Älykkäiden ohjausjärjestelmien käyttö puutavarakuormaimen väsymiskestoiän parantamisessa

Työn tavoitteena oli tutkia älykkäiden ohjausjärjestelmien käyttöä mekatronisen koneen väsymiskeston parantamisessa. Älykkäiden järjestelmien osalta työssä keskityttiin lähinnä neuroverkkojen ja sumean logiikan mahdollisuuksien tutkimiseen. Tämän lisäksi työssä kehitettiin väsymiskestoikää lisäävä älykkäisiin järjestelmiin perustuva ohjausalgoritmi. Ohjausalgoritmi liitettiin osaksi puutavarakuormaimen ohjausta. Ohjaimen kehittely suoritettiin aluksi simulointimallien avulla. Laajemmat ohjaimen testaukset suoritettiin laboratoriossa fyysisen prototyypin avulla. Tuloksena puutavarakuormaimen puomin väsymiskestoikäennuste saatiin moninkertaistettua. Väsymiskestoiän parantumisen lisäksi ohjainalgoritmi myös vaimentaa kuormaimen värähtelyä.

Analytical Study on the Influence of Geometrical Parameters on the Fatigue Strength of Welds with Undercuts

The purpose of this study is to analyze the influence of geometric parameters on the fatigue strength of the welded joint. The thesis includes the analytical study pertaining to variation of undercut and the weld toe radius. The theoretical part includes the concepts of fracture mechanics, different stages of the crack propagation and finally the results. The numerical results are obtained from FRANC2D/L. The results show that the fatigue strength of the welded structure depends on the parameters of the welds such as the weld toe radius, weld angle, height of the undercut and plate thickness. The results show that the fatigue life can be improved by having the undercut as minimum as possible. However there has been significant variation on the fatigue life of the structure when the weld toe radius is increased.

Kylmämuovatun putkipalkin väsyminen metsätyökoneen puomirakenteessa

Työssä on tutkittu kylmämuovatun suorakaideputkipalkin väsymistä metsätyökoneen puomirakenteen osana. Kylmämuovatun putkipalkin sisäpintaan syntyy käytössä puristavan ulkoisen kuormituksen vaikutuksesta putkipalkin pituussuunnassa sekä seinämän läpi kasvavia säröjä. Työn tarkoituksena on ollut selvittää rakenteen väsymiskestoikä sekä säröytymisen aiheuttavat tekijät. Työssä on verrattu kestoikälaskentaan ja särönkasvuun sovellettujen murtumismekaniikan ja elementtimenetelmän tuloksia laboratoriokokeista saatuihin tuloksiin. Toisiaan tukevien tulosten perusteella kylmämuovausprosessissa syntyneiden jäännösjännitysten osuus särön ydintymisessä, kasvussa ja sen käyttäytymisessä on ulkoisen kuorman paikallisen vaikutuksen lisänä erittäin merkittävä. Putkipalkin väsyminen onkin jäännösjännityksistä riippuva särönkasvuilmiö.

Väsyttävästi kuormitettujen hitsattujen rakenteiden suunnittelukäytännön kehittäminen

Hitsatuilla rakenteilla väsyminen on keskeinen vauriotekijä. Väsymiskestoiän laskentaan on olemassa useita erilaisia menetelmiä, joista hot spot ﷓menetelmä on hitsattujen rakenteiden yhteydessä yhä yleistyvä ja sangen käyttökelpoinen. Hot spot menetelmässä kestoikälaskenta perustuu rakenteellisen jännityksen vaihteluun ja pieneen joukkoon kokeellisesti määrättyjä Wöhler-käyriä. Rakenteellinen jännitys voidaan määrittää joko prototyypistä mittaamalla, elementtimenetelmällä laskemalla tai parametristen kerrointen avulla. Suunnittelukäytännön kehittämisessä tutkittiin esimerkkirakenteena Rammer RC 22 leikkurimurskainta. Tarkoituksena oli mitata murskaimesta voimasuureita, joita voitaisiin käyttää kuormitustietona laskettaessa jännityksiä elementtimenetelmällä. Myöhempien laskentatulosten verifiointia varten mitattiin lisäksi muutamia hot spot ﷓jännityksiä. Työn kokeellinen puoli keskittyi voimasuuremittauksiin ja niistä saatavien tulosten saattamiseen sopusointuun vapaakappalemallien kanssa. Suoritettiin lukuisia kalibrointimittauksia ja mittausjärjestelyä kehitettiin, kunnes syyt aluksi saatujen mittaustulosten virheellisyyteen selvisivät. Leikkausvoimamittausten osalta tuloksia verifioitiin elementtimenetelmälaskelmin. Työn tuloksena saatiin luotua toimiva pohja voimasuure- ja hot spot ﷓mittauksille. Jatkossa voidaan siirtyä tekemään mittauksia todellisissa työskentelytilanteissa.

