Studien är skriven på uppdrag av den studerade organisationen och är en del i det förbättringsarbete som organisationens HR-funktion genomför. Uppdraget har syftat till att undersöka avdelningschefers uppfattning gällande behovet av HR-stöd i deras arbete. Syftet specificeras utifrån studiens tre forskningsfrågor; (1) Vilka HR-uppgifter ansvarar avdelningscheferna över i deras arbete? (2) Inom vilka HR-uppgifter anser sig avdelningscheferna ha behov av stöd? (3) Hur kan behovet av stöd bemötas enligt avdelningscheferna? Vi har genomfört 10 semistrukturerade intervjuer med organisationens avdelningschefer. Resultatet av vår studie har visat att av de sex HR-uppgifter som avdelningschefer utför önskas stöd i fyra av dessa. Behovet av stöd varierar mellan och inom specifik HR-uppgift och bemötandet av detta behov önskas enligt avdelningscheferna ske via tydliggörande av rollerna och utifrån tre former av stöd; rådgivnings-, kunskaps- och avlastningsstöd. En organisering av HR bör därför bottna i vilket behov linjecheferna har utifrån vardera stödform och hur dessa kan variera. En förutsättning för detta är att  goda relationer skapas så att HR upplevs som tillgängliga där rollerna och förväntningarna är uttalade.

This thesis addresses two important issues when operating the novel three legged mobile robot STriDER (Self-excited Tripedal Dynamic Experimental Robot); how to stand up after falling down while minimizing the motor torques at the joints and considerations for gait planning. STriDER uses a unique tripedal gait to walk with high energy efficiency and has the ability to change directions. In the first version of STriDER, the concept of passive dynamic locomotion was emphasized; however, for the new version, all joints are actively controlled for robustness. The robot is inherently stable when all three feet are on the ground due to its tripod stance, but it can still fall down if it trips while taking a step or if unexpected external forces act on it. The unique structure of STriDER makes the simple task of standing up challenging for a number of reasons; the high height of the robot and long limbs require high torque at the actuators due to its large moment arms; the joint configuration and length of the limbs limit the workspace where the feet can be placed on the ground for support; the compact design of the joints allows limited joint actuation motor output torque; three limbs do not allow extra support and stability in the process of standing up. This creates a unique problem and requires novel strategies to make STriDER stand up. This thesis examines five standing up strategies unique to STriDER: three feet pushup, two feet pushup, one foot pushup, spiral pushup, and feet slipping pushup. Each strategy was analyzed and evaluated considering constraints such as static stability, friction at the feet, kinematic configuration and joint motor torque limits to determine optimal design and operation parameters. Using the findings from the analysis, experiments were conducted for all five standing up strategies to determine the most efficient standing up strategy for a given prototype using the same design and operation parameters for each method. Also, a literature review was conducted for human standing from a chair and human pushup exercises and the conclusions were compared to the analysis presented in this thesis. Many factors contribute to the development of STriDER's gait. Several considerations for gait planning as the robot takes a step are investigated, including: stability, dynamics, the body's maximum and minimum allowable heights, the swing legs foot clearance to the ground, and the range of the subsequent swing foot contact positions. A static stability margin was also developed to asses the stability of STriDER. This work will lay the foundation for future gait generation research for STriDER. Additionally, guidelines for future work on single step gait generation based on kinematics and dynamics are discussed. The findings presented will advance the capabilities and adaptability of the novel robot STriDER. By studying standing up strategies and gait planning issues, the most efficient control methods can be implement for standing up and preparing to take a step and lay out the foundations for future research and development on STriDER. / Master of Science

This diploma thesis analyses Ulrich's concept of the multiple-roles model and the implementation of the HR Operating Model through selected theoretical bases, published qualitative and quantitative researches conducted especially in the environment of European organizations of the secondary and tertiary sector of the market. HR Operating Model is also analysed through own qualitative research conducted in the personnel department of a selected organization operating in the field of fast moving consumer goods, which becomes a part of a multinational organization. Part of the qualitative research is a descriptive case study that monitors the transformation of the organizational structure of the personnel department, the revision and the implementation of the personnel processes, the degree of its' adaptation to the specific local conditions, the descriptive case study also identifies the positive and the negative consequences of the transformation in the local personnel department. Keywords HR Operating Model, Three-legged Model, multiple-role model, HR Business Partner, transformation of the personnel department

Those who today hear the name Djurhamn are maybe first thinking of a summer resort place with sunbathing, swimming and recreational boating activities. Djurhamn has an interesting and fascinating history well intertwined with the history of Sweden. The interesting history was exposed by the Stockholm Sport Diving Club which, during the summers of 1964 and 1965, brought up a large number of finds from the bottom of Djurhamn. The findings could essentially be dated to be in the in the period 1500s to 1700s. Like other parts of the East Coast Djurhamn was hit in "Russian raids" in the early 1700s. The known meetings of warships during the Vasa era and the history of naval ship Riskswasas fate also reflects the interesting parts of Djurhamn history. While working on this, a number of dives were made at the bottom of the basin in Djurhamn. Two side-scan surveys have also been conducted. Overall, this has not resulted in any change of the picture of what's on Djurhamns bottom. A previously unknown wreck that lies south of the cemetery have, however, been located based on information from the public. The finds from the dives during 1964 and 1965 talk about food and drinks, cooking utensils, three-leg pots and bottles speaks their language. Even earlier dated bargain materials speak the same language. It is a place where everyday objects leave imprints on the bottom along with the testimony of a brickyard, which flourished for a short period. Which traces have been left from the naval activities? Practically none. On land there are no naval monuments. The objects which were brought up at the 1960 dives were almost entirely attributable to the applications connected to cooking. Our modern society is a complex reality. There are homes, workplaces, hospitals, places of entertainment, etc. People are born, grow up, grow old and die. What do we find in the signs of the Djurhamn? Well, a picture that much is a reflection of today's society. Also here you are born grown up grown old and finally dead. Heavy drinking has flourished. In addition to self-household and shipping, there has been brick industry and cholera quarantine. Finally, perhaps Djurhamn over time is best described as farmers, fishermen and hungry sailors’ history more than the history of the fleet in the Vasa kings’ service.

