[pt] Além de apresentar uma visão unificada das técnicas de transmissão digital em blocos e suas combinações com a técnica de múltiplo acesso CDMA (Code Division Multiple Access), esta dissertação examina uma nova possível técnica de transmissão para sistemas com múltiplo acesso, aqui chamada CS-CDMA (Chip-Spread Code Division Multiple Access), combinada com as técnicas de transmissão em blocos, em portadora única (SC-Single Carrier ), gerando o esquema SC CS-CDMA, e em múltiplas portadoras OFDM (Orthogonal Frequency Division Multiplexing), gerando o esquema MC CSCDMA. Comparações de desempenho com os sistemas de transmissão por blocos CDMA de portadora única conhecido como SC CDMA (Single Carrier Code Division Multiple Access) e de múltiplas portadoras conhecido como MC CDMA (Multi Carrier Code Division Multiple Access) são apresentadas. Uma característica marcante da técnica de transmissão enfocada é que, diferentemente do que ocorre nos sistemas CDMA, a ortogonalidade entre os códigos dos diferentes usuários é mantida mesmo quando a transmissão é feita atravéss de um canal multipercurso seletivo na frequência, permitindo assim que os usuários possam ser idealmente desacoplados na recepção. Além desta vantagem, e muito devido a ela, os resultados de desempenho, obtidos via simulação, indicam uma significativa superioridade do sistema proposto CSCDMA, quando os sinais são transmitidos em portadora única, sobre o tradicional CDMA. Os resultados consideram recepção com equalização no domínio da frequéncia utilizando equalizadores do tipo ZF (Zero Forcing) e MMSE (Minimum Mean Squared Error). / [en] In addition to presenting a unified view of digital blocks transmission technologies and their combinations with the technique of multiple access CDMA (Code Division Multiple Access), this dissertation addresses a new possible transmission technique for multiple access sytem, called here CS -CDMA (Chip-Spread Code Division Multiple Access), combined with blocks transmissions techniques, in single carrier (SC- Single Carrier ), generating scheme SC CS-CDMA, and in multi carrier OFDM (Ortogonal Frequency Division Multiplexing), generating escheme MC CS-CDMA. Performance comparisons with the traditional SC CDMA (Single Carrier Code Division Multiple Access) and MC CDMA (Multi Carrier Code Division Multiple Access) block transmission systemare presented. A key feature of the proposed transmission technique is that, differently from what occurs with CDMA, the original code orthogonality between users is preserved despite propagation through multipath frequency selective channels, thus ideally allowing the decoupling of the signals at the receiver side. Beyond this advantage, and mostly due to it, the performance results indicate a clear superiority of the proposed system CS-CDMA, over the traditional CDMA, when signals are transmitted in single carrier. The simulation results consider frequency domain ZF (Zero Forcing) and MMSE (Minimum Mean Squared Error).

This master thesis deals with the modern algorithms of the asynchronous induction machine and permanent magnet induction machine. It focuses at vector control, direct torque control and input-output feedback linearization. It also describes a library creation and its usages in the Matlab – Simulink environment. The final part of this thesis contains an implementation of chosen algorithms on the DSC Freescale 56F800E family.

Le risk management d’entreprise (ERM) est un ensemble de politiques, de structures et de pratiques infuses d’idéaux sociaux de bonne gouvernance et de contrôlabilité. Nous nous demandons ici dans quelles mesures le travail des acteurs permet l’adoption durable de l’ERM dans l’organisation. Dans le cas du Groupe La Poste, l’appropriation des pressions externes par les auditeurs internes a été cruciale. Une fois introduit dans l’organisation postale, l’ERM a d’abord été confronté à l’indifférence du management. Les contenus réglementaires et normatifs ont été adoptés sans être mis en œuvre. Des structures partielles d’ERM ont été peuplées de risk managers détenant les compétences nécessaires pour répondre aux attentes externes. Ces risk managers ont ensuite travaillé à légitimer et structurer le dispositif conformément aux « meilleures pratiques » en réalisant un travail de recouplage – action intentionnelle des individus visant à aligner le risk management organisationnel avec les traits externes et abstraits de l’ERM. L’étude du cas La Poste suggère ainsi une explication organisationnelle au fait que l’ERM ne puisse être révoqué une fois en place. / Enterprise-wide risk management (ERM) is a set of policies, structures and practices infused with social ideals of good governance and controllability. In this research, we seek to know how actors’ work allows ERM lasting adoption in the organization. In La Poste, the enactment of external pressures by internal auditors turned out to be critical. When introduced in the postal organization, ERM first encountered management disregard. As a consequence, ERM regulatory and normative meanings and categories were adopted but not implemented in the business. Partial ERM structures were created and inhabited by risk managers who hold necessary skills to help organizational compliance with external expectations. Newly appointed risk managers worked internally to legitimize and structure the device consistently with external “best practices” performing what we named recoupling work - the purposive action of individuals and organizations aimed at aligning organizational risk management with external ERM abstract features. Thus, our case suggests an organizational explanation to the fact that risk management could not be rescinded after its initial settlement.

