Trimmerin kapasiteetin kasvattaminen dynamiikan mallinnuksen avulla

Työn tavoitteena oli kasvattaa sahan dimensiolaitoksella käytettävän trimmerin rakenteellista kapasiteettia. Tavoitteeseen pyrittiin modernisoimalla trimmerin teräyksikköä käyttävää toimilaite ja teräyksikön säätö dynamiikan mallinnuksen avulla. Trimmerin teräyksikön dynamiikka mallinnettiin MATLAB-matematiikkaohjelmistolla kaksiulotteisena kinematiikkamallina ja kolmeulotteisena kinetiikkamallina. Dynamiikkamallien tulosten perusteella valittin teräyksikköä käyttävä toimilaite komponentteineen. Kinetiikkamalliin mallinnettiin trimmeriä käyttävä hydraulipiiri valittuine komponentteineen keskittyneiden paineiden ja puoliempiirisen mallinnuksen periaatteita käyttäen. Teräyksikön työkiertoa säätämään mallinnettiin suljettu takaisinkytketty säätöpiiri. Tuloksien perusteella valittiin optimaalinen toimilaitteen asemointigeometria ja todettiin mallinnetun järjestelmän täyttävän asetetut vaatimukset. Järjestelmää testattiin muuttamalla jarjestelman parametreja ja tutkimalla muutosten vaikutuksia jarjestelman toimintaan. Lisaksi tutkittiin lyhyesti terayksikon rakenteen keventamisen vaikutuksia.

Flexible multibody dynamics and intelligent control of a hydraulically driven hybrid redundant robot machine

The assembly and maintenance of the International Thermonuclear Experimental Reactor (ITER) vacuum vessel (VV) is highly challenging since the tasks performed by the robot involve welding, material handling, and machine cutting from inside the VV. The VV is made of stainless steel, which has poor machinability and tends to work harden very rapidly, and all the machining operations need to be carried out from inside of the ITER VV. A general industrial robot cannot be used due to its poor stiffness in the heavy duty machining process, and this will cause many problems, such as poor surface quality, tool damage, low accuracy. Therefore, one of the most suitable options should be a light weight mobile robot which is able to move around inside of the VV and perform different machining tasks by replacing different cutting tools. Reducing the mass of the robot manipulators offers many advantages: reduced material costs, reduced power consumption, the possibility of using smaller actuators, and a higher payload-to-robot weight ratio. Offsetting these advantages, the lighter weight robot is more flexible, which makes it more difficult to control. To achieve good machining surface quality, the tracking of the end effector must be accurate, and an accurate model for a more flexible robot must be constructed. This thesis studies the dynamics and control of a 10 degree-of-freedom (DOF) redundant hybrid robot (4-DOF serial mechanism and 6-DOF 6-UPS hexapod parallel mechanisms) hydraulically driven with flexible rods under the influence of machining forces. Firstly, the flexibility of the bodies is described using the floating frame of reference method (FFRF). A finite element model (FEM) provided the Craig-Bampton (CB) modes needed for the FFRF. A dynamic model of the system of six closed loop mechanisms was assembled using the constrained Lagrange equations and the Lagrange multiplier method. Subsequently, the reaction forces between the parallel and serial parts were used to study the dynamics of the serial robot. A PID control based on position predictions was implemented independently to control the hydraulic cylinders of the robot. Secondly, in machining, to achieve greater end effector trajectory tracking accuracy for surface quality, a robust control of the actuators for the flexible link has to be deduced. This thesis investigates the intelligent control of a hydraulically driven parallel robot part based on the dynamic model and two schemes of intelligent control for a hydraulically driven parallel mechanism based on the dynamic model: (1) a fuzzy-PID self-tuning controller composed of the conventional PID control and with fuzzy logic, and (2) adaptive neuro-fuzzy inference system-PID (ANFIS-PID) self-tuning of the gains of the PID controller, which are implemented independently to control each hydraulic cylinder of the parallel mechanism based on rod length predictions. The serial component of the hybrid robot can be analyzed using the equilibrium of reaction forces at the universal joint connections of the hexa-element. To achieve precise positional control of the end effector for maximum precision machining, the hydraulic cylinder should be controlled to hold the hexa-element. Thirdly, a finite element approach of multibody systems using the Special Euclidean group SE(3) framework is presented for a parallel mechanism with flexible piston rods under the influence of machining forces. The flexibility of the bodies is described using the nonlinear interpolation method with an exponential map. The equations of motion take the form of a differential algebraic equation on a Lie group, which is solved using a Lie group time integration scheme. The method relies on the local description of motions, so that it provides a singularity-free formulation, and no parameterization of the nodal variables needs to be introduced. The flexible slider constraint is formulated using a Lie group and used for modeling a flexible rod sliding inside a cylinder. The dynamic model of the system of six closed loop mechanisms was assembled using Hamilton’s principle and the Lagrange multiplier method. A linearized hydraulic control system based on rod length predictions was implemented independently to control the hydraulic cylinders. Consequently, the results of the simulations demonstrating the behavior of the robot machine are presented for each case study. In conclusion, this thesis studies the dynamic analysis of a special hybrid (serialparallel) robot for the above-mentioned special task involving the ITER and investigates different control algorithms that can significantly improve machining performance. These analyses and results provide valuable insight into the design and control of the parallel robot with flexible rods.

