Development of beam and plate finite elements based on the absolute nodal coordinate formulation

The focus of this dissertation is to develop finite elements based on the absolute nodal coordinate formulation. The absolute nodal coordinate formulation is a nonlinear finite element formulation, which is introduced for special requirements in the field of flexible multibody dynamics. In this formulation, a special definition for the rotation of elements is employed to ensure the formulation will not suffer from singularities due to large rotations. The absolute nodal coordinate formulation can be used for analyzing the dynamics of beam, plate and shell type structures. The improvements of the formulation are mainly concentrated towards the description of transverse shear deformation. Additionally, the formulation is verified by using conventional iso-parametric solid finite element and geometrically exact beam theory. Previous claims about especially high eigenfrequencies are studied by introducing beam elements based on the absolute nodal coordinate formulation in the framework of the large rotation vector approach. Additionally, the same high eigenfrequency problem is studied by using constraints for transverse deformation. It was determined that the improvements for shear deformation in the transverse direction lead to clear improvements in computational efficiency. This was especially true when comparative stress must be defined, for example when using elasto-plastic material. Furthermore, the developed plate element can be used to avoid certain numerical problems, such as shear and curvature lockings. In addition, it was shown that when compared to conventional solid elements, or elements based on nonlinear beam theory, elements based on the absolute nodal coordinate formulation do not lead to an especially stiff system for the equations of motion.

Use of neural networks in robot positioning of large flexible redundant manipulators

Deflection compensation of flexible boom structures in robot positioning is usually done using tables containing the magnitude of the deflection with inverse kinematics solutions of a rigid structure. The number of table values increases greatly if the working area of the boom is large and the required positioning accuracy is high. The inverse kinematics problems are very nonlinear, and if the structure is redundant, in some cases it cannot be solved in a closed form. If the structural flexibility of the manipulator arms is taken into account, the problem is almost impossible to solve using analytical methods. Neural networks offer a possibility to approximate any linear or nonlinear function. This study presents four different methods of using neural networks in the static deflection compensation and inverse kinematics solution of a flexible hydraulically driven manipulator. The training information required for training neural networks is obtained by employing a simulation model that includes elasticity characteristics. The functionality of the presented methods is tested based on the simulated and measured results of positioning accuracy. The simulated positioning accuracy is tested in 25 separate coordinate points. For each point, the positioning is tested with five different mass loads. The mean positioning error of a manipulator decreased from 31.9 mm to 4.1 mm in the test points. This accuracy enables the use of flexible manipulators in the positioning of larger objects. The measured positioning accuracy is tested in 9 separate points using three different mass loads. The mean positioning error decreased from 10.6 mm to 4.7 mm and the maximum error from 27.5 mm to 11.0 mm.

Modelling mean above and below ground litter production based on yield tables

Selective papers of the workshop on "Development of models and forest soil surveys for monitoring of soil carbon", Koli, Finland, April 5-9 2006.

A comparison of electricity spot prices simulation using ARMA-GARCH and mean-reverting models

The aim of this work is to compare two families of mathematical models for their respective capability to capture the statistical properties of real electricity spot market time series. The first model family is ARMA-GARCH models and the second model family is mean-reverting Ornstein-Uhlenbeck models. These two models have been applied to two price series of Nordic Nord Pool spot market for electricity namely to the System prices and to the DenmarkW prices. The parameters of both models were calibrated from the real time series. After carrying out simulation with optimal models from both families we conclude that neither ARMA-GARCH models, nor conventional mean-reverting Ornstein-Uhlenbeck models, even when calibrated optimally with real electricity spot market price or return series, capture the statistical characteristics of the real series. But in the case of less spiky behavior (System prices), the mean-reverting Ornstein-Uhlenbeck model could be seen to partially succeeded in this task.

A proposal for a repertoire of software testing methods

Nowadays software testing and quality assurance have a great value in software development process. Software testing does not mean a concrete discipline, it is the process of validation and verification that starts from the idea of future product and finishes at the end of product’s maintenance. The importance of software testing methods and tools that can be applied on different testing phases is highly stressed in industry. The initial objectives for this thesis were to provide a sufficient literature review on different testing phases and for each of the phases define the method that can be effectively used for improving software’s quality. Software testing phases, chosen for study are: unit testing, integration testing, functional testing, system testing, acceptance testing and usability testing. The research showed that there are many software testing methods that can be applied at different phases and in the most of the cases the choice of the method should be done depending on software type and its specification. In the thesis the problem, concerned to each of the phases was identified; the method that can help in eliminating this problem was suggested and particularly described.