Assessment of meshing techniques for fatigue analysis of load carrying welded joints using the effective notch approach

The effective notch stress approach for the fatigue strength assessment of welded structures as included in the Fatigue Design Recommendation of the IIW requires the numerical analysis of the elastic notch stress in the weld toe and weld root which is fictitiously rounded with a radius of 1mm. The goal of this thesis work was to consider alternate meshing strategies when using the effective notch stress approach to assess the fatigue strength of load carrying partial penetration fillet-welded cruciform joints. In order to establish guidelines for modeling the joint and evaluating the results, various two-dimensional (2D) finite element analyses were carried out by systematically varying the thickness of the plates, the weld throat thickness, the degree of bending, and the shape and location of the modeled effective notch. To extend the scope of this work, studies were also carried out on the influence of

Tests of International Asset Pricing Models in Scandinavian Stock Markets

This thesis examines whether global, local and exchange risks are priced in Scandinavian countries’ equity markets by using conditional international asset pricing models. The employed international asset pricing models are the world capital asset pricing model, the international asset pricing model augmented with the currency risk, and the partially segmented model augmented with the currency risk. Moreover, this research traces estimated equity risk premiums for the Scandinavian countries. The empirical part of the study is performed using generalized method of moments approach. Monthly observations from February 1994 to June 2007 are used. Investors’ conditional expectations are modeled using several instrumental variables. In order to keep system parsimonious the prices of risk are assumed to be constant whereas expected returns and conditional covariances vary over time. The empirical findings of this thesis suggest that the prices of global and local market risk are priced in the Scandinavian countries. This indicates that the Scandinavian countries are mildly segmented from the global markets. Furthermore, the results show that the exchange risk is priced in the Danish and Swedish stock markets when the partially segmented model is augmented with the currency risk factor.

Size Effect and Notch Size Effect in Metal Fatigue

It is a well known phenomenon that the constant amplitude fatigue limit of a large component is lower than the fatigue limit of a small specimen made of the same material. In notched components the opposite occurs: the fatigue limit defined as the maximum stress at the notch is higher than that achieved with smooth specimens. These two effects have been taken into account in most design handbooks with the help of experimental formulas or design curves. The basic idea of this study is that the size effect can mainly be explained by the statistical size effect. A component subjected to an alternating load can be assumed to form a sample of initiated cracks at the end of the crack initiation phase. The size of the sample depends on the size of the specimen in question. The main objective of this study is to develop a statistical model for the estimation of this kind of size effect. It was shown that the size of a sample of initiated cracks shall be based on the stressed surface area of the specimen. In case of varying stress distribution, an effective stress area must be calculated. It is based on the decreasing probability of equally sized initiated cracks at lower stress level. If the distribution function of the parent population of cracks is known, the distribution of the maximum crack size in a sample can be defined. This makes it possible to calculate an estimate of the largest expected crack in any sample size. The estimate of the fatigue limit can now be calculated with the help of the linear elastic fracture mechanics. In notched components another source of size effect has to be taken into account. If we think about two specimens which have similar shape, but the size is different, it can be seen that the stress gradient in the smaller specimen is steeper. If there is an initiated crack in both of them, the stress intensity factor at the crack in the larger specimen is higher. The second goal of this thesis is to create a calculation method for this factor which is called the geometric size effect. The proposed method for the calculation of the geometric size effect is also based on the use of the linear elastic fracture mechanics. It is possible to calculate an accurate value of the stress intensity factor in a non linear stress field using weight functions. The calculated stress intensity factor values at the initiated crack can be compared to the corresponding stress intensity factor due to constant stress. The notch size effect is calculated as the ratio of these stress intensity factors. The presented methods were tested against experimental results taken from three German doctoral works. Two candidates for the parent population of initiated cracks were found: the Weibull distribution and the log normal distribution. Both of them can be used successfully for the prediction of the statistical size effect for smooth specimens. In case of notched components the geometric size effect due to the stress gradient shall be combined with the statistical size effect. The proposed method gives good results as long as the notch in question is blunt enough. For very sharp notches, stress concentration factor about 5 or higher, the method does not give sufficient results. It was shown that the plastic portion of the strain becomes quite high at the root of this kind of notches. The use of the linear elastic fracture mechanics becomes therefore questionable.

