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.

We have through our theoretical framework been able to create a simplified measuring tool for a KIZ; the S-TKL. We have found that the S-TKL is possible to implement on the Öresund Region but with some flaws. Even though the Öresund Region has implemented the mindset of a KIZ, accurate statistics are in some areas hard to find. We can also through our empirical findings say that it is difficult to use the S-TKL on Shenzhen. The data we have found gives a good indication of both of the regions.

The purpose of this study is to analyze and evaluate the suitability of the three instruments SERVQUAL, SERVPERF and Zone of tolerance to measure service quality, from the respondents' perspective. This study has been carried out by a quantitative method in which respondents answered three questionnaires, which was based on the three instruments. The SERVQUAL instrument is a revised version based on criticism by Carman (1990). It is based on the five dimensions; reliability, responsiveness, assurance, empathy and tangibility, with 22 items in which each dimension is associated with a number of items. SERVPERF is the instrument most similar to SERVQUAL and is also composed of the same five dimensions.

Modern forestry requires a high degree of machine traffic for clear felling and scarification operations. The machines most frequently used are big and the traffic often results in tracks on the forest ground. There are many small streams running through a forest, in connection to logging operations, machines might cross these frequently. These crossings could result in the erosion of fine particulate inorganic matter, which ends up in the stream. The aim of this thesis was to give a general description of small forest streams of order-one in the county of Värmland and to determine the frequency of machine tracks in small streams.

This study is about inmates, who reflect upon their time in school, their experiences of school and how different things have influenced and affect them later in life. The aim with this study is to examine how different kinds of school related issues have affected the inmates in different ways. The aim is also to look at how school can spot in early years, children within the danger zone and provide for those children, so that they can be helped in different ways and so that they can be able to achieve different in life, not to end up becoming criminals later in life.The main questions in this study are:How did the chosen inmates experience their time in school?Can you by looking at research tell that these persons already in their childhood were children within the danger zone?What kind of school related issues could have contributed to a criminal lifestyle later in life?The result of this study shows that all five have been children within the danger zone. In all five cases there have been school related issues that have affected those men.

Denna studie berör olika developer zones som idag drivs av företag i Sverige, och om hur dessa är uppbyggda. Den tar upp de problem som dessa företag har stött på, samt vad man ska tänka på vid uppstart och användning av en developer zone.Att låta sin developer zone vara helt öppen eller helt stängd är inte det mest optimala sättet eftersom man i den helt öppna versionen låter sin information vara tillgänglig för allt och alla. Den helt stängda versionen stänger ute kunskap från developer zonen. Genom att sätta upp en developer zone med båda delarna, dvs. en öppen del för utvecklare som intresserade att utveckla innovativa tjänster/produkter och en stängd del för företag som tillsammans med ägaren av developer zonen har ett ekonomiskt intresse, så uppnår man en mer kontrollerad form.

Title: Mountain birds ? a comparative study from valley to mountaintop in a northern and southern Swedish fjeld  Author: Kristian Zackrisson Abstract Main aim in this study was to increase the knowledge about birds in the Swedish mountain area. Three questions were asked: 1) Which bird species can be found during the breeding season along a low mountain slope from a forested valley to a mountaintop with bare mountain environment? 2) Do the number of species and individuals differ in different elevation zones? 3) Is the composition of bird species along a low mountain slope the same in the Kebnekaise mountains inLaplandand the Grövelsjön mountains in Dalarna? Bird census in two study sites located in the Kebnekaise mountains and the Grövelsjön mountains and subsequent analysis of the results from the bird census was the main parts in this study. Totally 20 bird species were found along a low mountain slope in the Kebnekaise mountains.

In today?s industry it is starting to get more and more interesting with wireless systems and solutions for applications. To be able to reduce the amount of cables drawn to various machines which takes both space and an extra fee for every cable drawn. Some systems might require the user to use a handheld device that is directly connected by a cable which in some machines might be inelegant for the user.The goal with this bachelor thesis is to develop wireless monitoring of the machine operators position that is working with heavy industrial machinery. The thesis started out with researching different techniques for positioning a transmitter indoors, this was done in order to get a better understanding on how to go about.