Numerical Investigation of Flow Past a Circular Cylinder and in a Staggered Tube Bundle Using Various Turbulence Models

Transitional flow past a three-dimensional circular cylinder is a widely studied phenomenon since this problem is of interest with respect to many technical applications. In the present work, the numerical simulation of flow past a circular cylinder, performed by using a commercial CFD code (ANSYS Fluent 12.1) with large eddy simulation (LES) and RANS (κ - ε and Shear-Stress Transport (SST) κ - ω! model) approaches. The turbulent flow for ReD = 1000 & 3900 is simulated to investigate the force coefficient, Strouhal number, flow separation angle, pressure distribution on cylinder and the complex three dimensional vortex shedding of the cylinder wake region. The numerical results extracted from these simulations have good agreement with the experimental data (Zdravkovich, 1997). Moreover, grid refinement and time-step influence have been examined. Numerical calculations of turbulent cross-flow in a staggered tube bundle continues to attract interest due to its importance in the engineering application as well as the fact that this complex flow represents a challenging problem for CFD. In the present work a time dependent simulation using κ – ε, κ - ω! and SST models are performed in two dimensional for a subcritical flow through a staggered tube bundle. The predicted turbulence statistics (mean and r.m.s velocities) have good agreement with the experimental data (S. Balabani, 1996). Turbulent quantities such as turbulent kinetic energy and dissipation rate are predicted using RANS models and compared with each other. The sensitivity of grid and time-step size have been analyzed. Model constants sensitivity study have been carried out by adopting κ – ε model. It has been observed that model constants are very sensitive to turbulence statistics and turbulent quantities.

Våld i parrelationer : en begreppslig undersökning av ett moraliskt och samhälleligt problem

Mäns våld mot kvinnor i parrelationer är ett förekommande problem i det finländska samhället. Som en moralisk fråga råder det ingen tvekan om att våld i parrelationer är orätt. Den moraliska diskussionen kan ändå inte stanna där. När våldsproblematiken studeras närmare träder flera aspekter av moralfilosofiskt intresse fram. Detta är dock sammanlänkat med hela avhandlingens utgångspunkt: att moralfrågor i första hand är frågor i första person. Det handlar om hur var och en av oss som de personer vi är förhåller oss till andra människor i olika situationer. Det handlar om hur varje enskild person berörs av, möter eller står tyst inför t.ex. en problematik som våld i parrelationer. Genom den här utgångspunkten problematiserar avhandlingen en vanlig syn på etik och moral som en uppsättning yttre regler eller som något vi helt objektivt kan resonera kring utan att själva egentligen beröras och bli indragna i det vi diskuterar, eller utan hänsyn till dem som faktiskt berörs. Tyngdpunkten i avhandlingen läggs på en moralisk begreppslig undersökning kring ett antal begrepp som stiger fram som relevanta i mötet med våld i parrelationer. De för avhandlingen centrala begreppen är offentligt-privat, rättvisa, rättigheter, makt, skam, skuld, förlåtelse, omsorg, tillit och ansvar. I avhandlingen har jag beskrivit, kritiskt analyserat samt fördjupat en förståelse av dessa begrepp och uttryck som både rör ett individ- och ett samhällsplan. Hur dessa begrepp och uttryck används och fungerar i olika sammanhang uttrycker moraliska förhållningssätt gentemot våld, offer och förövare. I avhandlingen synliggörs detta och en konkret förankring sker med hjälp av följande material: finländskt lagstiftningsmaterial (förarbeten till lagar som berör våld i parrelationer under perioden 1991-2006) och berättelser av kvinnor som upplevt våld. Den begreppsliga analysen, där bl.a. olika feministiska teoretiker används, visar att språket inte är neutralt. Språket kan vara färgat av flera självklara förutsättningar och distanserande begrepp kan användas på ett sådant sätt att det moraliskt mest centrala och brännande döljs.

