Novel control, haptic and calibration methods for teleoperated electrohydraulic servo systems

The aim of this thesis is to propose a novel control method for teleoperated electrohydraulic servo systems that implements a reliable haptic sense between the human and manipulator interaction, and an ideal position control between the manipulator and the task environment interaction. The proposed method has the characteristics of a universal technique independent of the actual control algorithm and it can be applied with other suitable control methods as a real-time control strategy. The motivation to develop this control method is the necessity for a reliable real-time controller for teleoperated electrohydraulic servo systems that provides highly accurate position control based on joystick inputs with haptic capabilities. The contribution of the research is that the proposed control method combines a directed random search method and a real-time simulation to develop an intelligent controller in which each generation of parameters is tested on-line by the real-time simulator before being applied to the real process. The controller was evaluated on a hydraulic position servo system. The simulator of the hydraulic system was built based on Markov chain Monte Carlo (MCMC) method. A Particle Swarm Optimization algorithm combined with the foraging behavior of E. coli bacteria was utilized as the directed random search engine. The control strategy allows the operator to be plugged into the work environment dynamically and kinetically. This helps to ensure the system has haptic sense with high stability, without abstracting away the dynamics of the hydraulic system. The new control algorithm provides asymptotically exact tracking of both, the position and the contact force. In addition, this research proposes a novel method for re-calibration of multi-axis force/torque sensors. The method makes several improvements to traditional methods. It can be used without dismantling the sensor from its application and it requires smaller number of standard loads for calibration. It is also more cost efficient and faster in comparison to traditional calibration methods. The proposed method was developed in response to re-calibration issues with the force sensors utilized in teleoperated systems. The new approach aimed to avoid dismantling of the sensors from their applications for applying calibration. A major complication with many manipulators is the difficulty accessing them when they operate inside a non-accessible environment; especially if those environments are harsh; such as in radioactive areas. The proposed technique is based on design of experiment methodology. It has been successfully applied to different force/torque sensors and this research presents experimental validation of use of the calibration method with one of the force sensors which method has been applied to.

Sustainable sourcing in global supply network: assessment of geographic challenges and management methods Case: Stora Enso

The purpose of this work was to describe and compare sourcing practices and challenges in different geographies, to discuss possible options to advance sustainability of global sourcing, and to provide examples to answer why sourcing driven by sustainability principles is so challenging to implement. The focus was on comparison between Europe & Asia & South-America from the perspective of sustainability adoption. By analyzing sourcing practices of the case company it was possible to describe main differences and challenges of each continent, available sourcing options, supplier relationships and ways to foster positive chance. In this qualitative case study gathered theoretical material was compared to extensive sourcing practices of case company in a vast supplier network. Sourcing specialist were interviewed and information provided by them analyzed in order to see how different research results and theories are reflecting reality and to find answers to proposed research questions.

Sustainable Waste-to-Energy Production: Performance Evaluation of Distributed Generation fuelled by Landfill Gas

The environmental impact of landfill is a growing concern in waste management practices. Thus, assessing the effectiveness of the solutions implemented to alter the issue is of importance. The objectives of the study were to provide an insight of landfill advantages, and to consolidate landfill gas importance among others alternative fuels. Finally, a case study examining the performances of energy production from a land disposal at Ylivieska was carried out to ascertain the viability of waste to energy project. Both qualitative and quantitative methods were applied. The study was conducted in two parts; the first was the review of literatures focused on landfill gas developments. Specific considerations were the conception of mechanism governing the variability of gas production and the investigation of mathematical models often used in landfill gas modeling. Furthermore, the analysis of two main distributed generation technologies used to generate energy from landfill was carried out. The review of literature revealed a high influence of waste segregation and high level of moisture content for waste stabilization process. It was found that the enhancement in accuracy for forecasting gas rate generation can be done with both mathematical modeling and field test measurements. The result of the case study mainly indicated the close dependence of the power output with the landfill gas quality and the fuel inlet pressure.