Stability Evaluation of a Paper Machine Wet End

Työssä analysoidaanprosessin vaikutusta paperikoneen stabiiliuteen. Kaksi modernia sanomalehtipaperikonetta analysoitiin ja sen perusteella molemmista prosesseista rakennettiin fysiikan lakeihin perustuvat simulointimallit APROS Paper simulointiohjelmistolla. Työn tavoitteena on selvittää, miten kyseisten koneiden prosessit eroavat toisistaan ja arvioida, miten havaitut erot vaikuttavat prosessien stabiiliuteen. Työssä tarkastellaan periodisten häiriöiden vaimenemista prosessissa. Simuloinnissa herätteenä käytettiin puhdasta valkoista kohinaa, jonka avulla eri taajuistenperiodisten häiriöiden vaimenemista analysoitiin. Prosessien häiriövasteet esitetään taajuuskoordinaatistossa. Suurimmat erot prosessien välillä löytyivät viirakaivosta ja sen sekoitusdynamiikasta. Perinteisen viirakaivon todettiin muistuttavan käyttäytymiseltään sarjaan kytkettyjä ideaalisekoittimia, kun taas pienempitilavuuksisen fluumin todettiin käyttäytyvän lähes kuin putkiviive. Vaikka erotprosessitilavuudessa sekä viirakaivon sekoitusdynamiikassa olivat hyvin selkeät, havaittiin vain marginaalinen ero prosessin välillä periodisten häiriöiden vaimenemisessa, koska erot viiraretentiotasoissa vaikuttivat eniten simulointituloksia. Matalammalla viiraretentiolla operoivan paperikoneen todettiin vaimentavan tehokkaammin prosessihäiriöitä. Samalla retentiotasolla pienempitilavuuksisen prosessin todettiin vaimentavan hitaita prosessihäiriöitä marginaalisesti paremmin. Tutkituista paperikoneista toisella simuloitiin viiraosan vedenpoistomuutoksenvaikutusta viiraretentioon ja paperin koostumukseen. Lisäksi arvioitiin viiraretention säädön toimivuutta. Viiraosan listakengän vedenpoiston todettiin aiheuttavan merkittäviä sakeus- ja retentiohäiriöitä, mikäli sen avulla poistettavan kiintoaineen virtaus tuplaantuisi. Viiraretention säädön todettiin estävän häiriöiden kierron prosessissa, mutta siirtävän ne suoraan rainaan. Retention säädön eikuitenkaan todettu olevan suoranainen häiriön lähde.

Improving Dynamic Characteristics of Open-loop Controlled Log Crane

The improvement of the dynamics of flexible manipulators like log cranes often requires advanced control methods. This thesis discusses the vibration problems in the cranes used in commercial forestry machines. Two control methods, adaptive filtering and semi-active damping, are presented. The adaptive filter uses a part of the lowest natural frequency of the crane as a filtering frequency. The payload estimation algorithm, filtering of control signal and algorithm for calculation of the lowest natural frequency of the crane are presented. The semi-active damping method is basedon pressure feedback. The pressure vibration, scaled with suitable gain, is added to the control signal of the valve of the lift cylinder to suppress vibrations. The adaptive filter cuts off high frequency impulses coming from the operatorand semi-active damping suppresses the crane?s oscillation, which is often caused by some external disturbance. In field tests performed on the crane, a correctly tuned (25 % tuning) adaptive filter reduced pressure vibration by 14-17 % and semi-active damping correspondingly by 21-43%. Applying of these methods require auxiliary transducers, installed in specific points in the crane, and electronically controlled directional control valves.