In dieser Arbeit werden die Methoden zur Modellierung, Identifikation, Regelung und Reibungskompensation von DLR-Medizinrobotern mit elastischen und differentiell getriebenen Gelenken vorgestellt. In der Praxis zeigt sich, dass bei den DLR-Medizinrobotern sowohl die Gelenkelastizität als auch die Gelenkverkopplung innerhalb des Doppelgelenks in der Modellierung und Regelung berücksichtigt werden muss. Daher ist es das Hauptziel dieser Arbeit, eine Regelungsstruktur zu entwickeln, die das gewünschte Folge- und Einschwingverhalten erreicht. Zur Regelung wird mit Hilfe der modalen Entkopplung ein MIMO – Zustandsregler für die Doppelgelenkstruktur eingeführt, der auf der Rückführung der antriebsseitigen Positionen und abtriebsseitigen Drehmomente sowie deren Ableitungen basiert. Für die medizinischen Anwendungen spielt die Positionsgenauigkeit, die durch die hohe Reibung stark beeinflusst wird, eine entscheidende Rolle. Um die Positioniergenauigkeit des Roboters zu verbessern, wird ein Reibungsbeobachter entwickelt, der eine passive Reibungskompensation ermöglicht. Da der Reibungsbeobachter nur den Momentenfehler, nicht aber den Positionsfehler integriert, wird diese Kompensation außer zur Positionsregelung auch zur Verbesserung der Qualität der Drehmoment- und Impedanzregelung eingesetzt. Für die gesamte Regelungsstruktur aus Zustandsregler und Reibungsbeobachter wird global asymptotische Stabilität des gesamten nichtlinearen Roboters nachgewiesen. Diese Regelungsstruktur wird derzeit in zahlreichen Anwendungen mit den DLR-Medizinrobotern benutzt und validiert.

The purpose of this study is to explore and interpret the different meanings and consequences of diversity and its associated practices for the police organization in Sweden. By highlighting possible discourses on the concept of diversity within the police organization and how the police organization presents the concept of diversity, based on that, contribute to an increased understanding of the police organization’s diversity work. Our study is based on a qualitative method, discourse analysis, which has helped us collect the empirical material. The purpose with discourse analysis is to interpret what is written, therefore this study is based on our own interpretations of the empirical material. The empirical material that consists of the police policy documents has in turn been analyzed based on Carol Bacchi’s “What’s the problem represented to be-approach” (WPR-approach) and the neo-institutional theory where concepts such as isomorphism and loosely coupled occur. When studying the police organization, the concept of diversity is seen to be common. The police highlights the importance of having diversity within their organization, which can be seen to have emerged over time. The result of this study indicates that the police organization works actively to make equal treatment a natural part of the organization today. This includes wanting to reflect society and they believe that diversity entails different skills which they want to utilize within the organization. The study also describes three different problem representations which we have identified in the empirical material. These problem representations have in turn helped us to highlight different discourses about the concept of diversity, which has contributed to an increased understanding of the police organization’s diversity work.