Macro- and Microevolution of Languages: Exploring Linguistic Divergence with Approaches from Evolutionary Biology

There are more than 7000 languages in the world, and many of these have emerged through linguistic divergence. While questions related to the drivers of linguistic diversity have been studied before, including studies with quantitative methods, there is no consensus as to which factors drive linguistic divergence, and how. In the thesis, I have studied linguistic divergence with a multidisciplinary approach, applying the framework and quantitative methods of evolutionary biology to language data. With quantitative methods, large datasets may be analyzed objectively, while approaches from evolutionary biology make it possible to revisit old questions (related to, for example, the shape of the phylogeny) with new methods, and adopt novel perspectives to pose novel questions. My chief focus was on the effects exerted on the speakers of a language by environmental and cultural factors. My approach was thus an ecological one, in the sense that I was interested in how the local environment affects humans and whether this human-environment connection plays a possible role in the divergence process. I studied this question in relation to the Uralic language family and to the dialects of Finnish, thus covering two different levels of divergence. However, as the Uralic languages have not previously been studied using quantitative phylogenetic methods, nor have population genetic methods been previously applied to any dialect data, I first evaluated the applicability of these biological methods to language data. I found the biological methodology to be applicable to language data, as my results were rather similar to traditional views as to both the shape of the Uralic phylogeny and the division of Finnish dialects. I also found environmental conditions, or changes in them, to be plausible inducers of linguistic divergence: whether in the first steps in the divergence process, i.e. dialect divergence, or on a large scale with the entire language family. My findings concerning Finnish dialects led me to conclude that the functional connection between linguistic divergence and environmental conditions may arise through human cultural adaptation to varying environmental conditions. This is also one possible explanation on the scale of the Uralic language family as a whole. The results of the thesis bring insights on several different issues in both a local and a global context. First, they shed light on the emergence of the Finnish dialects. If the approach used in the thesis is applied to the dialects of other languages, broader generalizations may be drawn as to the inducers of linguistic divergence. This again brings us closer to understanding the global patterns of linguistic diversity. Secondly, the quantitative phylogeny of the Uralic languages, with estimated times of language divergences, yields another hypothesis as to the shape and age of the language family tree. In addition, the Uralic languages can now be added to the growing list of language families studied with quantitative methods. This will allow broader inferences as to global patterns of language evolution, and more language families can be included in constructing the tree of the world’s languages. Studying history through language, however, is only one way to illuminate the human past. Therefore, thirdly, the findings of the thesis, when combined with studies of other language families, and those for example in genetics and archaeology, bring us again closer to an understanding of human history.

Creating and measuring customer value in digital businesses

Most economic transactions nowadays are due to the effective exchange of information in which digital resources play a huge role. New actors are coming into existence all the time, so organizations are facing difficulties in keeping their current customers and attracting new customer segments and markets. Companies are trying to find the key to their success and creating superior customer value seems to be one solution. Digital technologies can be used to deliver value to customers in ways that extend customers’ normal conscious experiences in the context of time and space. By creating customer value, companies can gain the increased loyalty of existing customers and better ways to serve new customers effectively. Based on these assumptions, the objective of this study was to design a framework to enable organizations to create customer value in digital business. The research was carried out as a literature review and an empirical study, which consisted of a web-based survey and semi-structured interviews. The data from the empirical study was analyzed as mixed research with qualitative and quantitative methods. These methods were used since the object of the study was to gain deeper understanding about an existing phenomena. Therefore, the study used statistical procedures and value creation is described as a phenomenon. The framework was designed first based on the literature and updated based on the findings from the empirical study. As a result, relationship, understanding the customer, focusing on the core product or service, the product or service quality, incremental innovations, service range, corporate identity, and networks were chosen as the top elements of customer value creation. Measures for these elements were identified. With the measures, companies can manage the elements in value creation when dealing with present and future customers and also manage the operations of the company. In conclusion, creating customer value requires understanding the customer and a lot of information sharing, which can be eased by digital resources. Understanding the customer helps to produce products and services that fulfill customers’ needs and desires. This could result in increased sales and make it easier to establish efficient processes.