Converter-flux-based current control of voltage source PWM rectifiers - analysis and implementation

Pulsewidth-modulated (PWM) rectifier technology is increasingly used in industrial applications like variable-speed motor drives, since it offers several desired features such as sinusoidal input currents, controllable power factor, bidirectional power flow and high quality DC output voltage. To achieve these features,however, an effective control system with fast and accurate current and DC voltage responses is required. From various control strategies proposed to meet these control objectives, in most cases the commonly known principle of the synchronous-frame current vector control along with some space-vector PWM scheme have been applied. Recently, however, new control approaches analogous to the well-established direct torque control (DTC) method for electrical machines have also emerged to implement a high-performance PWM rectifier. In this thesis the concepts of classical synchronous-frame current control and DTC-based PWM rectifier control are combined and a new converter-flux-based current control (CFCC) scheme is introduced. To achieve sufficient dynamic performance and to ensure a stable operation, the proposed control system is thoroughly analysed and simple rules for the controller design are suggested. Special attention is paid to the estimationof the converter flux, which is the key element of converter-flux-based control. Discrete-time implementation is also discussed. Line-voltage-sensorless reactive reactive power control methods for the L- and LCL-type line filters are presented. For the L-filter an open-loop control law for the d-axis current referenceis proposed. In the case of the LCL-filter the combined open-loop control and feedback control is proposed. The influence of the erroneous filter parameter estimates on the accuracy of the developed control schemes is also discussed. A newzero vector selection rule for suppressing the zero-sequence current in parallel-connected PWM rectifiers is proposed. With this method a truly standalone and independent control of the converter units is allowed and traditional transformer isolation and synchronised-control-based solutions are avoided. The implementation requires only one additional current sensor. The proposed schemes are evaluated by the simulations and laboratory experiments. A satisfactory performance and good agreement between the theory and practice are demonstrated.

Supersaturation-controlled crystallization

Identification of product requirements and quality, together with the management of production are key issues in chemical engineering. Quality control of crystalline products is part of the quality of many industrially manufactured products like paper, paintings, medicines and fertilizers. In most crystallization cases, quality is described with the size, polymorph, shape and purity of the crystal. The chemical composition, hydrodynamics and driving force, together with the operating temperature are in a key position when the properties of a crystalline product are controlled with the crystallization process. This study concentrates on managing the identified properties of a crystalline product with the control of a driving force. The controlling of the driving force can be based on the change of solubility or the change of concentration. Solubility can be changed with temperature, pressure and an antisolvent. The concentration of crystallizing compound, the solute can be changed with the evaporation of the solvent and with the addition of a reagent. The present study focuses on reagent addition and temperature change as methods of changing the level of the driving force. Three control structures for direct control of supersaturation are built, one for cooling crystallization and two for reactive crystallization. Closed loop feedback control structures are based on the measurement of the solute concentration with attenuated total reflection - Fourier transform infrared spectrometer. The details of the reagent feed are analyzed with experimental studies and with results of computational fluid dynamic simulations of the inert particle pulse in the premixer and inert particle injection to the mixing tank. Nucleation in conditions of controlled reactive crystallization is analyzed with Nielsen’s equation of homogeneous nucleation. The resulting control systems, based on regulation of supersaturation, can be used to produce the desired polymorph of an organic product. The polymorph composition of product crystals is controlled repeatably with the decision of a set value of supersaturation level.

