Modeling of Liquid-Solid Flow in Industrial Scale

In the present work, liquid-solid flow in industrial scale is modeled using the commercial software of Computational Fluid Dynamics (CFD) ANSYS Fluent 14.5. In literature, there are few studies on liquid-solid flow in industrial scale, but any information about the particular case with modified geometry cannot be found. The aim of this thesis is to describe the strengths and weaknesses of the multiphase models, when a large-scale application is studied within liquid-solid flow, including the boundary-layer characteristics. The results indicate that the selection of the most appropriate multiphase model depends on the flow regime. Thus, careful estimations of the flow regime are recommended to be done before modeling. The computational tool is developed for this purpose during this thesis. The homogeneous multiphase model is valid only for homogeneous suspension, the discrete phase model (DPM) is recommended for homogeneous and heterogeneous suspension where pipe Froude number is greater than 1.0, while the mixture and Eulerian models are able to predict also flow regimes, where pipe Froude number is smaller than 1.0 and particles tend to settle. With increasing material density ratio and decreasing pipe Froude number, the Eulerian model gives the most accurate results, because it does not include simplifications in Navier-Stokes equations like the other models. In addition, the results indicate that the potential location of erosion in the pipe depends on material density ratio. Possible sedimentation of particles can cause erosion and increase pressure drop as well. In the pipe bend, especially secondary flows, perpendicular to the main flow, affect the location of erosion.

Liquid cooling solutions for rotating permanent magnet synchronous machines

In the design of electrical machines, efficiency improvements have become very important. However, there are at least two significant cases in which the compactness of electrical machines is critical and the tolerance of extremely high losses is valued: vehicle traction, where very high torque density is desired at least temporarily; and direct-drive wind turbine generators, whose mass should be acceptably low. As ever higher torque density and ever more compact electrical machines are developed for these purposes, thermal issues, i.e. avoidance of over-temperatures and damage in conditions of high heat losses, are becoming of utmost importance. The excessive temperatures of critical machine components, such as insulation and permanent magnets, easily cause failures of the whole electrical equipment. In electrical machines with excitation systems based on permanent magnets, special attention must be paid to the rotor temperature because of the temperature-sensitive properties of permanent magnets. The allowable temperature of NdFeB magnets is usually significantly less than 150 ˚C. The practical problem is that the part of the machine where the permanent magnets are located should stay cooler than the copper windings, which can easily tolerate temperatures of 155 ˚C or 180 ˚C. Therefore, new cooling solutions should be developed in order to cool permanent magnet electrical machines with high torque density and because of it with high concentrated losses in stators. In this doctoral dissertation, direct and indirect liquid cooling techniques for permanent magnet synchronous electrical machines (PMSM) with high torque density are presented and discussed. The aim of this research is to analyse thermal behaviours of the machines using the most applicable and accurate thermal analysis methods and to propose new, practical machine designs based on these analyses. The Computational Fluid Dynamics (CFD) thermal simulations of the heat transfer inside the machines and lumped parameter thermal network (LPTN) simulations both presented herein are used for the analyses. Detailed descriptions of the simulated thermal models are also presented. Most of the theoretical considerations and simulations have been verified via experimental measurements on a copper tooth-coil (motorette) and on various prototypes of electrical machines. The indirect liquid cooling systems of a 100 kW axial flux (AF) PMSM and a 110 kW radial flux (RF) PMSM are analysed here by means of simplified 3D CFD conjugate thermal models of the parts of both machines. In terms of results, a significant temperature drop of 40 ̊C in the stator winding and 28 ̊C in the rotor of the AF PMSM was achieved with the addition of highly thermally conductive materials into the machine: copper bars inserted in the teeth, and potting material around the end windings. In the RF PMSM, the potting material resulted in a temperature decrease of 6 ̊C in the stator winding, and in a decrease of 10 ̊C in the rotor embedded-permanentmagnets. Two types of unique direct liquid cooling systems for low power machines are analysed herein to demonstrate the effectiveness of the cooling systems in conditions of highly concentrated heat losses. LPTN analysis and CFD thermal analysis (the latter being particularly useful for unique design) were applied to simulate the temperature distribution within the machine models. Oil-immersion cooling provided good cooling capability for a 26.6 kW PMSM of a hybrid vehicle. A direct liquid cooling system for the copper winding with inner stainless steel tubes was designed for an 8 MW directdrive PM synchronous generator. The design principles of this cooling solution are described in detail in this thesis. The thermal analyses demonstrate that the stator winding and the rotor magnet temperatures are kept significantly below their critical temperatures with demineralized water flow. A comparison study of the coolant agents indicates that propylene glycol is more effective than ethylene glycol in arctic conditions.