Tutkimusaineiston rakenne ja kvantitatiiviset analyysimenetelmät

Summary: Data structure and quantitative methods

Supplier relationship management capability in the firm's global integration

Organizing is a general problem for global firms. Firms are seeking a balance between responsiveness at the local level and efficiency through worldwide integration. In this, supply management is the focal point where external commercial supply market relations are connected with the firm's internal functions. Here, effective supplier relationship management (SRM) is essential. Global supply integration processes create new challenges for supply management professionals and new capabilities are required. Previous research has developed several models and tools for managers to manage and categorize different supplier relationship types, but the role of the firm's internal capability of managing supplier relationships in their global integration has been a clearly neglected issue. Hence, the main objective of this dissertation is to clarify how the capability of SRM may influence the firm's global competitiveness. This objective is divided into four research questions aiming to identify the elements of SRM capability, the internal factors of integration, the effect of SRM capability on strategy and how SRM capability is linked with global integration. The dissertation has two parts. The first part presents the theoretical approaches and practical implications from previous research and draws a synthesis on them. The second part comprises four empirical research papers addressing the research questions. Both qualitative and quantitative methods are utilized in this dissertation. The main contribution of this dissertation is that it aggregates the theoretical and conceptual perspectives applied to SRM research. Furthermore, given the lack of valid scales to measure capability, this study aimed to provide a foundation for an SRM capability scale by showing that the construct of SRM capability is formed of five separate elements. Moreover, SRM capability was found to be the enabler in efforts toward value chain integration. Finally, it was found that the effect of capability on global competitiveness is twofold: it reduces conflicts between responsiveness and integration, and it creates efficiency. Thus, by identifying and developing the firm's capabilities it is possible to improve performance, and hence, global competitiveness.

Delivery Reliability: Timely and Quantitative Accuracy in a Forest Industry Company

The primary objective of this thesis was to research delivery reliability of mill business unit of a forest industry company, especially timely and quantitative accuracy of sales orders. Delivery reliability is an important factor of customer satisfaction, which has a great influence for success of a company. The secondary objective was to find out reasons for possible problems of delivery reliability and give propositions for improvable performances. The empirical part of the thesis based on reporting database of the forest industry company’s ERP-software and detailed information of the mill system. The delivery reliability results of the mill business unit were compared to delivery reliability of similar mill business unit inside the forest industry company. The research results expressed problems in the supply chain. The delivery reliability reporting should be also developed further. This would advance delivery reliability monitoring. The improvement propositions of the thesis were logistic operation mode estimation, particular benchmarking of the compared mill business unit and more detailed survey on production delivery reliability.

The effects of social networks on work-team effectiveness

This is a study of team social networks, their antecedents and outcomes. In focusing attention on the structural configuration of the team this research contributes to a new wave of thinking concerning group social capital. The research site was a random sample of Finnish work organisations. The data consisted of 499 employees in 76 teams representing 48 different organisations. A systematic literature review and quantitative methods were used in conducting the research: the former primarily to establish the current theoretical position on the relationships among the variables and the latter to test these relationships. Social network analysis was the primary method used in identifying the social-network relations among the work-team members. The first and key contribution of this study is that it relates the structuralnetwork properties of work teams to behavioural outcomes, attitudinal outcomes and, ultimately, team performance. Moreover, it shows that addressing attitudinal outcomes is also important in terms of team performance; attitudinal outcomes (team identity) mediated the relationship between the team’s performance and its social network. The second contribution is that it examines the possible antecedents of the social structure. It is thus one response to Salancik’s (1995) call for a network theory in that it explains why certain network characteristics exist. Itdemonstrates that irrespective of whether or not a team is heterogeneous in terms of age or gender, educational diversity may protect it from centralisation. However, heterogeneity in terms of gender turned out to have a negative impact on density. Thirdly, given the observation that the benefits of (team) networks are typically theorised and modelled without reference to the nature of the relationships comprising the structure, the study directly tested whether team knowledge mediated the effects of instrumental and expressive network relationships on team performance. Furthermore, with its focus on expressive networks that link the workplace to a more informal world, which have been rather neglected in previous research, it enhances knowledge of teams andnetworks. The results indicate that knowledge sharing fully mediates the influence of complementarities between dense and fragmented instrumental network relationships, thus providing empirical validation of the implicit understanding that networks transfer knowledge. Fourthly, the study findings suggest that an optimal configuration of the work-team social-network structure combines both bridging and bonding social relationships.

Organisaatioiden ostokäyttäytyminen yliopistollisen aikuiskoulutuksen hankinnassa