Studies on Neuromuscular Blocking Agents and Their Antagonists During Anaesthesia

Neuromuscular blocking agents (NMBAs) are widely used in clinical anaesthesia and emergency medicine. Main objectives are to facilitate endotracheal intubation and to allow surgery by reducing muscle tone and eliminating sudden movements, which may otherwise lead to trauma and complications. The most commonly used NMBAs are non-depolarizing agents with a medium duration of action, such as rocuronium and cisatracurium. They bind to the acetylcholine receptors in the neuromuscular junction, thus inhibiting the depolarization of the postsynaptic (muscular) membrane, which is a prerequisite for muscle contraction to take place. Previously, it has been assumed that nitrous oxide (N2O), which is commonly used in combination with volatile or intravenous anaesthetics during general anaesthesia, has no effect on NMBAs. Several studies have since claimed that N2O in fact does increase the effect of NMBAs when using bolus administration of the relaxant. The effect of N2O on the infusion requirements of two NMBAs (rocuronium and cisatracurium) with completely different molecular structure and pharmacological properties was assessed. A closed-loop feedback controlled infusion of NMBA with duration of at least 90 minutes at a 90% level of neuromuscular block was used. All patients received total intravenous anaesthesia (TIVA) with propofol and remifentanil. In both studies the study group (n=35) received N2O/Oxygen and the control group (n=35) Air/Oxygen. There were no significant differences in the mean steady state infusion requirements of NMBA (rocuronium in Study I; cisatracurium in Study II) between the groups in either study. In Study III the duration of the unsafe period of recovery after reversal of rocuronium-induced neuromuscular block by using neostigmine or sugammadex as a reversal agent was analyzed. The unsafe period of recovery was defined as the time elapsed from the moment of no clinical (visual) fade in the train-of-four (TOF) sequence until an objectively measured TOF-ratio of 0.90 was achieved. The duration of these periods were 10.3 ± 5.5 and 0.3 ± 0.3 min after neostigmine and sugammadex, respectively (P < 0.001). Study IV investigated the possible effect of reversal of a rocuronium NMB by sugammadex on depth of anaesthesia as indicated by the bispectral index and entropy levels in thirty patients. Sugammadex did not affect the level of anaesthesia as determined by EEG-derived indices of anaesthetic depth such as the bispectral index and entropy.

Servo drive in hoist application

The objective of this master thesis is to test according to hoisting requirements, a servo drive system and compare its performance with the performance of a drive equipped with a vector controlled frequency converter. Both systems utilize closed-loop vector control based on PCL program control. In order to compare the results of tests both systems were connected to the same motor driving a variable speed electrical chain hoist. Tests were based on requirements to both systems. As requirements of tests zero speed operation, operation in field weakening, positioning accuracy and smoothness of motion are taken into consideration. Both systems demonstrate quite similar performance and meet the requirements. Servo drive system demonstrates a high positioning accuracy and dynamic performance. Frequency converter is not able to provide the same positioning accuracy and dynamic performance as servo drive.

Design of a Test Stand for a Centrifugal Compressor

The goal of the Master’s thesis is to design a test stand for a centrifugal compressor. Different theoretical aspects of flow parameters measurements and test rigs built for the similar purposes in other research units are described in the theoretical part of the work. The process of components selection and the description of chosen components are given in the second part of the thesis. Besides measuring and control stages, the designed test stand has a closed-loop piping, an aftercooler and a surge tank. Overview and layout of the test rig is presented in the last chapter of the work.

Development of Servo Hydraulics of Veneer Lathe

Diplomityö tehtiin kansainväliseen, mekaanisen puunjalostusteollisuuden koneita, tuotantojärjestelmiä ja tehtaita toimittavaan yritykseen. Diplomityön tarkoituksena oli kartoittaa syitä viilusorvin teräpenkin asemoinnissa esiintyneisiin värähtelyongelmiin ja tutkia ratkaisuja niiden voittamiseksi, sekä sorvausvoimien määrittäminen. Diplomityön teoreettisessa osassa tutustuttiin viilusorvin, erityisesti sen hydraulisten servojärjestelmien rakenteeseen ja toimintaan sekä viilunsorvaukseen. Teräpenkin syötön servojärjestelmää tutkittiin teoreettisesti johtamalla suljetun piirin siirtofunktiot “asema/käsky” ja “virhe/voima” ja tulostamalla niiden taajuusvaste-kuvaajat, joista tutkittiin parametrien vaikutuksia järjestelmän toimintaan. Tulokset vahvistettiin simuloimalla. Todettiin nykyisen järjestelmän värähtelyongelmien johtuvan pääasiassa hydrauliöljyn joustosta sylinterissä. Parannuksina ehdotettiin suurempaa sylinterin halkaisijaa ja viskoosikitkakertoimen suurentamista. Diplomityön kokeellisessa osassa mitattiin viilusorvin servojärjestelmien toimilaitteissa esiintyviä voimia ja niiden perusteella laskettiin varsinaiset sorvausvoimat. Lisäksi tutkittiin teräpenkin syötön ja muiden servojärjestelmien asemointitarkkuutta sorvauksen aikana. Mittauksia varten diplomityössä suunniteltiin ja hankittiin kannettava mittausjärjestelmä.