Gothenburg municipality has a lot of natural water. This paper enhances the function and importance of water in the city. It also deals with the problems of sewage water and flooding. Gothenburg has reached an advanced stage of water planning. By developing a Waterplan, the municipality highlight that water has an important position in the urban planning.

To be able to plan for the expansion of a town, one needs a vision of the future appear-ance of the town. It is the current issues (social situation, supply and demand, political control etc.) which decide what the ideal for town planning is. This is turn is the steering factor of the physical structure of the town. Therefore, the town's structure is decided by these ideals.In this report, I will present planning ideals that have historically been, and which criticisms that have been directed towards them. With reference to these issues, I will present those guidelines and ideals we have today for planning of our towns.

Bakgrund: Kaliningrad är den mest västliga ryska regionen som ligger mellan två EU-länder. I takt med den höjda levnadsstandarden och på grund av det gynnsamma geografiska läget ökar svenska företagens intresse för regionen. För att öppna upp regionens ekonomi för direkta investeringar från utlandet introducerades Special Economic Zone. Syftet med SEZ-Kaliningrad var att kompensera regionen för det isolerade läget genom tull- och skattelättnader för varor som tillverkas där. SEZ-insatsen i Kaliningrad har attraherat en del direkta investeringar, men resultaten har hittils inte varit speciellt imponerande.Syfte: Syftet med denna uppsats är att genomföra en studie av de skandinaviska företagens erfarenheter av SEZ-Kaliningrad.

Forest streams and the associated riparian zones are sensitive to disturbances and changes that occur within these riparian areas. Particularly sensitive are small streams of low order, which will have large impacts down-stream. The disturbances that occur in the riparian zones are reflected quickly in the stream. Driving with forestry machines in the riparian zone will have detrimental effects to the soil and water. Driving the machines will lead to changes in the mineral soil composition, resulting in the reduction of porosity, less infiltration, compaction, and an increased bulk density.

Shanghai Waigaoqiao Free Trade Zone är geografiskt utmärkt placerad vid bedrivande av handel och utgör idag en internationell hub. Området har också tillgång till en god infrastruktur som ständigt förbättras. Waigaoqiao erbjuder sakkunniga konsulter och har ett starkt styrelsestöd. I framtiden då Free Trade Zones inte kommer att vara det enda valet för svenska företag som vill etablera sig i Kina, utan att behöva ingå joint ventures eller liknande avtal, kommer Waigaoqiaos handelsbefrämjande miljö att vara avgörande vid ett etableringsval i just det området. De skattefördelar och tullfördelar som idag existerar i Waigaoqiao kommer att försvinna när Kinas WTO-avtal i sin helhet träder i kraft.

The aim of this study is to elucidate factors that effect growth of Sarcina lutea and Bacillus subtilis, exposed to the growth inhibitor SDS (Sodiumdodecylsulfat). Agar diffusion experiments revealed repeated, concentric zones of inhibition and stimulation upon exposure to Sodiumdodecylsulphate or to Amoxicillin. Temperature, nutrient concentration and inhibitor concentration were controlled. Formation of successively repeated zones of inhibition, stimulation, inhibition and stimulation is discussed: ? The extension of the primary inhibition zone is due to the concentration of applied Sodium dodecyl sulphate.? Immediately outside the primary inhibition zone the bacteria have access to diffusing nutrients that have not been consumed in the primary inhabitation zone.? In zones of dense bacterial growth the bacteria may produce inhibiting substances, affecting growth of bacteria in adjacent zones.? In zones of dense bacterial growth the nutrients will soon become depleted, thus affecting bacteria in adjacent zones..

Research concerning movement patterns of wild animals has been advancing since GPS technology arrived. But studying the snow leopard (Panthera uncia) is still difficult because of the harsh territory it inhabits in Central Asia. This study took place in south Gobi, Mongolia, and aimed to estimate the time spent at kills and the maximum distance away from kills between visits. Snow leopards were monitored with GPS collars that took a location every five or seven hours. Potential kill sites were established by identifying clusters of GPS-locations in ArcGIS and visited in the field for confirmation.