Rädsla inför förlossningen - ett uppenbart kliniskt problem? : konstruktionen av förlossningsrädsla som medicinsk kategori

Kvinnors känsla av oro och rädsla inför förlossningen har under de senaste årtiondena intresserat forskare inom en medicinsk kontext, framför allt i Sverige och Finland. Den obstetriska och psykologiska forskningen har strävat efter att definiera, finna metoder för att mäta samt klassificera dessa känslor. Begreppet förlossningsrädsla används i dag ofta såväl inom den medicinska diskursen som bland allmänheten som ett samlande begrepp för att beskriva föderskors rädsla både inför, under och efter förlossningen. Trots detta finns det ändå ingen allmänt vedertagen definition av eller enhetliga kriterier för vad som skall inkluderas i begreppet. Förlossningsrädsla har konstruerats och etablerats som ett till synes objektivt medicinskt definierat fenomen och vården av förlossningsrädsla har institutionaliserats inom specialsjukvården. Däremot har de praktiker och institutioner som bidragit till att skapa förlossningsrädsla som ett vetenskapligt faktum, en svart låda, blivit osynliga. I "Rädsla inför förlossningen – ett uppenbart kliniskt problem? Konstruktionen av förlossningsrädsla som en medicinsk kategori" granskas uppkomsten, etableringen och institutionaliseringen av förlossningsrädsla som en medicinsk kategori inom vetenskaplig forskningslitteratur i Sverige och Finland. I fokus för analysen står processer av kunskapsproduktion genom vilka förlossningsrädsla formuleras som en specifik medicinsk kategori. Förlossningsrädsla som begrepp och kategori kan beskrivas som ett gränsöverskridande objekt som ständigt reproduceras och konsolideras genom den pågående forskningen.

Jämställdhet som politiskt problem i Finland och Frankrike

Kirjallisuusarvostelu

Galvaanisen erotuksen toteuttaminen tasavirtasähkönjakelun asiakaspäätelaitteessa

Suomessa sähkönjakeluverkon pääasialliset jännitetasot ovat 20 kV ja 400 V. 20 kV jännitetasolla sähkö viedään lähelle kuluttajia ja muunnetaan pienemmäksi lähellä asiakkaita. Haittapuolena on se, että 20 kV avojohtosähkönsiirtoverkko on hyvin vika-altis ja usein yhden haaran vikaantuessa monta muutakin jää ilman sähköä. Lisäksi hintavien ja suurien jakelumuuntajien määrä on suuri. Vaihtoehtona on toteuttaa osa sähkönjakelusta tasajännitteellä, jolloin tehollinen pienjännite olisi 400 V:a suurempi. Tällöin sähköä voitaisiin siirtää pidempiä matkoja ilman, että asiakaskohtaisia tai muutaman asiakkaan kattavia 20 kV siirtolinjoja tarvitsisi käyttää. Tämä edellyttää vaihtosuuntauksen toteuttamista kuluttajan päässä. Tässä työssä esiteltävällä 1 kVA:n tehoisella vaihtosuuntaajalla muodostetaan tasasähköjakeluverkosta saatavasta 750 V tasasähköstä yksivaiheista (230 VRMS, 50 Hz) verkkojännitettä. Laite on suunniteltu toteuttamaan galvaaninen erotus mahdollisimman hyvällä hyötysuhteella. Suurtaajuusmuuntajan mitoitus mahdollisimman hyvälle hyötysuhteelle on haastava tehtävä, koska vaatimuksia sille asettavat sekä syöttävä resonanssikonvertteri että syötettävä syklokonvertteri. Mitoituksessa on pyrittävä löytämään mahdollisimman hyvä hyötysuhde kustannusten ja toteutettavuuden suhteen.

A quantitative view on fuzzy numbers

Since its introduction, fuzzy set theory has become a useful tool in the mathematical modelling of problems in Operations Research and many other fields. The number of applications is growing continuously. In this thesis we investigate a special type of fuzzy set, namely fuzzy numbers. Fuzzy numbers (which will be considered in the thesis as possibility distributions) have been widely used in quantitative analysis in recent decades. In this work two measures of interactivity are defined for fuzzy numbers, the possibilistic correlation and correlation ratio. We focus on both the theoretical and practical applications of these new indices. The approach is based on the level-sets of the fuzzy numbers and on the concept of the joint distribution of marginal possibility distributions. The measures possess similar properties to the corresponding probabilistic correlation and correlation ratio. The connections to real life decision making problems are emphasized focusing on the financial applications. We extend the definitions of possibilistic mean value, variance, covariance and correlation to quasi fuzzy numbers and prove necessary and sufficient conditions for the finiteness of possibilistic mean value and variance. The connection between the concepts of probabilistic and possibilistic correlation is investigated using an exponential distribution. The use of fuzzy numbers in practical applications is demonstrated by the Fuzzy Pay-Off method. This model for real option valuation is based on findings from earlier real option valuation models. We illustrate the use of number of different types of fuzzy numbers and mean value concepts with the method and provide a real life application.

