Vauhtikausi. Autoilun sukupuoli 1920-luvun Suomessa

The Age of Speed:Automobility’s Gender in the 1920s Finland The aim of this study is to analyze the connections between automobility and gender in Finland in the 1920s. In this study it is argued that the 1920s was the significant era in the Finnish history of automobility when many of the long-lasting gendered notions and cultural understandings were constructed. This study combines cultural history of technology with gender analysis. As the previous research on gender and technology has recognized, technology is a significant site of gender negotiations. Both from the cultural historical perspective and a gender perspective it is important to understand both technology and gender as cultural constructions. They were linked together and constructed each other. In other words: technology shapes gender and gender shapes technology. Historians of technology like Nina Lerman, Ruth Oldenziel and Arwen Mohun have argued that both gender and technology are about power: social, cultural, economic and political. In this study automobility means technology that can be analyzed in layers of identity, structures, institutions and representations. The source material consists of various types of historical sources, magazines and journals, advertisements, archival material together with films and literature. In the previous studies of the history of automobility gender has often been neglected. The term “gender” has also quite often been misunderstood. Some studies in the field have only focused on the early female drivers. However, far too little attention has been paid to the question, why automobility was considered as masculine sphere only. This study aims to give new insights to the previous interpretations of the history of automobility. As in various other countries also in Finland, the decade of the 1920s is characterized as a period of “modern times.” It was also the era of the automobiles. Although the number of cars in Finland was still low compared to the other European countries and the USA, in press, films and literature, images of automobiles and new women – and men – on the wheel became as an emblem of a new era. The thesis consists of three main chapters. The first main chapter focuses on the conflicts between drivers and non-drivers. The study shows how in the debate of the automobility “a driver” was constantly referred as a man and “a pedestrian” accordingly a woman, even though in the reality there were as much men and women walking on the streets and the roads. Thus, the public debate constructed and reconstructed the gendered traffic system where men were playing the key role. The second main chapter of the study analyses the automobile clubs and the cultural representations. The chapter answers the question how the concept of a driver was gendered. The Automobile clubs and the organizations of professional drivers were in a significant role in developing the early history of traffic in Finland. The Finnish Automobile Club (Suomen Automobiili Klubi, founded in 1919) was the oldest and the most powerful of all automobile organizations. The Finnish Automobile Club accepted women as members from the very beginning. The membership was strictly limited to the upper class and the very first female members were wives and daughters of the male members. However, Doctor of medicine and surgery 316 Karolina Eskelin (1867-1936) the founding member of the Club was an exception to that convention. The male members of the Finnish Automobile Club attended official international meetings and consulted Finnish authorities in traffic and road questions, whereas, female members joined car trips, picnics and social gatherings arranged by the club. Few young female members of the club drove in races and gross-country-tours. The cultural representations of drivers in the Finnish media in the 1920s both deconstructed and reconstructed the concept of gender. In Finnish press in general, motoring was seen as male dominated area. Men were represented as the experts of the automobility. The drivers’ uniforms and the automobile clubs underlined professionalism and expertise which, thus, got masculine meaning. Women were beautiful accessories in the car ads, but they were also becoming a new consumer group in the market. The representations of the female and the male drivers influenced and shaped actively the understandings of femininity and masculinity. In the third main chapter the analysis focuses on the automobile as an artifact.The automobile was considered as an artifact that primarily belonged to the masculine domain. However, the representations of the automobiles were ambivalent. The automobile was both masculine and feminine depending on the context. The representations of the automobile were also used to construct the discourse of heteronormativity.

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.

Determinants of Bone Strength and Predictors of Hip Fracture among Finnish Adults. Results from the Health 2000 Survey and the Mini-Finland Health Survey

The objective of this thesis was to identify the determinants of bone strength and predictors of hip fracture in representative samples of Finnish adults. A secondary objective was to construct a simple multifactorial model for hip fracture prediction over a 10-year follow-up period. The study was based on the Health 2000 Survey conducted during 2000 to 2001 (men and women aged 30 years or over, n=6 035) and the Mini-Finland Health Survey conducted during 1978 to 1980 (women aged 45 years or over, n=2 039). Study subjects participated in health interviews and comprehensive health examination. In the Health 2000 Survey, bone strength was assessed by means of calcaneal quantitative ultrasound (QUS). The follow-up information about hip fractures was drawn from the National Hospital Discharge Register. In this study, age, weight, height, serum 25-hydroxyvitamin D (S-25(OH)D), physical activity, smoking and alcohol consumption as well as menopause and eventual HRT in women were found to be associated with calcaneal broadband ultrasound attenuation (BUA) and speed of sound (SOS). Parity was associated with a decreased risk of hip fracture in postmenopausal women. Age, height, weight or waist circumference, quantitative ultrasound index (QUI), S-25(OH)D and fall-related factors, such as maximal walking speed, Parkinson’s disease, and the number of prescribed CNS active medication were significant independent predictors of hip fracture. At the population level, the incremental value of QUS appeared to be minor in hip fracture prediction when the fall-related risk factors were taken into account. A simple multifactorial model for hip fracture prediction presented in this study was based on readily available factors (age, gender, height, waist circumference, and fallrelated factors). Prospective studies are needed to test this model in patient-based study populations.

