Matemaattiset opetusympäristöt ja matemaattisen käyttöliittymän käytettävyys

Tämän diplomityön tarkoituksena on kuvata Lappeenrannan teknillisessä yliopistossa kehitetyn luentojen tueksi tarkoitetun Matematiikan virtuaalimateriaalin hallintaympäristön kehityskaari. Järjestelmä luotiin parantamaanopetuksen laatua siten, että sen avulla opiskelijat saavat helposti käyttöönsä suomenkielistä, laadukkaalla kirjoitusjäljellä olevaa opiskelumateriaalia 24 tuntia vuorokaudessa. Lisäksi järjestelmän tavoitteena oli helpottaa opettajien työtaakkaa siten, että he pystyvät luomaan viikoittaiset harjoitustehtäväpaketit sekä tentit suoraan tietokannasta. Järjestelmän kehitys alkoi vuonna 2001, jonka jälkeen sitä on jatkuvasti muokattu opettajien ja opiskelijoiden avustuksella yhäkäyttäjäystävällisempään suuntaan. Testausmenetelminä on käytetty asiantuntijatestausta, lomakkeita ja varsinaista loppukäyttäjätestausta. Kehityksen tuloksenaon saatu järjestelmä, joka voidaan ottaa käyttöön kaikessa matematiikan perusopetuksessa.

Internal material logistics development in customer-driven production

Työn tavoitteena oli synkronoida yleinen materiaalivirta tuotannon kanssa. Pyrkimyksenä oli virtaviivaistaa materiaalivirta, jotta materiaalin määrä, sekä turhat työvaiheet tuotantoalueella vähenisivät. Päämääränä oli vähentää materiaalilavojen määrää lattialla, sekä parantaa materiaalitoimitusten OTD (On-Time-Delivery) prosenttia.Teoreettinen osa käsittelee nykypäivän toimitusketjun tärkeimpiä elementtejä. Keskeisenä asiana perehdytään materiaalivirtaan ja sen tehokkaaseen hallintaan. Työ esittelee myös synkronisen johtamismallin periaatteet, sekä materiaalivirran synkronoimisen tuotannon kanssa.Empiirinen osuus kuvaa yrityksen materiaalihallinnan nykypäivän tilanteen, sen keskeiset ongelmat, sekä uuden toimintamalliehdotuksen. Työ esittelee kaksi pilottia, joiden tulokset varmistivat uuden virtaviivaistetun materiaalivirran ja täydennysmallin toimivuuden.Työn tulokset osoittavat, miten uusi materiaalin täydennysmalli vähentää materiaalilavojen, sekä jalostamattoman työn määrää tuotantoalueella.

ELEKTRONIIKKATEHTAAN PAIKALLISESTIVALMISTETTUJEN KOMPONENTTIEN HANKINTAKETJUN KEHITTÄMINEN

Varastojen vähentämiseksi ehdotetaan usein eräkokojen pienentämistä. Tämä sopii sellaiseen toimintaympäristöön, jossa voidaan ostaa nimikkeitä oman valmistuksen ja myynnin tahdissa. Kun kiihkeärytmisessä elektroniikkabisneksessä alihankkijoilta ja varustetoimittajilta sitovasti tilataan hyvin lyhyellä toimitusajalla, ei oston eräkokojen pienentäminen kevennä materiaalivirtaa. Täytyy ottaa löysät pois hankintaketjun toimitusajoista. Monessa toimitusketjussa jalostava työ vaatii vain murto-osan toimitusajasta, ja loppuaika kuluu varastoissa odotteluun, kuljettamiseen ja moninkertaiseen tarkastamiseen. Hukka-ajan leikkaamisen ohessa haetaan muita kustannussäästöjä. Korkeiden työvoimakustannusten rasittama teollisuus on pyrkinyt teknisillä ratkaisuilla korvaamaan palkkatyövoiman erilaisilla mekaanisilla järjestelmillä. Pisimmällä ollaan pienerä- ja yksittäisvalmistusta harjoittavissa konepajoissa, joissa on investoitu FM-järjestelmiin. Diplomityössä on esitetty kaksi nivoutuvaa tutkimusprojektia, joista ensimmäinen keskittyy miehittämättömän käytön kehittämiseen ja toinen keventää hankintaketjun materiaalivirtaa. Ensin esiteltävä projekti on elektroniikkateollisuudelle uusi aluevaltaus. Siksi asiassa on jouduttu tekemään runsaasti perustutkimusta ja etenemään etappi kerrallaan. Projektin tuloksena on saatu aikaan automaattinen, joustava kuljetin, joka yksinään pystyy toimimaan ilman työvoimaa niin pitkään kunnes sen akut pitää ladata. Joustavan kuljettimen sisältävän järjestelmän muita elementtejä ei projektissa nostettu samalle miehittämättömän käytön tasolle, vaan ensin päätettiin hankkia kokemuksia kuljettimen toiminnasta. Toinen projekti syventää yhteistyötä yrityksen alihankkijan kanssa. Alihankkija on yksi harvojen Suomesta hankittavien komponenttien toimittaja. Siksi on pidetty tärkeänä tiivistää toimitusaikaa lähemmäs yrityksen sitovan tilauskannan pituutta. Tutkittavaksi valittiin mahdollisuus siirtää alihankkijan tuotantolaite yrityksen välittömään läheisyyteen, jolloin yrityksen tuotanto voisi tilata komponenttierän alihankkijan koneelta, kun se lähtötilanteessa tilataan komponenttivarastosta. Ennusteen perusteella tilattaisiin vain raaka-aine, mutta arvoa lisäävä työ tehtäisiin vain ja ainoastaan tilauksen mukaisesti.