Toimitusketjun mallinnuksen tarpeet ja rakenne LOCOMOTIVE projekstissa

Työn tavoitteena oli kuvata ja priorisoida toimitusketjun dynaamisen mallinnustyökalun vaatimukset, sekä muodostaa tämän pohjalta ohjelmistokehitystä tukeva oliomalli. Vaatimuksia selvitettiin teoreettisen tarkastelun, aiemmin toteutettujen kyselytutkimusten sekä viiden pilottitapauksen avulla. Toimitusketjun hallinta ei ole pelkästään materiaalivirtojen vaan myös näihin liittyvän informaation hallintaa. Holististen toimitusketjuongelmien mallintaminen edellyttää siis informaatiovirtojen ja niitä saatelevien ohjausmekanisemien mallintamista. Markkinoilla on selkeästi tilaa tukijärjestelmille, jotka mahdollistaisivat multidimensionaalisten - tuotto, aika, palvelu - toimitusketjuongelmien tarkastelun. Systeemidynamiikan teorian mukaisesti oliomallin lähtökohdaksi valittiin tärkeimpien takaisinkytkentäsilmukkojen mallinnus. Takaisinkytkentäsilmukoiden avulla kyetään mallintamaan kompleksisia systeemejä ajan suhteen. Mallinnetut toimitusketjujen takaisinkytkentäsilmukkat ovat operaatio-, ohjaus-, kysyntä- ja strategiasilmukka. Toimitusketjun ohjausmekanismien, sekä systeemidynamiikan perusteiden pohjalta mallinnustyökalun vaatimuksista muodostettiin oliomalli. Muodostettu oliomalli on Locomotiven - toimitusketjun mallinnustyökalun - perusta.

Novel Robot Solutions for Carrying out Field Joint Welding and Machining in the Assembly of the Vacuum Vessel of ITER

It is necessary to use highly specialized robots in ITER (International Thermonuclear Experimental Reactor) both in the manufacturing and maintenance of the reactor due to a demanding environment. The sectors of the ITER vacuum vessel (VV) require more stringent tolerances than normally expected for the size of the structure involved. VV consists of nine sectors that are to be welded together. The vacuum vessel has a toroidal chamber structure. The task of the designed robot is to carry the welding apparatus along a path with a stringent tolerance during the assembly operation. In addition to the initial vacuum vessel assembly, after a limited running period, sectors need to be replaced for repair. Mechanisms with closed-loop kinematic chains are used in the design of robots in this work. One version is a purely parallel manipulator and another is a hybrid manipulator where the parallel and serial structures are combined. Traditional industrial robots that generally have the links actuated in series are inherently not very rigid and have poor dynamic performance in high speed and high dynamic loading conditions. Compared with open chain manipulators, parallel manipulators have high stiffness, high accuracy and a high force/torque capacity in a reduced workspace. Parallel manipulators have a mechanical architecture where all of the links are connected to the base and to the end-effector of the robot. The purpose of this thesis is to develop special parallel robots for the assembly, machining and repairing of the VV of the ITER. The process of the assembly and machining of the vacuum vessel needs a special robot. By studying the structure of the vacuum vessel, two novel parallel robots were designed and built; they have six and ten degrees of freedom driven by hydraulic cylinders and electrical servo motors. Kinematic models for the proposed robots were defined and two prototypes built. Experiments for machine cutting and laser welding with the 6-DOF robot were carried out. It was demonstrated that the parallel robots are capable of holding all necessary machining tools and welding end-effectors in all positions accurately and stably inside the vacuum vessel sector. The kinematic models appeared to be complex especially in the case of the 10-DOF robot because of its redundant structure. Multibody dynamics simulations were carried out, ensuring sufficient stiffness during the robot motion. The entire design and testing processes of the robots appeared to be complex tasks due to the high specialization of the manufacturing technology needed in the ITER reactor, while the results demonstrate the applicability of the proposed solutions quite well. The results offer not only devices but also a methodology for the assembly and repair of ITER by means of parallel robots.