Implementation of population balances in simulation of gas-liquid reactors using a CFD-PBM coupled approach

In bubbly flow simulations, bubble size distribution is an important factor in determination of hydrodynamics. Beside hydrodynamics, it is crucial in the prediction of interfacial area available for mass transfer and in the prediction of reaction rate in gas-liquid reactors such as bubble columns. Solution of population balance equations is a method which can help to model the size distribution by considering continuous bubble coalescence and breakage. Therefore, in Computational Fluid Dynamic simulations it is necessary to couple CFD and Population Balance Model (CFD-PBM) to get reliable distribution. In the current work a CFD-PBM coupled model is implemented as FORTRAN subroutines in ANSYS CFX 10 and it has been tested for bubbly flow. This model uses the idea of Multi Phase Multi Size Group approach which was previously presented by Sha et al. (2006) [18]. The current CFD-PBM coupled method considers inhomogeneous flow field for different bubble size groups in the Eulerian multi-dispersed phase systems. Considering different velocity field for bubbles can give the advantageof more accurate solution of hydrodynamics. It is also an improved method for prediction of bubble size distribution in multiphase flow compared to available commercial packages.

Laimentimen merkitys metallien neste-nesteuutossa

Työssä tutkittiin korkean leimahduspisteen laimentimien vaikutusta uuton tehokkuuteen ja turvallisuuteen. Kirjallisuusosa sisältää katsauksen uuttolaitoksilla tapahtuneista suuronnettomuuksista, staattisen sähkön aiheuttamista vaaroista uuttolaitoksilla ja kaupallisesti saatavista laimentimista. Lisäksi kirjallisuusosassa tarkastellaan hiilivetyjen molekyylirakenteen vaikutusta niiden leimahduspisteeseen, haihtuvuuteen, viskositeettiin ja liuotinominaisuuksiin. Kokeellisessa osassa tutkittiin uuton tehokkuutta kuvaavia ominaisuuksia, joita olivat sekoituksen pisarakoko, faasien selkeytymisnopeus,uuton ja takaisinuuton kinetiikka, orgaanisen faasin viskositeetti ja tiheys. Uuttoliuosten turvallisuusominaisuuksia tutkittiin mittaamalla synteettisten uuttoliuosten ja laimentimien leimahduspisteitä sekä sähköisesti varattujen laimentimien relaksaatioaikoja. Korkean leimahduspisteen laimentimena käytettiin Orfom SX 11-laimenninta. Vertailukohteena käytettiin Shellsol D70- ja Escaid 100- laimentimia. Malliuuttona käytettiin kuparin uuttoa hydroksioksiimireagensilla happamasta sulfaattiliuoksesta. Kokeissa havaittiin, että korkean leimahduspisteen laimentimen viskositeetti oli huomattavasti suurempi kuin Shellsol D70- laimentimella. Korkea viskositeetti hidasti faasien selkeytymistä uutossa, mutta sillä ei ollut vaikutusta uuton kinetiikkaan tai sekoituksen aiheuttamaan pisarakokoon. Uuttoliuoksen reagenssipitoisuudella havaittiin olevan vaikutusta uuttoliuoksen leimahduspisteeseen, mutta uuttoliuoksen latausasteella ei havaittu olevan vaikutusta. Sähköisesti varattujen laimentimien varauksien relaksaatioajoissa oli hieman eroja, mutta relaksaatioajat olivat kaikilla laimentimilla liian pitkiä staattisen sähkön aiheuttaman vaaran poistamiseksi.