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.

Gestión oriental y occidental: un acercamiento a los grandes gurues e ideas empresariales

En el presente trabajo se describen los aportes más destacados de algunos de los gurúes representativos del ámbito administrativo Oriental y Occidental. En Occidental se cuenta con el legado de Henry Ford, Philip Kotler, Frederick Winslow Taylor, Henry Fayol, Michael Porter, Peter Drucker y Steve Jobs. En Oriente, los gurúes son Akio Morita, Edwards Deming, Kaoru Ishikawa, Familia Toyoda, Masaaki Imai y Taiichi Ohno. A partir de ello, se hacen comparaciones entre las tendencias de administración de cada cultura y entre los gurúes. Seguido, se comentan aspectos importantes de Mc Donald’s y Samsung, en cuanto a sus modelos de gestión y su adaptación en un mundo globalizado.

Materials-Handling Hazard Controls: Assessment of Haddon’s Injury Control Strategies

This investigation assessed the applicability of Dr. William Haddon’s strategies for controlling hazards involving materials-handling operations in industrial and mining workplaces. Published over 20 years ago, Haddon’s strategies purport to include all strategies for preventing and mitigating harm to people, property, and the environment. Students in an undergraduate class were assigned to find tactical examples of each of Haddon’s strategies applicable to material handling. Haddon’s tenth strategy involving medical care and rehabilitation was not included. Their classifications were analyzed to identify points of confusion as well as points of general agreement. Students found numerous tactics for strategies involving engineering and behavioral strategies. Fewer tactics were identified for strategies involving damage control through effective and timely response.

Optimierung der Energieeffizienz von Intralogistikressourcen am Beispiel des Kettenförderers

Dieser Artikel setzt sich mit den Einflussgrößen auf die Energieeffizienz von Intralogistikressourcen am Beispiel des Tragkettenförderers auseinander. Es wird beleuchtet durch welche Methoden der Energiebedarf und -verbrauch ermittelt werden kann und wie Abhängigkeiten und Wechselwirkungen der Einflussgrößen auf den Energieverbrauch bestimmt werden. Aus den Ergebnissen werden Maßnahmen abgeleitet, durch die der Energieverbrauch von Intralogistikressourcen reduziert werden kann. Zudem wird ein Ausblick auf Energieverbrauchserhöhungen durch die zeitliche Veränderung infolge von Verschleißerscheinungen gegeben. Die ermittelten Erkenntnisse bilden die Grundlage für die Erstellung eines Kostenmodells, das die real auftretenden Lebenszykluskosten für Energie und Instandhaltung transparenter als bestehende Kostenmodelle darstellt. Mit dem Modell sollen Energie- und Instandhaltungskosten über den Lebenszyklus verringert werden, indem die Instandhaltungsmaßnahmen aus Gesamtkostensicht optimal geplant werden.

Aus der Krise lernen – Wirtschaftlichkeit durch Flexibilität und Wandlungsfähigkeit sichern

Flexible und wandelbare Fabrikstrukturen sind von hoher Bedeutung, wenn Produktionsstätten in einem turbulenten Umfeld langfristig wettbewerbsfähig bleiben sollen; darin sind sich Forschung und Praxis einig. Während der jüngsten weltweiten Wirtschaftskrise wurden Experten aus dem Airline-Catering-Umfeld befragt, wie Betriebe dieser Branche auf starke Veränderungen vorbereitet sind. Vorgespräche und Analysen des Autors legten die Vermutung nahe, dass diese Dienstleistungsbranche besonderen Flexibilitätsanforderungen unterliegt. Im Rahmen einer detaillierten Studie, deren Erkenntnisse in einer Dissertation zusammengefasst werden, sind Interviews mit Experten geführt worden. Aus den Ergebnissen der Interviews wurden Schlussfolgerungen auf erforderliche, flexible Materialflusstechniklösungen, im Speziellen Elektrohängebahnen (EHB), und bauliche Anpassungen nach dem „Konzept Internet der Dinge“ gezogen. Szenarioanalysen zu Wirtschaftlichkeits- und Risikoaspekten durchleuchteten die generierten Ansätze. Anschließend an die quantitative Analyse wurden die Ansätze ebenfalls durch eine qualitative Bewertung herkömmlichen Lösungen gegenübergestellt. Die aufgebaute Bewertungsmethode ist sowohl geeignet, um in zukünftigen Projekten die Entscheidung für oder gegen eine wandelbare Ausführung zu treffen, als auch andere Branchen auf die grundsätzliche Sinnhaftigkeit des Einsatzes wandelbarer Materialflusstechnik zu überprüfen.