Omvärldens krav och påtryckningar för förändring kan vara en svår utmaning för företag. Företagen måste frekvent reagera på politiska signaler, kritik och ny information. I vissa fall när omvärldens krav strider mot företagens interna effektivitetsbehov kan företagen påstå att de anpassar sig, fastän de inte gör det. Detta för att tillfredsställa sin omgivning och vinna legitimitet, men i själva verket frikoppla sig från omvärldens struktur för att bibehålla sin interna effektivitet. I de fall som företag använder frikoppling så är det ofta ett avsiktligt beslut som fattats av företagsledningen. Vidare menar forskare att en mer könsdiversifierad styrelse kan påverka företagens styrning på ett betydande sätt. Syftet med denna studie var att beskriva och analysera i vilken mån kvinnliga respektive manliga styrelseledamöter kan bidra till företags symboliska och substantiva handlingar. Frikoppling härstammar från institutionell teori som har legat som grund till vår studie. Studiens två beroende variabler, symboliska och substantiva handlingar, mättes med hjälp av upprättade policys och donationer. Studiens oberoende variabler, andelen kvinnor respektive andelen män i styrelsen, speglade hur stor andel av styrelsen som är kvinnor respektive män sett till det senaste räkenskapsåret. Studien tog även hänsyn till tre kontrollvariabler, företagens storlek, lönsamhet samt geografisk position. Vi använde en kvantitativ metod med en deduktiv ansats. Studiens urval baserades på 2185 av de största företagen i världen som arbetar med policys och/eller donationer. Resultatet visar att samtliga fyra hypoteser förkastas, trots två signifikanta samband mellan variablerna eftersom riktningarna visade sig vara andra än förväntat. Det ena signifikanta sambandet var att en högre andel kvinnor i styrelsen leder till färre substantiva handlingar. Det andra signifikanta sambandet var att en högre andel män i styrelsen leder till fler substantiva handlingar. Studien fann ingen signifikant koppling mellan styrelsens sammansättning och symboliska handlingar. / The external demands and pressures for change can create difficult challenges for companies. Companies must respond frequently to political signals, criticism, and new information. In some cases when the outside world demands are in conflict with the companies' internal efficiency needs, companies can claim that they adapt, even if they do not. This is not only to satisfy one's surroundings and gain legitimacy, but also disengage from the structure of the outside world in order to maintain its internal efficiency. When companies use decoupling, it is often a deliberate decision made by company management. Researchers also believe that a higher proportion of women on the board can have a significant impact on corporate governance. The purpose of this study was to describe and analyze the extent to which female and male board members can contribute to companies' symbolic and substantive actions. Decoupling stems from institutional theory that has formed the basis of our study. The study's two dependent variables, symbolic and substantive actions, were measured with the help of established policies and donations. The study's independent variables, the proportion of women and the proportion of men on the board, reflected the proportion of women on the board who are women and men in the most recent financial year. The study also considered three control variables, the size of the companies, profitability and geographical position. We chose a quantitative method with a deductive approach. The study selection was based on 2185 of the largest companies in the world working with policies and / or donations. The results show that all four hypotheses are rejected, despite two significant relationships between the variables because these were in the opposite direction based on our hypotheses. One significant connection was that a higher proportion of women on the board leads to fewer substantive actions. The other significant connection was that a higher proportion of men on the board leads to more substantive actions. The study found no significant link between the composition of the board and symbolic actions.

The subject of this dissertation thesis is „Savings in material flows in connection with EMS in production companies“. The topic of this dissertation thesis is the saving in material flows in connection with EMS in production companies. Sound ecological management in industrial companies is important due to the fact it enhances environment protection and provides the companies concerned with competitive advantage. In many cases it provides for better organization of labor and decrease of wastage and allows for other preventive measures. The aim of this paper is to study the relation between the economical and environmental protection interests of companies operating in selected business sector, the paper examines whether environment protection activities practiced by the companies provide also economical benefit for them. The paper uses literature to analyze relations between EMS, logistics and areas in which savings can be found thus contributing to better results in the fields of environment protection and economy. The gained information together with conducted empirical research is the base used in order to determine the area in which savings could be found. Emphasis is laid on material flows which are studied in selected company active in the field of automotive industry. The analysis is based on the current organizational structure and logistic chain, the analyses focuses mainly on warehousing activities. In the studied company there is charted disconnection point which is located in the reception area in the warehouse. Narrow place was found in the dispatch area of the warehouse, the results of the analyses are the base to be used to express the amount of possible savings. Within the process evaluation, measurements and analysis of working time for each shift have been conducted, since the working load of the concerned shifts presents a risk factor from the perspective of ensuring the in time delivery of materials to the production. Proposal to improve the process is based on the synthesis of acquired facts, it allows for better utilization of working time of warehouse employees and provides extra space for manipulation with materials. When there is extra working load to be handled (extra order from customer) it also provides for the elimination of unnecessary or extra actions connected with operations. The application of the improvement proposal will abolish one of the reasons for non operation time in production, which leads to savings in energy consumption and decreases the amount of emissions. In the final part of the dissertation thesis a summary of solutions to the encountered problems is presented and the possible contribution of this thesis to theory and praxis is described.