Nestepakkauskartongin ominaisjäykkyyden parantamisen menetelmät

Viime vuosina Tainionkosken KA5:lla valmistettavan nestepakkauskartongin neliömassa, joka jäykkyystavoitteen saavuttamiseksi tarvitaan, on kasvanut. Diplomityön tavoitteena oli selvittää kartongin jäykkyysindeksin heikentymi-seen vaikuttaneet tekijät ja kehittää korjaavia toimenpiteitä. Työn kirjallisuusosassa tutkittiin nestepakkauskartongin laatuominaisuuksia ja jäykkyyden muodostumista. Lisäksi selvitettiin massanvalmistus- ja koneolosuhteiden vaikutusta kartongin jäykkyyteen. Kirjallisuusosassa tutkittiin myös, miten eri massalaadut ja kartongin rakenne vaikuttavat jäykkyyteen. Työn kokeellisessa osassa kartoitettiin jäykkyysindeksin heikkenemisen syitä ja kehitettiin uusia ajomalleja, joilla olisi jäykkyysindeksiin positiivinen vaikutus. Jäykkyysindeksin heikkenemisen syitä selvitettiin massa- ja prosessianalyysien avulla. Lisäksi tutkittiin 3.puristimen muuttamista tasauspuristimeksi ja CTMP:n käyttöä runkokerroksessa sekä korkea- että matalakappaisen valkaisemattoman sellun kanssa. Massa-analyysissä selvisi, että sellun laatu on heikentynyt ja jäykkyysindeksin heikkeneminen johtuu osaltaan siitä. Prosessianalyysissä paljastui useita jäykkyysindeksiä heikentäviä tekijöitä, kuten esimerkiksi kuivatusosan vetoerot, jotka olivat ajautuneet kauas optimitilasta. 3.puristimen muuttaminen tasauspuristimeksi paransi pinnan sileyttä ja kartongin bulkkia, jolloin jäykkyysindeksi kasvoi. CTMP:n käyttö korkeakappaisen sellun kanssa paransi huomattavasti kartongin bulkkia, mutta heikensi palstautumislujuutta ja lisäsi reunaimeytymää. Matalakappaisen sellun ja CTMP:n yhdistelmällä saatiin aikaan hyvä bulkki ja palstautumis-lujuus niin, että reunaimeytymä ei kasvanut ja tuotantonopeus ei laskenut.

Solid and liquid biofuels markets in Finland - a study on international biofuels trade

This study considered the current situation of solid and liquid biofuels markets and international biofuels trade in Finland and identified the challenges ofthe emerging international biofuels markets for Finland. The fact that industryconsumes more than half of the total primary energy, widely applied combined heat and power production (CHP) and a high share of biofuels in the total energy consumption are specific to the Finnish energy system. One third of the electricity is generated in CHP plants. As much as 27% of the total energy consumption ismet by using wood and peat, which makes Finland the leading country in the use of biofuels. Finland has made a commitment to maintain greenhouse gas emissions at the 1990 level at the highest during the period 2008-2012. The Finnish energypolicy aims to achieve the target, and a variety of measures are taken to promote the use of renewable energy sources and especially wood fuels. In this study, the wooden raw material streams of the forest industry were included the international biofuels trade in addition to biomass streams that are traded for energy production. In 2004, as much as 45% of the raw wood importedinto Finland ended up in energy production. The total international trading of biofuels was evaluated at 72 PJ, of which the majority, 58 PJ, was raw wood. About 22% of wood based energy in Finland originated from imported raw wood. Tall oil and wood pellets composed the largest export streams of biofuels. The annual turnover of international biofuels trade was estimated at about ¤ 90 million fordirect trade and at about ¤ 190 million for indirect trade. The forest industryas the biggest user of wood, and the producer and user of wood fuels has a central position in biomass and biofuels markets in Finland. Lately, the international aspects of Finnish biofuels markets have been emphasised as the import of rawwood and the export of wood pellets have increased. Expanding the use of biofuels in the road transportation sector would increase the international streams ofbiofuels in Finland. In coming years, the international trading of biomass for energy purposes can be expected to continue growing.

