This thesis studies path generation for industrial robots of six degrees of freedom. A path is defined by connection of simple geometrical objects like arcs and straight lines. About each point at which the objects connect, a region, henceforth called a zone, is defined in which deviation from the defined path is permitted. The zone allows the robot to follow the path at a constant speed, but the acceleration needed may vary. Some means of calculating the zone path as to make the acceleration continuous will be presented.

In this report a new gear concept is evaluated using the magnetic finite element method (FEM)software MagNet and Ansys as well as the mechanical FEM software Abaqus. The gear conceptis evaluated in terms of maximum torque capability, torsional stiffness, gear ratio and efficiency.ABB Corporate Research has proposed a new gear concept which should be less expensive thangearboxes used today. The new concept is called aMagnetic Harmonic Traction Drive and usesthe principles of a harmonic drive gear to achieve a high reduction ratio. The gear conceptreplaces the wave generator used in traditional harmonic drives with magnets and uses tractioninstead of gear teeth to transfer the torque. The main components in the gearbox are the magnets,the flexspline, the magnetic portion and the circular spline.

Syftet har varit att i en förstudie åt BRIO ta fram ett koncept till en ny barnvagn. Detta konceptska ligga till grund för fortsatt utvecklingsarbete hos företaget. Den nya barnvagnen, sombenämns resebarnvagn, ska vara ett komplement till BRIO:s nuvarande sortiment ?To Go?.Vagnen ska vara enAllt i ett-vagn och ska således vara brukbar i flera skeden av ett barns förstauppväxtår. Barnvagnen ska vara konkurrenskraftig på en internationell marknad och attraktiv fören målgrupp som kallas "On The Go Parent".Målet för konstruktionen var att den skulle uppfylla krav på minimal vikt (hela barnvagnenska väga under 8 kg), minimal volym (hopfällt läge ska vagnen ha dimensionerna 550 x 400 x200 mm) och färre komponenter (färre än 100 stycken).

Outsourcing is today a common phenomenon among businesses in most industries. The term outsourcing means transferring the responsibility of performing a certain function to an external supplier. There are usually certain methods to investigate the effects and the outcome of a function that is performed by the company itself. When this function is performed by an external party, the complexity of the function will increase.This leads us to our purpose: Based on different theories clarify how a company ensures a desired effect out of marketing when this function is outsourced to a certain retail- and advertising agency.In this essay we have defined us to study one of Sweden´s leading mobile operators who have outsourced their sales management to a retail- and advertising agency. To get an additional point of view, we have included one of the mobile operator´s intermediates, which is a selling agent whose sales function is led by the retail- and advertising agency..

This thesis is a case study of the search function on the University of Uppsala?s web site. The search function in this study was chosen since it exists on a large and complex web site and there were apparent lacks in the old version of the search function. The thesis highlights some of the problems that can appear in the development of a search function on a local site. One interesting find is that one of the most difficult issues is organizational and not technical.

This thesis is a case study of the search function on the University of Uppsala?s web site. The search function in this study was chosen since it exists on a large and complex web site and there were apparent lacks in the old version of the search function. The thesis highlights some of the problems that can appear in the development of a search function on a local site. One interesting find is that one of the most difficult issues is organizational and not technical.

The aim of this Master thesis is to study the public libraries' function as a place for people to meet. Four major questions are taken up: + Do the public libraries have the function of a meeting place? + How important do the librarians and the visitors find the libraries possible function as a meeting place? Do they think that this function is important? + What differs the public libraries from other places in society when it comes to the function of a meeting place? + What differences are there between a larger and a smaller library when it comes to the function of a meeting place ? The basis of this study are interviews with employees at a province library in Jönköping and at a smaller library in Sjöbo in Borås municipality. Our study deals with the history of public libraries, its functions as a meeting place, its architecture, culture, and statistics concerning numbers of visitors and loans of books. The conclusions that are drawn are that the public libraries have qualifications to function as a meeting place even if that isn't always the case.