L’action en urbanisme demeure un champ de recherche riche au regard de sa complexité. Par projet, elle est pratiquée selon une anticipation opératoire partiellement déterminée et repose sur des croyances. Le projet d’urbanisme se définit par l’articulation de plusieurs ambiguïtés notamment entre l’intention directrice de l’action et la confrontation de la réalisation à la réalité. Cette recherche participe à l’intelligibilité de la pratique du projet d’urbanisme, pratique de la complexité. Comme opérateur du projet d’urbanisme, les valeurs constituent l’objet de cette recherche. Nous proposons d’éclairer la pratique du projet par l’analyse de la mobilisation des valeurs dans, pour et par le projet. L’intrigue de cette recherche est la relation entre la mobilisation des valeurs dans le projet d’urbanisme et celui-Ci. Les hypothèses de ce travail reposent sur l’interaction entre la dynamique de cette mobilisation et la dynamique du projet. L’étude du projet Bossut à Cergy-Pontoise, pensé depuis plus de quatre décennies, et l’analyse de la mobilisation des valeurs dans ce projet, celles de Centralité, d’Identité et de Lien, ont révélé que les valeurs, si elles portent le projet d’urbanisme en retour sont portées par lui. Représentée par la figure du Tripode-Culbuto, la dynamique, à la fois stable et instable, de la mobilisation des valeurs dans, pour et par le projet, permet de gérer et de pratiquer une partie de la complexité du projet d’urbanisme. / Action in urban planning remains a field of research rich in terms of its complexity. Each project is performed based on an anticipated, partially determined, operating process and on beliefs as opposed to evidence. An urban planning project is defined as the interlink between several ambiguities, notably between the intended action of the planning and the reality of the situation. This research contributes to a better understanding of the practical considerations of an urban project, an exercise of complexity. The values as operators in urban planning constitute the subject of this research. We propose to provide substantial insights into the practicalities of urban planning by analyzing the mobilization of these values, in, for and by the project. The intrigue of this research is the relationship between the mobilization of these values in urban planning and the project itself. The hypotheses of this work rely on the interaction between the dynamic of this mobilization and the dynamic of the project. A study of the Bossut project in Cergy-Pontoise, which has been in the planning stages for four decades, and an analysis of the mobilization of the values herein (centrality, identity and connection), revealed that they did indeed support the project and, in return, were supported by it. Represented by the figure three-Legged stool / “Culbuto”, the dynamic of the mobilization of values in, for, and by the project, at times stable and unstable, allows managing and putting into practice some of the complexity of urban planning.

Energy efficiency is a vital key component when designing and miniaturizing self sustained microsystems. The smaller the system, the smaller is the possibility to store enough stored energy for a long and continuous operational time. To move such a system in an energy efficient way, a piezoelectrical locomotion module consisting of four resonating cantilevers has been designed, manufactured and evaluated in this work. The combination of a suitable substrate, a multilayered piezoelectric material to reduce the voltage, and a resonating drive mechanism resulted in a low power demand. A manufacturing process for multilayer cantilever actuators made of P(VDF-TrFE) with aluminum electrodes on a substrate of flexible printed circuit board (FPC), has been developed. An important step in this process was the development of an etch recipe for dry etching the multilayer actuators in an inductive plasma equipment. Formulas for the quasi static tip deflection and resonance frequency of a multilayered cantilever, have been derived. Through theses, it was found that the multilayered structures should be deposited on the polymer side of the FPC in order to maximize the tip deflection. Both a large and a miniaturized locomotion module were manufactured and connected by wires to verify that the three legged motion principal worked to move the structures forward and backward, and turn it right and left. By touching and adding load, to a fourth miniaturized cantilever, its ability to act as a contact sensor and carry object was verified. The presented locomotion module is part of a multifunctional microsystem, intended to be energy efficient and powered by a solar panel with a total volume of less than 25 mm3 and weight 65 mg. The whole system, consisting of a solar cell, an infra red communication module, an integrated circuit for control, three capacitors for power regulating, the locomotion module and an FPC connecting the different modules, was surface mounted using a state of the art industrial facility. Two fully assembled systems could be programmed both through a test connector and through optical sensors in the multifunctional solar cell. One of these was folded together to the final configuration of a robot. However, the entire system could not be tested under full autonomous operating conditions. On the other hand, using wires, the locomotion module could be operated and used to move the entire system from a peak-to-peak voltage of 3.0 V.