SIMULATION OF AMB SUPPORTED ROTOR DURING DROP ON RETAINER BEARINGS

The active magnetic bearings present a new technology which has many advantages compared to traditional bearing designs. Active magnetic bearings, however, require retainer bearings order to prevent damages in the event of a component, power or a control loop failure. In the dropdown situation, when the rotor drops from the magnetic bearings to the retainer bearings, the design parameters of the retainer bearings have a significant influence on the behaviour of the rotor. In this study, the dynamics of an active magnetic bearings supported electric motor during rotor drop on retainer bearings is studied using a multibody simulation approach. Various design parameters of retainer bearings are studied using a simulation model while results are compared with those found in literature. The retainer bearings are modelled using a detailed ball bearing model, which accounts damping and stiffness properties, oil film and friction between races and rolling elements. The model of the ball bearings includes inertia description of rollingelements. The model of the magnetic bearing system contains unbalances of the rotor and stiffness and damping properties of support. In this study, a computationally efficient contact model between the rotor and the retainer bearings is proposed. In addition, this work introduces information for the design of physicalprototype and its retainer bearings.

Dynamic Simulations of Rotors during Drop on Retainer Bearings

The active magnetic bearings have recently been intensively developed because of noncontact support having several advantages compared to conventional bearings. Due to improved materials, strategies of control, and electrical components, the performance and reliability of the active magnetic bearings are improving. However, additional bearings, retainer bearings, still have a vital role in the applications of the active magnetic bearings. The most crucial moment when the retainer bearings are needed is when the rotor drops from the active magnetic bearings on the retainer bearings due to component or power failure. Without appropriate knowledge of the retainer bearings, there is a chance that an active magnetic bearing supported rotor system will be fatal in a drop-down situation. This study introduces a detailed simulation model of a rotor system in order to describe a rotor drop-down situation on the retainer bearings. The introduced simulation model couples a finite element model with component mode synthesis and detailed bearing models. In this study, electrical components and electromechanical forces are not in the focus. The research looks at the theoretical background of the finite element method with component mode synthesis that can be used in the dynamic analysis of flexible rotors. The retainer bearings are described by using two ball bearing models, which include damping and stiffness properties, oil film, inertia of rolling elements and friction between races and rolling elements. Thefirst bearing model assumes that the cage of the bearing is ideal and that the cage holds the balls in their predefined positions precisely. The second bearing model is an extension of the first model and describes the behavior of the cageless bearing. In the bearing model, each ball is described by using two degrees of freedom. The models introduced in this study are verified with a corresponding actual structure. By using verified bearing models, the effects of the parameters of the rotor system onits dynamics during emergency stops are examined. As shown in this study, the misalignment of the retainer bearings has a significant influence on the behavior of the rotor system in a drop-down situation. In this study, a stability map of the rotor system as a function of rotational speed of the rotor and the misalignment of the retainer bearings is presented. In addition, the effects of parameters of the simulation procedure and the rotor system on the dynamics of system are studied.