Toimintopohjainen ennustemalli palvelualan yritykselle

Kohdeorganisaatiossa on havaittu tarvetta kustannusten tarkemmalle ennustamiselle liiketoimintaympäristön ja palvelutarjooman muutosten seurauksena. Diplomityön päätavoitteena on selvittää, kuinka palvelualan yritykselle rakennetaan toimintopohjainen kustannusten ennustemalli. Päätavoitetta lähestytään selvittämällä mallin rakennusvaiheet, soveltuvuus kohdeorganisaatiolle ja siitä saatava lisäarvo. Tutkielmassa käytetään konstruktiivista tutkimusotetta. Malli pohjautuu toimintopohjaisen suunnittelun ja budjetoinnin suljetun silmukkamallin teoriaan. Empiriaosassa suoritetaan mallin rakentaminen vaiheittain. Työn tulokset osoittavat toimintopohjaisen suunnittelun ja budjetoinnin suljetun silmukkamallin soveltuvuuden kohdeorganisaation toimintojen mallinnukseen. Toimintopohjaisesta ennustemallista on saatavissa lisäarvoa budjetointiin ja skenaariotyöhön. Mallin avulla voidaan tarkastella budjetoinnin realistisuutta. Skenaariotyöstä voidaan saada tukea päätöksentekoon, koska erilaisten toimenpiteiden vaikutuksia voidaan arvioida resurssitarpeen ja kustannusten näkökulmasta.

Production of Mg(OH)2 from Mg-silicate rock for CO2 mineral sequestration

Sequestration of carbon dioxide in mineral rocks, also known as CO2 Capture and Mineralization (CCM), is considered to have a huge potential in stabilizing anthropogenic CO2 emissions. One of the CCM routes is the ex situ indirect gas/sold carbonation of reactive materials, such as Mg(OH)2, produced from abundantly available Mg-silicate rocks. The gas/solid carbonation method is intensively researched at Åbo Akademi University (ÅAU ), Finland because it is energetically attractive and utilizes the exothermic chemistry of Mg(OH)2 carbonation. In this thesis, a method for producing Mg(OH)2 from Mg-silicate rocks for CCM was investigated, and the process efficiency, energy and environmental impact assessed. The Mg(OH)2 process studied here was first proposed in 2008 in a Master’s Thesis by the author. At that time the process was applied to only one Mg-silicate rock (Finnish serpentinite from the Hitura nickel mine site of Finn Nickel) and the optimum process conversions, energy and environmental performance were not known. Producing Mg(OH)2 from Mg-silicate rocks involves a two-staged process of Mg extraction and Mg(OH)2 precipitation. The first stage extracts Mg and other cations by reacting pulverized serpentinite or olivine rocks with ammonium sulfate (AS) salt at 400 - 550 oC (preferably < 450 oC). In the second stage, ammonia solution reacts with the cations (extracted from the first stage after they are leached in water) to form mainly FeOOH, high purity Mg(OH)2 and aqueous (dissolved) AS. The Mg(OH)2 process described here is closed loop in nature; gaseous ammonia and water vapour are produced from the extraction stage, recovered and used as reagent for the precipitation stage. The AS reagent is thereafter recovered after the precipitation stage. The Mg extraction stage, being the conversion-determining and the most energy-intensive step of the entire CCM process chain, received a prominent attention in this study. The extraction behavior and reactivity of different rocks types (serpentinite and olivine rocks) from different locations worldwide (Australia, Finland, Lithuania, Norway and Portugal) was tested. Also, parametric evaluation was carried out to determine the optimal reaction temperature, time and chemical reagent (AS). Effects of reactor types and configuration, mixing and scale-up possibilities were also studied. The Mg(OH)2 produced can be used to convert CO2 to thermodynamically stable and environmentally benign magnesium carbonate. Therefore, the process energy and life cycle environmental performance of the ÅAU CCM technique that first produces Mg(OH)2 and the carbonates in a pressurized fluidized bed (FB) were assessed. The life cycle energy and environmental assessment approach applied in this thesis is motivated by the fact that the CCM technology should in itself offer a solution to what is both an energy and environmental problem. Results obtained in this study show that different Mg-silicate rocks react differently; olivine rocks being far less reactive than serpentinite rocks. In summary, the reactivity of Mg-silicate rocks is a function of both the chemical and physical properties of rocks. Reaction temperature and time remain important parameters to consider in process design and operation. Heat transfer properties of the reactor determine the temperature at which maximum Mg extraction is obtained. Also, an increase in reaction temperature leads to an increase in the extent of extraction, reaching a maximum yield at different temperatures depending on the reaction time. Process energy requirement for producing Mg(OH)2 from a hypothetical case of an iron-free serpentine rock is 3.62 GJ/t-CO2. This value can increase by 16 - 68% depending on the type of iron compound (FeO, Fe2O3 or Fe3O4) in the mineral. This suggests that the benefit from the potential use of FeOOH as an iron ore feedstock in iron and steelmaking should be determined by considering the energy, cost and emissions associated with the FeOOH by-product. AS recovery through crystallization is the second most energy intensive unit operation after the extraction reaction. However, the choice of mechanical vapor recompression (MVR) over the “simple evaporation” crystallization method has a potential energy savings of 15.2 GJ/t-CO2 (84 % savings). Integrating the Mg(OH)2 production method and the gas/solid carbonation process could provide up to an 25% energy offset to the CCM process energy requirements. Life cycle inventory assessment (LCIA) results show that for every ton of CO2 mineralized, the ÅAU CCM process avoids 430 - 480 kg CO2. The Mg(OH)2 process studied in this thesis has many promising features. Even at the current high energy and environmental burden, producing Mg(OH)2 from Mg-silicates can play a significant role in advancing CCM processes. However, dedicated future research and development (R&D) have potential to significantly improve the Mg(OH)2 process performance.