Fatigue analysis of brackets with and without scallop for bridge and other deck structure using effective notch stress.

Due to functional requirement of a structural detail brackets with and without scallop are frequently used in bridges, decks, ships and offshore structure. Scallops are designed to serve as passage way for fluids, to reduce weld length and plate distortions. Moreover, scallops are used to avoid intersection of two or more welds for the fact that there is the presence of inventible inherent initial crack except for full penetrated weld and the formation of multi-axial stress state at the weld intersection. Welding all around the scallop corner increase the possibility of brittle fracture even for the case the bracket is not loaded by primary load. Avoiding of scallop will establish an initial crack in the corner if bracket is welded by fillet welds. If the two weld run pass had crossed, this would have given a 3D residual stress situation. Therefore the presences and absence of scallop necessitates the 3D FEA fatigue resistance of both types of brackets using effective notch stress approach ( ). FEMAP 10.1 with NX NASTRAN was used for the 3D FEA. The first and main objective of this research was to investigate and compare the fatigue resistance of brackets with and without scallop. The secondary goal was the fatigue design of scallops in case they cannot be avoided for some reason. The fatigue resistance for both types of brackets was determined based on approach using 1 mm fictitiously rounded radius based on IIW recommendation. Identical geometrical, boundary and loading conditions were used for the determination and comparison of fatigue resistance of both types of brackets using linear 3D FEA. Moreover the size effect of bracket length was also studied using 2D SHELL element FEA. In the case of brackets with scallop the flange plate weld toe at the corner of the scallop was found to exhibit the highest and made the flange plate weld toe critical for fatigue failure. Whereas weld root and weld toe at the weld intersections were the highly stressed location for brackets without scallop. Thus weld toe for brackets with scallop, and weld root and weld toe for brackets without scallop were found to be the critical area for fatigue failure. Employing identical parameters on both types of brackets, brackets without scallop had the highest except for full penetrated weld. Furthermore the fatigue resistance of brackets without scallop was highly affected by the lack of weld penetration length and it was found out that decreased as the weld penetration was increased. Despite the fact that the very presence of scallop reduces the stiffness and also same time induce stress concentration, based on the 3D FEA it is worth concluding that using scallop provided better fatigue resistance when both types of brackets were fillet welded. However brackets without scallop had the highest fatigue resistance when full penetration weld was used. This thesis also showed that weld toe for brackets with scallop was the only highly stressed area unlike brackets without scallop in which both weld toe and weld root were the critical locations for fatigue failure when different types of boundary conditions were used. Weld throat thickness, plate thickness, scallop radius, lack of weld penetration length, boundary condition and weld quality affected the fatigue resistance of both types of brackets. And as a result, bracket design procedure, especially welding quality and post weld treatment techniques significantly affect the fatigue resistance of both type of brackets.

