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.

This report is a Master?s Thesis performed by Andreas Adolfsson and David Jacobsson atChalmers University of Technology. The purpose of this master?s thesis is to evaluate anew method for load-shedding, the voltage controlled underfrequency load-sheddingdeveloped by ABB. This report presents a comparison between conventionalunderfrequency load-shedding and this new method for load-shedding.

The purpose of this essay is to evaluate stock index bonds return to risk ratio in order to investigate to which degree an investor in a stock index bond take part of the underlying index return and what the investor must pay for the security of not losing his funds. In order to carry out this evaluation an average return per year and the Sharpe ratio will be calculated and a mean- standard deviation analysis will be made. All investigated stock index bonds are based on a Swedish underlying asset.The results show that the stock index bonds haven?t generated a higher risk adjusted return than its underlying asset. The stock index bonds took part of 57 % of the underlying assets return, and the loss of 10 percentage points per year for the stock index bonds compared to its underlying asset can be seen as the cost for the guarantee a stock index bond gives..

Denna uppsats syfte är att förklara den svenska elmarknadens konkurrenssituation med Lerner index och Herfindahl index. Genom att estimera priselasticiteten med en ekonometrisk modell som logaritmerats kunde dess värde skattas fram. Vidare har denna elasticitet använts för att skatta fram Lerner index. Avslutningsvis har ett Herfindahl index beräknats för att mäta marknadens koncentration. Resultatet från empirin visar existens av marknadsstyrka på elmarknaden och att den är oligopolistisk..

The aim of this study is to evaluate whether the value of occupant load is over or under estimated when the Swedish general value for department stores, 0,5 person/m2, is used for dimensioning shopping centers. The data that was analyzed derives from seven shopping centers and one department store. A conservative method was used to calculate the occupant load factor. The analysis shows that two groups can be discerned: one group that is characterized by a lower occupant load factor that does not exceed 0,3 person/m2, and one group with a higher occupant load factor. Shopping centers with a higher occupant load factor are located centrally in large urban areas.

Syftet med denna uppsats är att undersöka ett oviktat index relevans som jämförelsemått för aktivt förvaltade fonders avkastning och förvaltares förmåga att hitta vinnaraktier. Arbetet använder sig av en kvantitativ metod för framtagning av ett oviktat index (SUWX 100) som inkluderar de 100 största företagen på Stockholmsbörsen. Analysen av kvantitativa data är av induktiv karaktär, och använder sig av de Sverigefonder som finns i PPM-systemet för att dra slutsatser kring det oviktade indexet som jämförelsemått. Vår slutsats är att det finns aspekter av ett oviktat index som gör det användbart som jämförelsemått för Sverigefonder..

Finansiella index är viktade genomsnitt av olika tillgångars avkastning från en bestämd tidpunkt. Traditionella index är börsvärdeviktade. Problemet med denna typ av index är att börsvärdet tidvis kraftigt kan överdrivas på grund av spekulation. Alternativa index bygger på företags fundamentalvärden. De viktas därmed efter företags faktiska redovisade siffror i balans- och resultaträkningar.

This essay is about democracy and how a democracy index can be used as a tool to illustratethe gap between reality and ideal. The purpose of this study can be expressed by two researchquestions: Does the Economist Intelligence Unit's (EIU) democracy index illustrate thedistance between reality and the ideal of democracy presented by Dahl? and Can the EIU'sdemocracy index be modified by a) internal adjustments and b) using the variables includedin World Economic Forum?s (WEF) equality index?By using a combination of theories (Dahl?s theory of democracy, Rawls theory of justice andchosen theories critical to liberal democracy) as an analytical framework the following twoquestions have been answered:1) Which of the variables included in the EIU's democracy index have the potential to capturethe level of political equality?2) Which of the variables included in the WEF?s equality index have the potential to capturethe degree of political equality?By using a quantitative method the study?s third and last question has been answered:3) How strong is the rank correlation between the EIU?s democracy index and the WEF?sequality index, that is; how strong is the rank correlation coefficient (rho)?The data presented by the WEF?s equality index indicate that women are systematicallydiscriminated against as a group. From a democratic perspective the EIU may need tomeasure inequalities at a group level in order to capture the lack of political equality betweenindividuals. By reformulating some of the EIU?s variables, by revising the EIU?s point systemand by using the variables included in the WEF's equality index to extend EIU?s democracyindex, the chances of capturing the gap between reality and the ideal of democracy presentedby Dahl would likely increase..