Development of filter media treatments for liquid filtration

Woven monofilament, multifilament, and spun yarn filter media have long been the standard media in liquid filtration equipment. While the energy for a solid-liquid separation process is determined by the engineering work, it is the interface between the slurry and the equipment - the filter media - that greatly affects the performance characteristics of the unit operation. Those skilled in the art are well aware that a poorly designed filter medium may endanger the whole operation, whereas well-performing filter media can make the operation smooth and economical. As the mineral and pulp producers seek to produce ever finer and more refined fractions of their products, it is becoming increasingly important to be able to dewater slurries with average particle sizes around 1 ¿m using conventional, high-capacity filtration equipment. Furthermore, the surface properties of the media must not allow sticky and adhesive particles to adhere to the media. The aim of this thesis was to test how the dirt-repellency, electrical resistance and highpressure filtration performance of selected woven filter media can be improved by modifying the fabric or yarn with coating, chemical treatment and calendering. The results achieved by chemical surface treatments clearly show that the woven media surface properties can be modified to achieve lower electrical resistance and improved dirt-repellency. The main challenge with the chemical treatments is the abrasion resistance and, while the experimental results indicate that the treatment is sufficiently permanent to resist standard weathering conditions, they may still prove to be inadequately strong in terms of actual use.From the pressure filtration studies in this work, it seems obvious that the conventional woven multifilament fabrics still perform surprisingly well against the coated media in terms of filtrate clarity and cake build-up. Especially in cases where the feed slurry concentration was low and the pressures moderate, the conventional media seemed to outperform the coated media. In the cases where thefeed slurry concentration was high, the tightly woven media performed well against the monofilament reference fabrics, but seemed to do worse than some of the coated media. This result is somewhat surprising in that the high initial specific resistance of the coated media would suggest that the media will blind more easily than the plain woven media. The results indicate, however, that it is actually the woven media that gradually clogs during the coarse of filtration. In conclusion, it seems obvious that there is a pressure limit above which the woven media looses its capacity to keep the solid particles from penetrating the structure. This finding suggests that for extreme pressures the only foreseeable solution is the coated fabrics supported by a strong enough woven fabric to hold thestructure together. Having said that, the high pressure filtration process seems to follow somewhat different laws than the more conventional processes. Based on the results, it may well be that the role of the cloth is most of all to support the cake, and the main performance-determining factor is a long life time. Measuring the pore size distribution with a commercially available porometer gives a fairly accurate picture of the pore size distribution of a fabric, but failsto give insight into which of the pore sizes is the most important in determining the flow through the fabric. Historically air, and sometimes water, permeability measures have been the standard in evaluating media filtration performance including particle retention. Permeability, however, is a function of a multitudeof variables and does not directly allow the estimation of the effective pore size. In this study a new method for estimating the effective pore size and open pore area in a densely woven multifilament fabric was developed. The method combines a simplified equation of the electrical resistance of fabric with the Hagen-Poiseuille flow equation to estimate the effective pore size of a fabric and the total open area of pores. The results are validated by comparison to the measured values of the largest pore size (Bubble point) and the average pore size. The results show good correlation with measured values. However, the measured and estimated values tend to diverge in high weft density fabrics. This phenomenon is thought to be a result of a more tortuous flow path of denser fabrics, and could most probably be cured by using another value for the tortuosity factor.

Gas-liquid mass transfer in bubbly flow: Estimation of mass transfer, bubble size and reactor performance in various applications