Kalsinaattorin siirtymien ja teräskuoren murtumien tutkiminen

Sementti on yksi eniten maailmassa käytetty rakennusmateriaali ja Suomessa sementin valmistuksesta vastaa Finnsementti Oy kahden tehtaan voimin. Lappeenrannan tehtaalle investoitiin uusi uunilinja vuonna 2007, joka on aikansa kehittyneintä tekniikkaa. Järjes-telmän esilämmitysvaiheen laitteissa, erityisesti kalsinaattorissa, on esiintynyt luvattoman paljon plastisoitumista ja murtumia. Tässä työssä tutkittiin lämpötilan ja sen vaihtelun vaikutusta järjestelmässä syntyneisiin siirtymiin ja murtumiin. Työn alussa luotiin katsaus erilaisiin murtumisilmiöihin ja niiden syntyyn. Vuorauksessa käytettyihin tiilien käyttäytymistä tutkittiin myös, koska ne ovat olennainen osa esilämmi-tysjärjestelmää. Työn kokeellisessa osuudessa aluksi määriteltiin järjestelmässä käytetylle teräkselle lujuusominaisuudet tutkimalla mikrorakennetta sekä suorittamalla veto- että kovuuskokeet materiaalille. Toisessa osiossa mitattiin järjestelmän alasajon aikana tapah-tuneet siirtymät. Laskennallisessa osuudessa tutkittiin väsymismurtuman mahdollisuutta sekä määritettiin kuoressa esiintyvän särön vaikutusta puhkeamis- ja murtumiskuormituk-seen. FEM- analyysissä tarkasteltiin lämpötilan vaikutusta siirtymien suuruuksiin ja pyrittiin löytämään perusteluita, miksi rakenne on todellisuudessa siirtynyt eri suuntiin kuin alun perin oli tarkoitettu. Lisäksi analysoitiin FEM- mallit tiilihyllystä ja kalsinaattorin kuoren tukikehästä, joista tutkittiin lämpökuorman aiheuttamia jännityksiä. Materiaalin osalta selvisi, että kyseessä oli hyvin yleinen rakenneteräs S235 tai sitä vas-taava teräslaatu. Teräs ei ominaisuuksiltaan sovellu kuumiin olosuhteisiin, jonka vuoksi järjestelmässä käytettävän eristevuorauksen kunto on erityisen tärkeä rakenteen käyttöiän kannalta. Vuorauksen kunnosta riippuu, kuinka suuren lämpökuorman teräskuori saa. Väsymismurtuman mahdollisuus jäi minimaalisen pieneksi lämpötilan muutoksen vaiku-tuksesta. Analysoinnin tulosten perusteella voitiin todeta, että lämpötilan hitaasti mutta kohtalaisen suurella vaihteluvälillä sekä tiilien turpoamisen vaikutuksella on erittäin suuri merkitys järjestelmässä esiintyviin murtumiin.

Fatigue study of the fillet weld waving on weld toe and the penetration in the weld root based on the effective notch stress approach

The fatigue failure of structures under fluctuating loads in fillet weld joints raises a demand to determine the parameters related to this type of loading. In this study, the stress distribution in the susceptible area of weld toe and weld root in fillet welded models analyzed by finite element method applying FEMAP software. To avoid the geometrical singularity on the path of analytical stress analysis in the toe and root area of a weld model the effective notch stress approach applied by which a proper fictitious rounding that mostly depend on the material of structure is applied. The models with different weld toe waving width and radius are analyzed while the flank angle of weld varied in 45 and 30 degrees. The processed results shows that the waving compare to the straight weld toe makes differences in the value of stress and consequently the stress concentration factor between the tip and depth of the waves in the weld toe which helps to protect the crack of propagation and gives enough time and tools to be informed of the crack initiation in the structure during the periodical observation of structure. In the weld root study the analyses among the models with the welding penetration percentage from non-penetration to the full-penetration shows a slightly increase in the root area stress value which comparing with the stiffening effect of penetration conclude that the half-penetration can make an optimization between the stress increase and stiffening effect of deep penetration.