Diese Dissertation befasst sich mit der sensorgeführten Regelung von Industrierobotern zur Konturverfolgung. Beispiele dafür sind das robotergestützte Nähen, Entgraten oder das Auftragen von Dichtmasse entlang von Schweißnähten. Beim Nähen und Entgraten müssen während der Verfolgung der Kontur bestimmte Kontaktkräfte an möglicherweise nachgiebigen Werkstücken eingehalten werden. Dabei ist es in modernen Fertigungsprozessen wichtig, die Bewegung des Roboters mit wenig Einrichtaufwand vorzugeben. Dazu werden Sensorsysteme eingesetzt, die Bildinformationen und Kraftmessungen verarbeiten, um den Roboter mit gewünschter Kontaktkraft entlang sichtbarer Konturen eines Werkstückes zu führen. Der Fokus dieser Arbeit ist die Fusion der Sensordaten, um die Vorteile der einzelnen Sensoren in einer Aufgabe zu vereinen. Es werden Messwerte eines Kraft-Momenten Sensors, einer Kamera, eines Beschleunigungssensors und der kartesischen Position und Orientierung des Roboters verwendet. Zuerst wird die Berechnung der kartesischen Roboterposition untersucht. Es wird ein Beobachter vorgestellt, um unter Verwendung eines Beschleunigungssensors die Präzision des Positionssignales zu erhöhen. Anschließend wird das Kamerasystem untersucht und ein Verfahren vorgestellt, um Geschwindigkeit, Position und Orientierung des robotergeführten Werkzeuges entlang der Kontur vorzugeben. Danach wird auf die Ermittlung von Kontaktkräften eingegangen, wobei die Kompensation von Trägheitskräften mittels Beschleunigungssensoren untersucht wird. Der letzte Abschnitt befasst sich mit der Verbindung von bildgestützter Konturverfolgung und Kraftregelung an nachgiebigen Werkstücken. Durch die Nachgiebigkeit des Werkstückmaterials verformt sich die Kontur bei Kontakt. Durch bildgestützte Konturverfolgung wird eine Anpassung an diese Verformung vorgenommen -- somit besteht über die Verformbarkeit des Werkstückes eine Kopplung zwischen den beiden Regelkreisen. Diese Kopplung wird gelöst, indem auf Basis eines dynamischen Modells der Umgebung eine Kompensation der Werkstückverformung berechnet wird. Die Modellparameter zur Kompensation werden durch online Identifikation ermittelt. / This thesis focuses on the sensor-guided control of industrial robots for contour-following. Examples include the robot-guided sewing, grinding or the application of sealant along weld seams. Grinding and sewing require a certain contact force while following a countour of a workpiece, whereas the worpieces might be compliant. Modern production processes require a fast and simple way to set up the motion of the robot for the required task. Therefore sensor systems are used, which process visual and tactile information to guide the tool at a desired contact force along visible contours of a workpiece. The focus of this work is the fusion of sensor data, used to benefit from the advantages of each of the individual sensors in one control scheme. I combine the measurements of a force-torque sensor, a camera, an acceleration sensor and of the Cartesian position of the robot. First, I introduce details on the calculation of the Cartesian robot position. I present an observer-based structure that uses an acceleration sensor to improve the precision of the robot position signal. Then, I analyze the camera system and present a control structure that adapts the position, orientation and velocity of the robot-guided tool along the contour. Thereafter, I show details of force measurement, whereas I compensate for inertial forces using an acceleration sensor. The last chapter addresses the combination of visual contour-following and force control on compliant workpieces. Under a certain contact force, the workpiece deforms due to its compliance. The position and orientation then is adapted to this deformed contour by visual control -- hence, there is a coupling between force and visual control. This coupling is solved by compensating for workpiece deformation using a dynamic model of the environment. The environmental parameters for compensation are identified online.

The main purpose of this study was to investigate how professionals working within the Swedish Church and the City Mission in a municipality in southern Sweden describe their work with individuals in financial crisis, as well as whether and, if so, how they perceive themselves as complementing or replacing the responsibilities of the municipal welfare agency. During the ongoing inflation, prices for essentials such as food, rent, and electricity have increased, placing additional strain on the welfare state and the efforts of social workers to meet the needs of individuals in economic hardship. There is a lack of consensus in the research regarding the role that the Swedish Church and the City Mission should play in social work and the extent to which they provide aid. In times of inflation, the question becomes particularly relevant as civil society actors become more relevant when societal resources are insufficient. To address our research questions, we conducted a qualitative interview study involving eight participants from the Swedish Church and the City Mission. We employed neo-institutional theory to interpret our empirical data. Our study revealed that the Swedish Church and the City Mission in a municipality in southern Sweden emphasize their multifaceted function and flexible approach, enabling them to address various forms of needs among individuals experiencing financial crisis. They described themselves as being able to complement certain aspects of the municipal welfare agency's responsibilities, but their resources were too limited to fully replace these functions. Our study demonstrated that they could provide limited amounts of food, financial resources, and create a sense of community and belonging inside their organization.