Tutkimuksen toimeksiantaja on Lappeenrannan teknillisen yliopiston Koulutus- ja kehittämiskeskus. Tutkimuksen tavoitteena on selvittää miten yliopiston asiakasorganisaatioiden hankintapäätös muodostuu. Pääpaino tutkimuksessa on päätöksentekoyksikön ja päätöksentekokriteerien kartoittamisessa. Teoriaosuus koostuu työn kannalta keskeisimmistä aikuiskoulutuspalveluiden sekä organisaation ostokäyttäytymisen teorioista. Tutkimuksessa käytetään sekä kvalitatiivisia, että kvantitatiivisia tutkimusmenetelmiä. Pääpaino on haastattelututkimuksella ja aineisto analysoidaan laadullisin menetelmin. Otanta koostuu kahdeksasta asiakasorganisaatiosta ja kahdeksasta organisaatiosta, joiden kanssa toivotaan yhteistyötä. Yritykset ovat toimeksiantajan asiakasmatriisista. Tutkimuksen perusteella saatiin selkeä kuva yritysten koulutuksen hankinnasta. Henkilöstön kouluttaminen koetaan yrityksissä tärkeäksi ja siihen panostetaan paljon. Merkittävästi päätöksentekoon yrityksessä ottavat osaa koulutusvastaava ja henkilöstöhallinto. Päätös muodostetaan yhteistyössä asiantuntijan kanssa, joka on usein liiketoimintayksikön esimies. Merkittävimmät päätöksentekoon vaikuttavat kriteerit selkiytyivät koulutuksen tarjoajan, koulutuksen sekä hankintaprosessin osalta sekä asiakasorganisaatioissa että potentiaalisissa yrityksissä. Vaikka tutkimustulosten ja toimenpide-ehdotusten raportointi tapahtuu tässä tutkimuksessa yleisellä tasolla, saa Koulutus- ja kehittämiskeskus tutkimuksen konkreettiset tulokset kuten kontaktoitavat henkilöt, päätöksentekoyksikön jäsenet sekä päätöksentekokriteerit kussakin yrityksessä omaan yksityiseen käyttöönsä. Päätöksentekokriteerit ovat hyödyksi erityisesti toivottavien potentiaalisten organisaatioiden vaatimusten ymmärtämisessä.

Measuring Processes of a New Packaging Solutions with the Balanced Scorecard, case DigiCup

The aim of this study was to create a Balanced Scorecard to the DigiCup solution. The first goal was to create process descriptions to the few critical processes. The second goal was to define appropriate measurements, according to customer survey as well as following the Balanced Scorecard process description, to manage the critical success factors. The overall goal of this study was to create a performance measurement system for the solution which guides the operation towards continuous improvement. This study was conducted by using both qualitative and quantitative methods, and the analysis was done by using a case study method. The material was gathered from the current customers, the management and the employees using structured, semi-structured and open group and individual interviews. The current customers were divided into retailers and direct customers of the DigiCup solution. The questions which the customers were asked were related to the information about interviewee, company, business strategy, market, satisfaction survey and future requirements. The management defined the strategy and took part in specifying the perspectives, objectives and measurements to the Balanced Scorecard of the DigiCup solution. The employees participated into the choosing of the metrics. The material consisted from altogether sixteen interviews. At the beginning of the study the product development, the order-delivery as well as the printing processes was chosen to be the critical processes of the DigiCup solution. These processes were concentrated on already in the literature review while trying to find the characteristics of these processes as well as the critical success factors and the appropriate measurements, which could be utilized when creating the Balanced Scorecard to the DigiCup solution according to the customer survey. The appropriate perspectives, objectives and measurements were found to the DigiCup solution. The chosen measures works as a basis for the development of IT-reporting tool. As a conclusion it can be stated that when discussing a new business, where the objectives are changing according to which development’s phases the company is in, the measurement should be updated often enough.

Myyntivalmennuksen ja työympäristön tuen vaikutukset asiakaslähtöisen myyntityön käyttämiseen

Tämän tutkielman tavoitteena oli selvittää myyntivalmennuksen ja työympäristön tuen vaikutuksia asiakaslähtöisen myyntityön käyttämiseen. Tutkimuksessa selvitettiin myös, minkälainen on asiakaslähtöinen myyntiprosessi. Kirjallisuuskatsauksessa löydettiin useita tutkimusaukkoja avainkäsitteiden tutkimuskentästä, joihin tämä tutkielma osaltaan vastasi. Tutkielman kohdeyrityksenä käytettiin jälleenmyyntialalla toimivaa kodinkoneketjua, jonka noin 30 myymälästä valittiin kolme myymälää tarkempaa tutkimusta varten. Empiirinen osa suoritettiin haastattelemalla kuutta myyjää ja kolmea esimiestä näistä kolmesta myymälästä, ja suorittamalla lyhennetty versio SOCO-kyselystä 11 myyjälle, kolmelle esimiehelle ja 78 asiakkaalle. Tutkimuksessa käytettiin hyödyksi sekä kvalitatiivisia, että kvantitatiivisia tutkimusmenetelmiä. Johtopäätöksinä voidaan todeta, että myyntivalmennus ja työympäristöstä saatu tuki vaikuttaa myyjiin sekä asiakas-, että myyntilähtöisellä tavalla. Myyntiprosessitaitojen ja mukautuvan myyntityön harjoitteleminen valmennuksessa lisää myyjien asiakaslähtöisyyttä, mutta tuotekoulutuksen puuttuminen osana valmennusta ei kehitä myyjien argumentointitaitoja, jolloin myyjien myyntilähtöisyys lisääntyy. Työympäristöstä saadun tuen tulisi olla johdonmukaista, jotta myyjille asetetut käyttäytymisvaatimukset ja palkitsemismenetelmät eivät olisi ristiriidassa keskenään. Kohdeyrityksen myyjät arvioitiin olevan sekä myyjien, esimiesten että asiakkaiden mielestä enemmän asiakas-, kuin myyntilähtöisiä.

