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This paper presents a study on iconic programming support for mainly position-based lead-through programming of an ABB YuMi collaborative robot. A prototype tool supporting a hybrid programming and execution mode was developed and evaluated with 21 non-expert users with varying programming and robotics experience. We also present a comparison of the programming times for an expert robot programmer
Today a range of hygienic services exists and some can be found within the fields of beauty treatments, body treatments, hair treatments and other customer services. Unfortunately, hygienic services come with risks if not executed correctly. Shortcomings in execution can result in health risks. To prevent unwanted hygienic risks some precautions should be taken according to the Swedish Environment
Wavelet theory, which shares fundamental concepts with windowed Fourier analysis, introduces the notion of scale in an effort to aid in joint time-frequency analysis. Having century-old roots, much of the essential research on the subject of wavelets was conducted during the 1970s and 1980s. Despite being a rather young toolset, wavelets have shown to be very useful when studying signals with tran
Den 1 januari 2019 skedde en lagändring av föräldrabalken med syftet att fastställa föräldraskap för transpersoner. Syftet med denna uppsats är att redogöra för den nuvarande rättsliga regleringen av föräldraskap för personer som ändrat könstillhörighet. Istället för att införa könsneutrala regler för föräldraskap så lägger man till nya regler när samhället förändras. Den komplicerade utformningenOn 1st January 2019 an amendment was made to the Children and Parents Code, which aims to determine legal parenthood for transgender people. The purpose of this essay is to describe the current regulations of parenthood for people who have changed their gender. Instead of setting up gender neutral regulations of parenthood, new rules are added with the changing of society. The complicated design o
Att överlåta aktier till anställda är en vanlig, och ibland nödvändig, åtgärd för att utvidga eller förändra ägarkretsen i ett företag och i förlängningen för att företaget ska kunna drivas vidare. Fördelar med att överlåta till anställda är att de ofta besitter god kunskap och kännedom kring företaget de verkar i. En sådan aktieöverlåtelse kan ske till marknadsmässiga villkor eller mot en ersättnTransferring shares to employees is a common, and sometimes necessary, measure to expand or adjust the ownership in a company and in the long run, for the company to be able to continue to operate in a successful way. Possible advantages of transferring shares to employees are that they often possess good understanding about the company in which they operate. The shares can be transferred based on
The digitalization of social work in Sweden has skyrocketed in the 21st century. New challenges are rising for social workers as well as social service users. The aim of this study was to explore school counselors' experiences conducting their counseling sessions online. This to find out what hardships they have encountered and how they dealt with them. The aim of this study was to contact gym
AIM: We investigate if merged gridded satellite rainfall products (CHIRPS, MSWEP, or SUPER), used with the HYPE hydrological model, can replace limited rain gauge measurements when modelling streamflow in poorly gauged basins. Three research questions frame this aim: (1) How does the HYPE hydrological model perform in a poorly gauged basin? (2) Which rainfall product performs better (CHIRPS, MSWEP
The purpose of the essay is to study the influence given to doctors in the regulations about forensic psychiatry examinations. The essay compares the regulations and the current ideas that did exist during the regulations application. Thereafter the alterations in the influence will be presented and what impact the current ideas may have had. The charter from year 1826 demanded the court to obta
Bakgrund: Barn ska få vara delaktiga och få anpassat stöd för att uttrycka sig i sin intervention. Barn med autismspektrumdiagnos (ASD) har ofta en annorlunda sensorisk process, vilket kan påverka delaktighet i aktiviteter. Det saknas information kring hur arbetsterapeuter samkonstruerar med barnet som klient i interventioner. Syfte: Att undersöka hur arbetsterapeuters samkonstruktion sker med barBackground: Children must receive tailored support to participate and express themselves in their care. Children with autism spectrum disorder (ASD) commonly have a different sensory process, which can affect participation in activities. There is a lack of information regarding how occupational therapists collaborate with children as clients in interventions. Purpose: To investigate how occupation
Hospitals have been a crucial element of healthcare for centuries, providing a space for diagnosis, treatment, and recovery. The design of hospitals has evolved dramatically throughout history, with significant changes in both the form and function of these institutions. Ancient hospitals were closely connected to nature, with an emphasis on the role of surroundings in the healing process. However
The aim of this study is to investigate how John Marsden’s Tomorrow, when the war began (1993) could be used for reading-between-the-lines practice in the English language classroom. It answers questions relating to how reading between the lines can be understood in relation to Grice’s cooperative principle, the effects of implicature in the text and how teachers can use this information to facili
The report discusses mathematical modeling of thermal components, such as heat exchangers and control valves. A flexible model library for simulation has been developed. The object-oriented and equation-based modeling language Omola is used to describe the components in mathematical terms. The library of models can be used to build models of more complex thermal systems, such as heat exchanger uni
A processing method is developed to characterize contacts for vertical nanowire structures. The process is based around optical lithography and an organic spacer material in order to facilitate an easily repeatable processing flow. Substrates with MOVPE grown GaSb nanowires are processed into sets of resistor devices. Variation in resistance of the devices is achieved by adding contacts at differen
Staten har under olika perioder de senaste 100 åren avvecklat statliga verksamheter som bedrivits i myndighetsform genom att avknoppa dessa verksamheter till aktiebolag, stiftelser eller genom att lägga ned verksamheterna. Vid övergångar av statliga verksamheter till andra driftsformer har avsikten varit att skilja staten från eventuellt ansvar hänförligt till den överlåtna verksamheten genom att The Swedish state has at different times over the last 100 years closed down governmental activities performed in government agencies by transforming these agencies, or divisions of agencies, into joint-stock companies, trusts or just terminating the activities. At transitions of government activities to the other modes of operation, the intention has always been to separate the State from any res
Stress is a common phenomenon amongst students and can be experienced differently depending on gender. Yoga’s impact on stress and other mental illnesses is now also well-documented. This study sought to examine relationships between students’ perceived stress level at Lund University and yoga-practice, when taking into account gender and stressors relevant to students. The hypotheses were that yo
Studiens syfte var att undersöka hur förändringsprocessen upplevs vid panikfokuserad psykodynamisk korttidsterapi vid komorbid personlighetssyndrom, kluster C. Studiens urval bestod av 16 deltagare från forskningsprojektet POSE som uppfyllde kriterier för personlighetssyndrom, kluster C. Data analyserades utifrån tematisk analys och genererade tre huvudteman: Ovisshet, Den terapeutiska fristaden o
Background and objective: Clinical practice guidelines for prostate cancer (PCa) are a valuable resource for everyday clinical practice. The clinical practice guidelines and recommendations produced by various societies should demonstrate a considerable level of consistency in terms of quality, regardless of the society that developed these given the common evidence base. However, to date, no stud
Herein, a model is developed to study the polarization-selective light-coupling in quantum well infrared photodetector arrays with 15 and 30 μm pixel pitch. The polarization-selective light-coupling is achieved using 1D lamella gratings with varying grating orientation and studied through 2D and 3D finite-element method simulations. The extracted absorption quantum efficiency ηabs, derived from th
Current consumption patterns are not sustainable and are compromising the Earth’s carrying capacity and the future of next generations. Increasing sustainable consumption behaviours and practices are needed in order to decrease nowadays negative consumption impacts on the environment and achieve sustainable development. However, sustainable consumption practices are generally not performed as they