Finnisch-ugrisches Substrat in der Toponymie des Russischen Nordens : eine neue Einstellung zum alten Problem

Kirjallisuusarvostelu

Bankruptcy prediction using fuzzy methods

In this thesis, a classi cation problem in predicting credit worthiness of a customer is tackled. This is done by proposing a reliable classi cation procedure on a given data set. The aim of this thesis is to design a model that gives the best classi cation accuracy to e ectively predict bankruptcy. FRPCA techniques proposed by Yang and Wang have been preferred since they are tolerant to certain type of noise in the data. These include FRPCA1, FRPCA2 and FRPCA3 from which the best method is chosen. Two di erent approaches are used at the classi cation stage: Similarity classi er and FKNN classi er. Algorithms are tested with Australian credit card screening data set. Results obtained indicate a mean classi cation accuracy of 83.22% using FRPCA1 with similarity classi- er. The FKNN approach yields a mean classi cation accuracy of 85.93% when used with FRPCA2, making it a better method for the suitable choices of the number of nearest neighbors and fuzziness parameters. Details on the calibration of the fuzziness parameter and other parameters associated with the similarity classi er are discussed.

The knapsack problem approach in solving partial hedging problems of options

En option är ett finansiellt kontrakt som ger dess innehavare en rättighet (men medför ingen skyldighet) att sälja eller köpa någonting (till exempel en aktie) till eller från säljaren av optionen till ett visst pris vid en bestämd tidpunkt i framtiden. Den som säljer optionen binder sig till att gå med på denna framtida transaktion ifall optionsinnehavaren längre fram bestämmer sig för att inlösa optionen. Säljaren av optionen åtar sig alltså en risk av att den framtida transaktion som optionsinnehavaren kan tvinga honom att göra visar sig vara ofördelaktig för honom. Frågan om hur säljaren kan skydda sig mot denna risk leder till intressanta optimeringsproblem, där målet är att hitta en optimal skyddsstrategi under vissa givna villkor. Sådana optimeringsproblem har studerats mycket inom finansiell matematik. Avhandlingen "The knapsack problem approach in solving partial hedging problems of options" inför en ytterligare synpunkt till denna diskussion: I en relativt enkel (ändlig och komplett) marknadsmodell kan nämligen vissa partiella skyddsproblem beskrivas som så kallade kappsäcksproblem. De sistnämnda är välkända inom en gren av matematik som heter operationsanalys. I avhandlingen visas hur skyddsproblem som tidigare lösts på andra sätt kan alternativt lösas med hjälp av metoder som utvecklats för kappsäcksproblem. Förfarandet tillämpas även på helt nya skyddsproblem i samband med så kallade amerikanska optioner.

Chelyabinsk CHP-3 “locked power” problem solving

All over the world power systems become bigger and bigger every day. New equipment is installed, new feeders are constructed, new power units are installed. Some old elements of the network, however, are not changed in time. As a result, “bottlenecks” for capacity transmission can occur. By locked power problem the situation when a power plant has installed capacity exceeding the power it can actually deliver is usually meant. Regime, scheme or even technical restrictions-related issues usually cause this kind of problem. It is really important, since from the regime point of view it is typical decision to have a mobile capacity reserve, in case of malfunctions. And, what can be even more significant, power plant owner (JSC Fortum in our case) losses his money because of selling less electrical energy. The goal of master`s thesis is to analyze the current state of Chelyabinsk power system and the CHP-3 (Combined Heat and Power plant) in particular in relation with it`s ability to deliver the whole capacity of the CHP in it`s existing state and also taking into consideration the prospect of power unit 3 installation by the fourth quarter of 2010. The thesis contains some general information about the UPS of Russia, CPS of Ural, power system of Chelyabinsk and the Chelyabinsk region itself. Then the CHP-3 is described from technical point of view with it`s equipment observation. Regimes for the nowadays power system and for the system after the power unit 3 installation are reviewed. The problems occurring are described and, finally, a solution is offered.