Social ventures : the development of the theory of sustainable contributive advantage and initial empirical tests

This thesis attempts to fill gaps in both a theoretical basis and an operational and strategic understanding in the areas of social ventures, social entrepreneurship and nonprofit business models. This study also attempts to bridge the gap in strategic and economic theory between social and commercial ventures. More specifically, this thesis explores sustainable competitive advantage from a resource-based theory perspective and explores how it may be applied to the nonmarket situation of nonprofit organizations and social ventures. It is proposed that a social value-orientation of sustainable competitive advantage, called sustainable contributive advantage, provides a more realistic depiction of what is necessary in order for a social venture to perform better than its competitors over time. In addition to providing this realistic depiction, this research provides a substantial theoretical contribution in the area of economics, social ventures, and strategy research, specifically in regards to resource-based theory. The proposed model for sustainable contributive advantage uses resource-based theory and competitive advantage in order to be applicable to social ventures. This model proposes an explanation of a social venture’s ability to demonstrate consistently superior performance. In order to determine whether sustainable competitive advantage is in fact, appropriate to apply to both social and economic environments, quantitative analyses are conducted on a large sample of nonprofit organizations in a single industry and then compared to similar quantitative analyses conducted on commercial ventures. In comparing the trends and strategies between the two types of entities from a quantitative perspective, propositions are developed regarding a social venture’s resource utilization strategies and their possible impact on performance. Evidence is found to support the necessity of adjusting existing models in resource-based theory in order to apply them to social ventures. Additionally supported is the proposed theory of sustainable contributive advantage. The thesis concludes with recommendations for practitioners, researchers and policy makers as well as suggestions for future research paths.

Bus bar aeolian vibration field tests

Large amplitude bus bar aeolian vibration may lead to post insulator damage. Different damping applications are used to decrease the risk of large amplitude aeolian vibration. In this paper the post insulator load caused by the bus bar aeolian vibration and the effect of damping methods are evaluated. The effects of three types of bus bar connectors and three types of primary structures are studied. Two actual damping devices, damping cable and their combinations are studied. The post insulator loads are studied with strain gage based custom made force sensors installed on the both ends of the post insulator and with the displacement sensor installed on the midpoint of the bus bar. The post insulator loads are calculated from the strain values and the damping properties are determined from the displacement history. The bus bar is deflected with a hanging weight. The weight is released and the bus bar is left to free damped vibration. Both actual bus bar vibration dampers RIBE and SBI were very effective against the aeolian vibration. Combining vibration damper with damping cable will increase the damping ratio but it may be unnecessary considering the extra effort. Bus bar connector type or primary structure have no effect on the vertical load. The bending moment at the post insulator with double sided bus bar connector is significantly higher than at the post insulator with single sided bus bar connector. No reliable conclusions about bus bar connector type effect can be done, but the roller bearing type or central bearing type connector may reduce the bending moment. The RHS steel frame as primary structure may increase the bending moment peak values since it is the least rigid primary structure type and it may start to vibrate as a response to the awakening force of the vibrating bus bar.

Stresses of a boat trailer

In this thesis work, a strength analysis is made for a boat trailer. The studied trailer structure is manufactured from Ruukki’s structural steel S420. The main focus in this work is in the trailer’s frame. The investigation process consists two main stages. These stages are strain gage measurements and finite elements analysis. Strain gage measurements were performed to the current boat trailer in February 2015. Static durability and fatigue life of the trailer are analyzed with finite element analysis and with two different materials. These materials are the current trailer material Ruukki’s structural steel S420 and new option material high strength precision tube Form 800. The main target by using high strength steel in a trailer is weight reduction. The applied fatigue analysis methods are effective notch stress and structural hot spot stress approaches. The target of these strength analyses is to determine if it is reasonable to change the trailer material to high strength steel. The static strengths of the S420 and Form 800 trailers is sufficient. The fatigue strength of the Form 800 trailer is considerably lower than the fatigue strength of the S420 trailer. For future research, the effect of hot dip galvanization to the high strength steel has to be investigated. The effect of hot dip galvanization to the trailer is investigated by laboratory tests that are not included in this thesis.