Sosiaali- ja terveydenhuollon asiantuntijoiden palveluprosessien mallintaminen osana vastaanottotoiminnan kehittämistä

Diplomityön tavoitteena on soveltaa perinteisesti teollisesta tuotannosta lähtöisin olevia prosessijohtamisen menetelmiä sosiaali- ja terveydenhuollon vastaanottotoiminnan kehittämiseen. Tarkoituksena on asiantuntijapalveluprosessien mallintamisen avulla kartoittaa prosessien nykytilaa tunnistamalla ongelma- ja kehittämiskohteita, joiden ratkaisemiseksi annettavien kehittämistoimenpide-ehdotusten muodostamisessa sovelletaan prosessijohtamisen menetelmien periaatteita. Tutkimuksen teoreettisen viitekehyksen mukaisesti tarkastellaan mm. prosessien mallintamista, eli kuvaamista ja analysointia, sekä sosiaali- ja terveydenhuoltoa palvelutuotantona. Tutkimuksessa hyödynnetään sekä kvalitatiivisia että kvantitatiivisia menetelmiä, ja tutkimusaineistoa kerätään haastattelujen, havainnoinnin ja tilastojen avulla. Asiantuntijoiden palveluprosesseista laaditaan aineiston perusteella kuvaukset, ja tunnistetaan prosesseihin tai laajemminkin sosiaali- ja terveydenhuolto-organisaatioon liittyviä ongelma- ja kehittämiskohteita. Kehittämistoimenpiteissä korostuvat asiakaslähtöisyys ja tuottavuus, ja niissä huomioidaan niin asiakkaan, henkilöstön, prosessien kuin asiakasohjauksen näkökulma. Työn keskeisimmät tulokset ovat prosessikuvaukset, tunnistetut ongelma- ja kehittämiskohteet sekä prosessien uudelleenmäärittämiseksi muodostetut kehittämistoimenpide-ehdotukset, joiden hyötyjä ja vaikutuksia mm. suorituskykyyn arvioidaan. Tulosten perusteella voidaan päätellä, että prosessijohtamisen menetelmät soveltuvat sosiaali- ja terveydenhuollon toiminnan kehittämiseen, kunhan huomioidaan toimintaympäristön erityispiirteet ja haasteet.

Developing purchase invoice processing through workflow automation

The aim of this master’s thesis is to research and analyze how purchase invoice processing can be automated and streamlined in a system renewal project. The impacts of workflow automation on invoice handling are studied by means of time, cost and quality aspects. Purchase invoice processing has a lot of potential for automation because of its labor-intensive and repetitive nature. As a case study combining both qualitative and quantitative methods, the topic is approached from a business process management point of view. The current process was first explored through interviews and workshop meetings to create a holistic understanding of the process at hand. Requirements for process streamlining were then researched focusing on specified vendors and their purchase invoices, which helped to identify the critical factors for successful invoice automation. To optimize the flow from invoice receipt to approval for payment, the invoice receiving process was outsourced and the automation functionalities of the new system utilized in invoice handling. The quality of invoice data and the need of simple structured purchase order (PO) invoices were emphasized in the system testing phase. Hence, consolidated invoices containing references to multiple PO or blanket release numbers should be simplified in order to use automated PO matching. With non-PO invoices, it is important to receive the buyer reference details in an applicable invoice data field so that automation rules could be created to route invoices to a review and approval flow. In the beginning of the project, invoice processing was seen ineffective both time- and cost-wise, and it required a lot of manual labor to carry out all tasks. In accordance with testing results, it was estimated that over half of the invoices could be automated within a year after system implementation. Processing times could be reduced remarkably, which would then result savings up to 40 % in annual processing costs. Due to several advancements in the purchase invoice process, business process quality could also be perceived as improved.