Minkä nuorena hallitsee sen aikuisena taitaa? Liikehallinnan pysyvyys kouluiästä aikuisikään – 24 vuoden seurantatutkimus

Tässä 24 vuoden pitkittäistutkimuksessa tutkitaan liikehallinnan kehitystä ja pysyvyyttä kouluiästä aikuisikään. Lisäksi ennustetaan ja selitetään aikuisiän liikehallintaa kouluiän liikehallinnan perusteella. Tutkimukseen osallistui 44 miestä ja 44 naista eri puolilta Suomea, joiden liikehallintaa mitattiin kouluiässä 1985 ja 1988 (9–16-vuotiaina) sekä aikuisiässä 2009 (33−39-vuotiaina). Liikehallintaa mitattiin kuudella liiketehtävämittarilla (flamingoseisonta, tarkkuusheittokiinniotto, kahdeksikkokuljetus, edestakaisinhyppely, vauhditon 5-loikka ja kärrynpyörä) sekä niistä lasketulla summamuuttujalla. Miesten ja naisten liikehallintaa vertailtiin varianssianalyysilla. Kouluiässä pojat menestyivät välineenkäsittelytehtävissä ja tytöt tasapaino- ja voimistelutehtävissä, mutta kokonaisuutena sukupuolten välillä ei ollut eroa. Aikuisena miehet olivat naisia parempia lähes kaikissa tehtävissä. Kovarianssianalyysissä havaittiin, että kehonrakenteeltaan (BMI) erilaisten ryhmien liikehallinnassa oli vain yksittäisiä eroja koulu- ja aikuisiässä. Toistettujen mittausten varianssianalyysissa ilmeni, että kouluiässä molempien sukupuolten liikehallinnan kehitys oli samanlaista. Kouluiän jälkeen kevyiden ja keskipainoisten poikien liikehallinta parani, mutta painavien tulokset eivät muuttuneet. Kevyiden tyttöjen tuloksissa ei tapahtunut muutosta, mutta keskipainoisten ja painavien tulokset heikkenivät. Koululiikunnan tehostus- ja vertailuryhmien välille kouluiässä muodostuneet erot kaventuivat tai katosivat aikuisena. Kouluiän liikehallinnaltaan eritasoisten ryhmien väliset erot kaventuivat, mutta eivät poistuneet kouluiän jälkeen. Klusterianalyysissa tutkittavat jakaantuivat kouluiässä neljään liikehallintatyyppiin (yleishyvät, tasapainoiset, pallotaitajat ja yleisheikot), jotka säilyivät myös aikuisiässä, mutta niiden väliset erot kaventuivat. Ristiintaulukointi ja khiin neliö -testi osoittivat, että tasoryhmän ja liikehallinnan monipuolisuuden pysyvyys oli vahvaa kouluiästä aikuisikään. Koulu- ja aikuisiän liikehallintatulosten välinen korrelaatio oli naisilla (0.69) vahvempaa kuin miehillä (0.48). Yksittäiset mittaustulokset kouluiässä selittivät keskimäärin 33 % aikuisiän tuloksista (korrelaation neliö). Regressioanalyysissa miesten aikuisiän liikehallintaa selittivät kouluiän muuttujista parhaiten liikehallinnan monipuolisuus sekä liikkuvuus (61 %), mutta naisilla vain liikehallinnan monipuolisuus (37 %). Miesten ja naisten erot liikehallinnassa syntyivät kouluiän jälkeen, mikä johtunee erilaisista liikuntatavoista ja -harrastuksista. Kouluiän liikehallinta määritti vahvasti varsinkin tytöillä aikuisiän liikehallintaa sekä yksilö- että ryhmätasolla, mikä korostaa monipuolisen koululiikunnan merkitystä. Yksilölliset muutokset olivat mahdollisia. Kouluiän jälkeen erityisesti naiset ja kehonrakenteeltaan painavat tarvitsisivat hermolihasjärjestelmää monipuolisesti kuormittavaa ja liikesuunniltaan moniulotteista liikuntaa liikehallinnan kehittämiseksi ja ylläpitämiseksi. Naisten liikehallinnan taantuminen varsinkin tasapainotehtävissä voi altistaa kaatumistapaturmille ja rajoittaa fyysistä toimintakykyä.