Abstract-In this paper we study the problem of computing smooth planar paths in the presence of obstacles where we have an a priori knowledge about the environment. We investigate how the smoothness of a path and the total travel time required by the path are related for paths used by a four-wheel fourgear articulated vehicle. A path is considered smooth if the variation of its curvature, i.e., the integral of the square of the derivative of curvature along the path, is minimal. Paths are defined by quartic B-splines and obstacles are represented by polygonal chains. Quartic B-splines have a continuous derivative of curvature. Obstacle-avoidance is achieved by means of the envelope of the B-splines.We present a study of eight cases based on real-world application data from the Swedish mining company LuossavaaraKiirunavaara AB (LKAB). The results indicate that a minimum curvature variation B-spline path-planning algorithm we have developed yields paths that are substantially better than the ones used by LKAB today. Our simulations shows that the new paths are up to 39% faster to travel along than the paths currently in use. They even decrease the wear on the vehicle. Preliminary results from the production at LKAB show an overall 5-10% decrease in the total time. The total time includes both travel on the path and ore loading and unloading. Note to Practitioners -This article was motivated by the problem of how to automatically produce drive-paths of high quality for autonomous transportation vehicles in mines.The vehicles are heavy (> 100 tonnes) but are still expected to run at speeds up to 20 km/h to be productive. To reach these speeds without destroying the steering gear and the mechanics of the vehicles, their paths must be smooth. It turns out that visual inspection is often not sufficient to distinguish a smooth path from a harmful one. We suggest a method for computing paths, requiring an a priori knowledge about the environment, that minimizes the amount of steering needed during a transport. The computed paths are also safe in that they guarantee that the vehicle will not collide with a tunnel wall. We present a study of eight cases based on real-world application data from the Swedish mining company Luossavaara-Kiirunavaara AB (LKAB). Our simulations show that our paths are up to 39% faster to travel along than the paths currently in use while they cause no more wear on the vehicles. Tests performed in the production at LKAB show an overall 5-10% decrease in the total time if not only travel but also loading and unloading is included.

The so-called flexicurity approach suggests that security for employees can be successfully combined with flexibility for organizations and companies. This article studies if affective job insecurity (worry about losing one's job) is compensated for by perceptions of employment security (possibilities of finding an equal or better job) and income security. Data derive from a survey carried out in 2010 among employees in Sweden. The main findings are that cognitive job insecurity (the perceived risk of job loss) increases affective job insecurity, whereas both employment and income security have the opposite effect. Moreover, cognitive job insecurity and employment security interact, implying that the effect of cognitive job insecurity on affective job insecurity is reduced in the presence of employment security but is reinforced in the absence of it. These results are discussed in relation to the flexicurity approach, concluding that flexicurity may be a risky venture for employees.

The aim of this article is to describe and explain the development of temporary employment in Sweden between 1992 and to

This article discusses the multi-faceted and changing role played by trade unions in providing unemployment benefits in Sweden, a country using the so-called Ghent system. As an important institutional feature explaining the high rate of unionisation in the Nordics, the system has been much debated. This article provides a comprehensive account of the retrenchment of the state unemployment benefit system (UBS) and the development of occupational and private UBS pillars providing complementary protection. It also introduces an ongoing reform discussion where the social partners are proposed to govern the unemployment insurance system via collective agreements, while retaining the union-linked insurance funds. The core institutional feature of the Ghent system – voluntary membership of a union-linked insurance fund – is turning out to be highly resilient despite frequent attempts to weaken the union power stemming from it. However, the system’s role in providing unemployment protection has changed due to its development into a multi-pillar structure, meaning that its future prospects are uncertain.

We compare the effects of relatively liberal regulations on the use of temporary employment in Sweden and more restrictive rules in Norway. We find not only that temporary work may be a stepping stone out of unemployment but also that fixed-term employees are exposed to significant risks of long-term marginalization. Moreover, fixed-term employees in Sweden face greater risks of long-run unemployment and low earnings compared to those in Norway.