Hydraulisen puomin avoimen piirin koordinaattiohjaus paine-ero-tilavuusvirta-approksimaation avulla

Diplomityön tavoitteena oli kehittää mahdollisimman hyvä koordinaattiohjaus. Sen tuli olla jälkiasennettavissa perinteisen ohjauksen rinnalle työkoneisiin, joissa on käytetty sähköohjattuja proportionaaliventtiileitä. Työssä keskityttiin tutkimaan suuntaventtiilin yli vallitsevasta paine-erosta saatavan tilavuusvirtatiedon hyödyntämistä ohjauksessa. Työn ensimmäisessä vaiheessa koordinaattiohjaus toteutettiin käyttäen 0-peittoisilla karoilla ja karan asematakaisinkytkennällä varustettuja suuntaventtiileitä. Hydrauliseen kuristukseen perustuen saatiin paine-erosta käyttökelpoista tilavuusvirtasignaalia ja koordinaattiohjauksen liikeradan seurannassa oli parhaimmillaan vain 3 cm:n virhe koenosturin työliikkeen pituudella. Toisessa vaiheessa käytettiin työkoneissa yleisesti esiintyvää positiivisin karapeitoin varustettua mobiiliventtiilistöä, jossa oli karakohtaiset painekompensaattorit. Painekompensaattoreiden takia ei paine-eron mittaaminen puhtaasti suuntaventtiilin karan yli ollut mahdollista, jonka takia tyydyttiin koordinaattiohjaus toteuttamaan ilman paineen mittausta luottaen painekompensaattoreiden toimintaan. Käytetyn venttiilistön kavitoinninestotoiminnon huomiointi ohjauksessa jäi ratkaisematta ja se ohitettiin vastusvastaventtiileiden avulla. Koordinaattiohjauksen tarkkuus mobiiliventtiileillä oli vaatimaton ja tulosten toistettavuus heikko. Tulosten perusteella todettiin avoimellakin koordinaattiohjauksella olevan mahdollista saavuttaa lupaava tarkkuus ammattikuljettajiin verrattuna. Mobiiliventtiilistöön liittyvät, työn aikana esiinnousseet epäkohdat olisi ratkaistava ennen käytettyjen menetelmien soveltamista käytännön kohteisiin.