This essay is about democracy and how a democracy index can be used as a tool to illustratethe gap between reality and ideal. The purpose of this study can be expressed by two researchquestions: Does the Economist Intelligence Unit's (EIU) democracy index illustrate thedistance between reality and the ideal of democracy presented by Dahl? and Can the EIU'sdemocracy index be modified by a) internal adjustments and b) using the variables includedin World Economic Forum?s (WEF) equality index?By using a combination of theories (Dahl?s theory of democracy, Rawls theory of justice andchosen theories critical to liberal democracy) as an analytical framework the following twoquestions have been answered:1) Which of the variables included in the EIU's democracy index have the potential to capturethe level of political equality?2) Which of the variables included in the WEF?s equality index have the potential to capturethe degree of political equality?By using a quantitative method the study?s third and last question has been answered:3) How strong is the rank correlation between the EIU?s democracy index and the WEF?sequality index, that is; how strong is the rank correlation coefficient (rho)?The data presented by the WEF?s equality index indicate that women are systematicallydiscriminated against as a group. From a democratic perspective the EIU may need tomeasure inequalities at a group level in order to capture the lack of political equality betweenindividuals. By reformulating some of the EIU?s variables, by revising the EIU?s point systemand by using the variables included in the WEF's equality index to extend EIU?s democracyindex, the chances of capturing the gap between reality and the ideal of democracy presentedby Dahl would likely increase..

Syftet med denna undersökning har varit att underlätta för företaget Re-Load att presentera sin lastpall som produkt för potentiella kunder. Syftet har också varit att stötta Re-Load till att bli licenserad EUR-pall samt att successivt ersätta befintliga lastpallar och långsiktigt exekvera företagets affärsplan. Målet har varit att undersöka produkten avseende lönsamhet, miljöinverkan och hur den påverkade arbetsmiljön. Under-sökningen har genomförts med ett befintligt flöde där produkten använts och utifrån detta kunde en flödesstudie samt en komparativ produktstudie utföras med en alternativ lastpall. Med data hämtat ur detta flöde utfördes en investeringskalkylering, miljöberäkningar, subjektiva intervjuer samt dokumentation.

Companies have in the past decades changed fromtraditional manufacturing organizations into serviceorganizations. For these service organizationsinformation and competence have become animportant resource. The traditional view oninformation is that an employee use and search forinformation to reduce uncertainty for their decisionmaking. Even though information is strategicallyimportant for organizations, information is not valuedin any way. Hence, this thesis aims to valueinformation in terms of the utility it brings to theorganization.The conclusion is that four factors are important whenvaluing information in terms of utility.

The main purpose of the essay was to evaluate whether investments in index-linked bonds were suitable investments for smaller investors on the international finance market. To determine whether the index-linked bonds are good investments, the variables yield, cost and risk were used to measure the index-linked bonds against investments in stocks and funds. The reason for the interest in this subject is that investments in index-linked bonds have grown furiously the last few years. With the growth of the investments the criticism of index-linked bonds has also grown stronger. The critics? main point is the cost of the product, and they imply that investors can create their own index-linked bond and thereby avoid the bank fees.This study used a quantitative approach, because all the data of yield, cost and risk consist of numbers.

I denna undersökning konstrueras fundamentala aktieindex med aktier innefattade av indexetStockholm OMX30 under perioden 1999-04-01 till och med 2009-03-31. Dels konstruerasenskilda index där indexeringen sker efter faktorerna bokvärde, utdelning, försäljning, resultat,kassaflöde och antal anställda, dels ett index där faktorerna sammanvägs. Detta för att undersökahuruvida fundamentala index bättre speglar företags fundamentala värde och därmed genererarhögre riskjusterad avkastning i förhållande till ett marknadsvägt referensindex. De enskildaindexen bokvärde, utdelning, försäljning, antal anställda samt det sammanvägda indexet visarhögre riskjusterad avkastning än referensindexet. Kassaflödes- och resultatindexet presterardäremot markant sämre än referensindexet.

The aim of this study was to develop a load prognosis model for Uppsala district heating system to be used as a tool for heat production optimization. The methodwas to build three models for the different customer types; housing, industry andoffices and then scale them for the total system using data from Uppsala districtheating system. The heat load consists of two parts, one that is temperaturedependent and one that is dependent of the social behavior of the customers. Thetemperature part was modelled with an ARX model using an outdoor temperatureprognosis as input signal. The social behavior part was modelled using the mean ofthe social behavior from some days before and additionally by distinguishing betweenweekdays and weekends.

The purpose of this thesis has been to develop a tool for modelling and simulating the nuclear plant Ringhals 3. The model should be used to improve the knowledge on the dynamics of the plant. Ringhals 3 is being upgraded to produce more power and a tool for analyzing the new operating conditions is needed.The work in this thesis has consisted of improving and developing an existing model of Ringhals 3 made with the modelling tool Dymola. The model has been validated by comparing the results of a simulated house load transient with data from the actual plant. Validation shows good agreement with data from the real plant.