The study has been done on behalf of and in cooperation with LRF Konsult. The purpose of the study was to try to find out how forest estate buyers valuated different parts of the estate at the time of the purchase and to see if it was possible to identify different trends between different kinds of purchasers. The study is delimited to Västerbotten County and all the purchases were made thru LRF Konsult. The background of the study is that the forest estate purchasers are paying more and more for the forest estates. The prices are often much higher than the net present value which means that they are paying for something more than just the timber value. The study is made with a questionnaire mailed to one hundred forest estate purchasers. Answers got returned from 48 of them.

This thesis is a case study of the search function on the University of Uppsala?s web site. The search function in this study was chosen since it exists on a large and complex web site and there were apparent lacks in the old version of the search function. The thesis highlights some of the problems that can appear in the development of a search function on a local site. One interesting find is that one of the most difficult issues is organizational and not technical.

In this study I have analysed the history of a forest belonging to Saxåhyttan in Värmland. The study area is 448 hectares and has been used by iron industry since the 16th century. A forest that has been used by man during at least 400 years should have few ecological values. This inventory however shows the opposite. The aim of the study is to interpret the history of the forest in the area, i. e.

The purpose of this paper has been to study how users experiences and behaviors are influenced by a "like" function, when publication of images in social media with the photo app Instagram as the selected base. In this study respondents has been part of a study regarding their experiences and behavior related to "like" function in Instagram. The results of the question form have then been analyzed to find patterns in their behavior and to exemplify/reinforce different type of user-behavior found in related scientific articles.The study has shown that the behavior of Instagram users is affected by the "like" function, when they believes that the function is a status marker that raises the interest for certain users by the number of likes. Through my results, I have been able to amplify and illustrate several theories of Goffman, Buckingham and Gripsrud which are presented in the report..

The waveform of a radar signal affects the resolution in velocity and distance. The ambiguity function is used as an aid for analysing narrow band radar signals simultaneously in time and frequency. An analysing tool for wide band radar signals is missing.This thesis describes a generalised ambiguity function to be utilised for study of wide band signals. Waveforms are further synthesised with help of the developed analysing tool. The aim is to start with a certain ambiguity function and find a waveform that reproduces the same ambiguity function.Mathematical formulas are presented and implemented in Matlab to produce the wide band ambiguity function.

Introduction: HR departments have been developed to take care of the organizations most important resource: the human being. HR as a function has however faced criticism claiming that the function does not entail any value to organizations. The rest of the organization often have a hard time understanding what HR?s daily work means and thereof not having a clear image of the function?s purpose or the function?s role in the organization Aim: The purpose of this study is to describe the relationship between the organization's view of the HR department (image) and the HR department's image of themselves (identity) in order to create a greater understanding of how the HR function successfully can be a well-functioning resource in an organization's overall business. Methodology: The study was conducted in the form of a case study. We have approached the issues by taking different perspective into account, which includes HR, managers and employees.

Objective: The aim of the study is to describe pupils' understanding of the mathematical concept of function. How do pupils define the concept of function? What images of the concept of function evoke when they solve tasks, which involve identifying and constructing functions?Theory: A student's thinking about a mathematical concept depends on more than just the formal definition of the concept; therefore Tall and Vinner introduce the term concept image to describe the role cognitive structures play when students learn about concepts. The cognitive structure includes all mental images, associated properties and processes that an individual associates with a given concept. According to Sfard, an individual's understanding of mathematical concepts may have different character: an operational conception, where a concept is conceived as a process and a structural conception, where the given concept is conceived as an object, that is, as a whole.Method: 16 pupils at the Science Program at two different upper secondary schools inSweden answered a questionnaire on the mathematical concept of function.

Background: The project controller is a function witch evolved due to the strong gaining ground of project operation. Why the area of the project controller is interesting to study is explained by the fact that increasing knowledge of this function is important in order to make project operation work well. The fact that opinions in this field disagree, further increases the interest of the field. In order to study the function of the project controller three companies have been singled out. They are IFS, Intentia and Saab Bofors Dynamics.