This study aims to explore the perspectives of the metropolitan regions’ social and/respective labor market administrations within organizational theoretical issues throughout a Scandinavian institutional analysis.  The study has been conducted with a triangulation method, which combines both qualitative and quantitative methods to increase the study's validity. Semi-structured interviews have been conducted with three administrative directors and three department heads from the regions Stockholm, Gothenburg, and Malmö. In addition, a questionnaire has been distributed to 60 respondents working within the social and/respective labor market administrations in the regions of Stockholm, Gothenburg, and Malmö to obtain a broader understanding of the organizational theoretical thoughts circulating within the administration. Of these respondents, 23 responded to the questionnaire. The study is based on a theoretical framework grounded in Scandinavian institutional theory. By analyzing the study´s empiricism through a discourse analysis and Scandinavian institutional theory, this research contributes to a broader understanding of organizational theoretical issues in a Swedish context within the social and/respective labor market administration.  The results of the study through the triangulation show that Stockholm’s and Gothenburg’s social respective labor market administrations have preserved stronger isomorphic traits compared to Malmö’s social and labor market administration, which has stronger traits of Scandinavian institutional theory. The tendencies from Scandinavian institutional theory in Malmö’s social and labor market administration point to the centralized reform that has been made there, which has meant that by merging the social and labor market administration, they have become such a large administration that the rigid way of governing (which to some extent led to decoupling, but also the spread of ideas and organizational change) has taken over too much, which has led the pendulum to swing back to a more trust-based governance as compensation for its size.  The differences between the regions suggest that they have different organizational structures, which affect their way of organizing and thus their scope of action. The study contributes to an increased understanding of how organizational theoretical issues are reflected within the social and/respective labor market administrations in the metropolitan regions of Sweden. / Denna studie syftar till att utforska storstadsregionernas social och/respektivearbetsmarknadsförvaltningars perspektiv på organisationsteoretiska frågor ur en skandinaviskinstitutionell analys. Studien har genomförts med en trianguleringsmetod, som kombinerar både kvalitativa ochkvantitativa metoder för att höja studiens validitet. Semistrukturerade intervjuer hargenomförts med tre förvaltningsdirektörer och tre avdelningschefer från regionernaStockholm, Göteborg och Malmö. Dessutom har en enkät distribuerats till 60 respondentersom arbetar inom social och/respektive arbetsmarknadsförvaltningarna i regionernaStockholm, Göteborg och Malmö för att erhålla en bredare förståelse för deorganisationsteoretiska tankarna som cirkulerar inom förvaltningen. Av dessa respondentersvarade 23 på enkäten. Studien baseras på ett teoretiskt ramverk som är grundat i skandinavisk institutionell teori.Genom att analysera studiens empiri genom en diskursanalys och skandinavisk institutionellteori, bidrar denna forskning till en bredare förståelse för organisationsteoretiska frågor i ensvensk kontext inom social och/respektive arbetsmarknadsförvaltningen. Studiens resultat genom trianguleringen påvisar att Stockholms och Göteborgs socialrespektive arbetsmarknadsförvaltningar bevarat starkare isoforma drag till skillnad frånMalmös social- och arbetsmarknadsförvaltning som har starkare drag av skandinaviskinstitutionell teori. Tendenserna från skandinavisk institutionell teori i Malmös social- ocharbetsmarknadsförvaltning pekar på den centraliserade reform som gjorts där som inneburitatt genom att social och arbetsmarknadsförvaltningen slagits samman har de blivit en så passstor förvaltning att det rigida sättet att styra (som till viss mån lett till löskopplingar, men ävenidéspridning och organisationsförändring) tagit över för mycket vilket lett pendeln att svängatillbaka till en mer tillitsbaserad styrning som kompensation för dess storlek. Skillnaderna mellan regionerna talar för att de har olika organisationsstrukturer, vilketpåverkar deras sätt att organisera sig och därmed deras handlingsutrymme. Studien bidrar tillen ökad förståelse för hur organisationsteoretiska frågor återspeglas inom socialoch/respektive arbetsmarknadsförvaltningarna i storstadsregionerna i Sverige.