer utanför sociala medier och går in på budskap, word of mouth och lite om mediekanaler för att sedan se hur detta kan appliceras till sociala medier. För att få svar på vårt problem kände vi att det var viktigt att undersöka textila modeföretags syn på sin närvaro i sociala medier. För att göra detta valde vi att göra en kvalitativ studie med fyra företag; Monki, Rut & Circle, Shelta och Blue Jeans Company.

Studenter med ett icke-tonspråk som modersmål brukar ha svårigheter att lära sig de kinesiskatonerna när de börjar sina studier. Å ena sidan brukar kursböckerna på denna nivån användabara enstaviga ord och det har ansetts vara god pedagogik att läraren visar tonkonturerna medsina händer. Å andra sidan har forskningen om kinesiska länge varit koncentrerad på vilkavärden som grundtonen (F0) uppvisar i enstaviga ord. Det är många faktorer som tvärspråksforskningeninte har uppmärksammat, bl.a. det inflytande som konsonanterna har på F0 (vilketinfödda talare inte alltid är medvetna om).Det finns ingen samsyn när det gäller att förklara tonförväxlingsmönstren.

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.

In a phonological assessment, the aim is to obtain systematic and reliable data of a child's speech output, which can then serve as a basis for a decision on an appropriate intervention (Wolk & Meisler, 1998). Whether phonological assessment should be derived from an analysis of picture-naming or a conversation with the child, and whether the two methods for elicitation generate equivalent results, has been debated among clinicians and researchers for an extended time (Masterson, Bernhardt & Hofheintz, 2005).The aim of the present study was to compare two methods of speech elicitation for phonological assessment: spontaneous conversation and picture-naming, respectively. In the study, the procedures have been used when assessing children with phonological disorders as well as children with typical language development. The results are presented using two levels of phonological analysis; degree of phonological impairment, in terms of percentage of phonemes correct (PPC), and type of phonological impairment, in terms of phonological simplification processes. Eighteen (18) children participated in the study, nine (9) with phonological impairment (age 3;10 ? 5;11), and nine with typical phonologic development (age 3;2 ? 4;6).