Gas-liquid mass transfer is an important issue in the design and operation of many chemical unit operations. Despite its importance, the evaluation of gas-liquid mass transfer is not straightforward due to the complex nature of the phenomena involved. In this thesis gas-liquid mass transfer was evaluated in three different gas-liquid reactors in a traditional way by measuring the volumetric mass transfer coefficient (kLa). The studied reactors were a bubble column with a T-junction two-phase nozzle for gas dispersion, an industrial scale bubble column reactor for the oxidation of tetrahydroanthrahydroquinone and a concurrent downflow structured bed.The main drawback of this approach is that the obtained correlations give only the average volumetric mass transfer coefficient, which is dependent on average conditions. Moreover, the obtained correlations are valid only for the studied geometry and for the chemical system used in the measurements. In principle, a more fundamental approach is to estimate the interfacial area available for mass transfer from bubble size distributions obtained by solution of population balance equations. This approach has been used in this thesis by developing a population balance model for a bubble column together with phenomenological models for bubble breakage and coalescence. The parameters of the bubble breakage rate and coalescence rate models were estimated by comparing the measured and calculated bubble sizes. The coalescence models always have at least one experimental parameter. This is because the bubble coalescence depends on liquid composition in a way which is difficult to evaluate using known physical properties. The coalescence properties of some model solutions were evaluated by measuring the time that a bubble rests at the free liquid-gas interface before coalescing (the so-calledpersistence time or rest time). The measured persistence times range from 10 msup to 15 s depending on the solution. The coalescence was never found to be instantaneous. The bubble oscillates up and down at the interface at least a coupleof times before coalescence takes place. The measured persistence times were compared to coalescence times obtained by parameter fitting using measured bubble size distributions in a bubble column and a bubble column population balance model. For short persistence times, the persistence and coalescence times are in good agreement. For longer persistence times, however, the persistence times are at least an order of magnitude longer than the corresponding coalescence times from parameter fitting. This discrepancy may be attributed to the uncertainties concerning the estimation of energy dissipation rates, collision rates and mechanisms and contact times of the bubbles.

Liquid Packaging Board Market in China

Tämän diplomityön tavoitteena on määrittää liiketoimintailmapiiri ja markkinapotentiaali Kiinan nestepakkauskartonkimarkkinoilla. Tutkimus tukee nestepakkauskartonkivalmistajan vientitoimintoja. Pääosin käytännön tiedoista koostuva tutkimus suoritettiin keräämällä sekundaääritietoa ja haastattelemalla alan erikoisasiantuntijoita. Suuri ja kasvava väestö sekä nopeasti kehittyvä talous tukee nestepakkauskartonkimarkkinoiden kasvua Kiinassa. Viimeaikainen globalisaatio haittapuolineen saattaa kuitenkin horjuttaa poliittista ja sosiaalista tasapainoa ja tätä kautta ylellisyys hyödykkeiden kuten kartonkipakattujen tuotteiden kysyntää Kiinassa. Tuontirajoitukset Kiinaan ovat laskemassa valtion tämän hetkisen kansainvälistymispolitiikan seurauksena. Kartonki vahvistaa asemaansa kilpailevien pakkausmateriaalien joukossa. Kiinan kokonaisnestepakkauskartonkimarkkinat kasvavat vuosittain 10,7 % ja ovat vuonna 2001 noin 100 000 tonnia.

Nestepakkauskartongin runkokerroksen rakenteen optimointi

Diplomityön tavoitteena oli optimoida KA4:n nestepakkauskartongin runkokerroksen massakoostumus ja rakenne kartonkikoneen uusinnan jälkeen. Työssä tutkittiin Natura 285 –laatua, jota käytetään yhden litran vetoisissa maitopurkeissa. Pääasiallisena tavoitteena oli lisätä CTMP:n osuutta ja vähentää mäntysellun osuutta rungossa siten, että kartongin laatu ei heikkene. Työn kirjallisuusosassa perehdyttiin nestepakkauskartongin kriittisiin ominaisuuksiin ja CTMP:n vaikutuksiin runkokerroksessa. Rainanmuodostusta ja kuituverkoston lujuuden syntymistä käsiteltiin omina kokonaisuuksinaan. CTMP:n freeness-tason huomattava vähentäminen kasvattaa kartongin z-lujuutta ja palstautumislujuutta merkittävästi. Samalla höyrynkulutus kuitenkin kasvaa ja kartongin jäykkyys laskee jonkin verran paksuuden vähenemisen seurauksena. CTMP:n freeness-tason alentaminen arvosta 420 ml CSF arvoon 380 ml CSF ei alenna bulkkia merkittävästi. CTMP:n määrän kasvattaminen yli 60 %:in keskikerroksessa alentaa palstautumislujuutta ja z-lujuutta merkittävästi. Runkokerroksen mäntysellun korvaaminen koivusellulla parantaa kartongin sileyttä merkittävästi vakiopaksuudessa. Runkokerroksen massakomponenttien jauhatuksen lisäämisestä huolimatta z-lujuus ja palstautumislujuus laskevat vastaavasti huomattavan paljon. Koivusellun käytöllä valmiin pakkauksen ominaisuudet eivät heikkene, mutta painatusominaisuudet paranevat. CTMP-laitoksen pääjauhinten uudella LE-terämallilla saavutetaan huomattava energian säästö vanhaan terämalliin verrattuna. Kuidun keskipituus laskee jonkin verran LE-terien ikääntyessä ja samalla kuitujen sitoutumiskyky heikkenee.

Hydrodynamics and Heat Transfer in an Airlift Reactor

Työn teoriaosassa esitetään kirjallisuudessa esiintyviä teoreettisia ja kokeellisia yhtälöitä nesteen nopeuden, kaasun tilavuusosuuden, painehäviön ja lämmönsiirron laskemiseksi. Lisäksi käsitellään airlift-reaktoreiden toimintaa, rakennetta ja teollisia sovelluksia, sekä sekoitusta ja geometrian vaikutusta airlift-reaktoreiden hydrodynaamisiin ominaisuuksiin. Kokeellisessa osassa kuvataan käytetty koelaitteisto ja mittausmenetelmät sekä esitetään saadut koetulokset. Koelaitteisto on viidellä nousuputkella varustettu ulkoisen kierron airlift-reaktori. Kokeellisessa osassa pyritään ratkaisemaan tällaisessa reaktorissa mahdollisesti esiintyviä ongelmia, kuten "slug flown" muodostuminen nousuputkissa sekä fluidien epätasainen jakautuminen nousuputkiin. Lisäksi tutkitaan erilaisten muuttujien, kuten kaasun tilavuusvirran, nesteen viskositeetin, suutinkoon ja nesteen jakoputken rakenteen, vaikutusta kaasun tilavuusosuuteen ja nesteen nopeuteen nousuputkissa. Nesteen nopeudet mitataan merkkiainemenetelmällä ja kaasun tilavuusosuudet manometrimenetelmällä. Lämmönsiirtoa tutkitaan mittaamalla lämpötilaeroja nousuputkissa NiCr-Ni –termoelementeillä. Mittaustulosten perusteella muokataan korrelaatiot kaasun tilavuusosuudelle ja nesteen tyhjäputkinopeudelle. Korrelaatioista lasketut tulokset sopivat kohtuullisen hyvin yhteen mitattujen tulosten kanssa. "Slug flown" ei todettu muodostuvan ongelmaksi 2.5 mPa s pienemmillä viskositeetin arvoilla 2 metriä pitkissä ja 19 mm halkaisijaltaan olevissa putkissa. Lisäksi todettiin, että kaasu- ja nestefaasien jakautumisongelmat voidaan ratkaista rakenteellisesti.

Multi-sensor Simultaneous Localization and Mapping

Simultaneous localization and mapping(SLAM) is a very important problem in mobile robotics. Many solutions have been proposed by different scientists during the last two decades, nevertheless few studies have considered the use of multiple sensors simultane¬ously. The solution is on combining several data sources with the aid of an Extended Kalman Filter (EKF). Two approaches are proposed. The first one is to use the ordinary EKF SLAM algorithm for each data source separately in parallel and then at the end of each step, fuse the results into one solution. Another proposed approach is the use of multiple data sources simultaneously in a single filter. The comparison of the computational com¬plexity of the two methods is also presented. The first method is almost four times faster than the second one.