Energy and weight reduction in hoisting systems with magnetic traction sheaves

At the Chair of Logistics Engineering, TU Dresden, a particular focus is research and development of magnetic traction sheaves. Therein the main fundamentals of these special sheaves are determined for applications in different fields such as elevators, several kinds of winches, hoists and cranes. In the current research project “energy balance of magnetic traction sheaves”, the dynamic behaviour of systems with magnetic traction sheaves was investigated. The research focused on theoretical and practical examinations of energy balance. Moreover, a new approach for dimensioning magnetic traction sheave systems is presented. It is a project of the Research Foundation Intralogistics / Material Handling and Logistics (IFL), which is funded through the AiF under the program of Industrial Collective Research for SMEs (IGF) by the Federal Ministry of Economics and Technology (BMWi).

Implementation challenges of application of radio frequency identification (RFID) in warehouse

Warehouse is an essential component in the supply chain, linking the chain partners and providing them with functions of product storage, inbound and outbound operations along with value-added processes. Allocation of warehouse resources should be efficient and effective to achieve optimum productivity and reduce operational costs. Radio frequency identification (RFID) is a technology capable of providing real-time information about supply chain operations. It has been used by warehousing and logistic enterprises to achieve reduced shrinkage, improved material handling and tracking as well as increased accuracy of data collection. However, both academics and practitioners express concerns about challenges to RFID adoption in the supply chain. This paper provides a comprehensive analysis of the problems encountered in RFID implementation at warehouses, discussing the theoretical and practical adoption barriers and causes of not achieving full potential of the technology. Lack of foreseeable return on investment (ROI) and high costs are the most commonly reported obstacles. Variety of standards and radio wave frequencies are identified as source of concern for decision makers. Inaccurate performance of the RFID within the warehouse environment is examined. Description of integration challenges between warehouse management system and RFID technology is given. The paper discusses the existing solutions to technological, investment and performance RFID adoption barriers. Factors to consider when implementing the RFID technology are given to help alleviate implementation problems. By illustrating the challenges of RFID in the warehouse environment and discussing possible solutions the paper aims to help both academics and practitioners to focus on key areas constituting an obstacle to the technology growth. As more studies will address these challenges, the realisation of RFID benefits for warehouses and supply chain will become a reality.

RFID adoption issues in the warehouse

In recent years the increased interest in introducing radio frequency technology (RFID) in warehousing was observed. First adopters of RFID reported numerous benefits, which included: reduced shrinkage, real-time tracking and better accuracy of data collection. Along with the academic and industrial discussion on benefits which can be achieved in RFID enabled warehouses there are reports on issues related to adoption of RFID technology in warehousing. This paper reviews results of scientific reports of RFID implementation in warehouses and discusses the adoption barriers and causes of not achieving full potential of the technology. Following adoption barriers are identified and set in warehousing context: lack of forseeable return on investment (ROI), unreliable performance of RFID systems, standarisation, integration with legacy systems and privacy/security concerns. As more studies will address these challenges, the realisation of RFID benefits for warehouses will become reality.

Design of compliant mechanisms and their application to morphing wing technology

This thesis describes a study conducted for the development of a new approach for the design of compliant mechanisms. Currently compliant mechanisms are based on a 2.5D design method. The applications for which compliant mechanisms can be used this way, is limited. The proposed research suggests to use a 3D approach for the design of CM’s, to better exploit its useful properties. To test the viability of this method, a practical application was chosen. The selected application is related to morphing wings. During this project a working prototype of a variable sweep and variable AoA system was designed and made for an SUAV. A compliant hinge allows the system to achieve two DOF. This hinge has been designed using the proposed 3D design approach. To validate the capabilities of the design, two methods were used. One of these methods was by simulation. By using analysis software, a basic idea could be provided of the stress and deformation of the designed mechanism. The second validation was done by means of AM. Using FDM and material jetting technologies, several prototypes were manufactured. The result of the first model showed that the DOF could be achieved. Models manufactured using material jetting technology, proved that the designed model could provide the desired motion and exploit the positive characteristics of CM. The system could be manufactured successfully in one part. Being able to produce the system in one part makes the need for an extensive assembly process redundant. This improves its structural quality. The materials chosen for the prototypes were PLA, VeroGray and Rigur. The material properties were suboptimal for its final purpose, but successful results were obtained. The prototypes proved tough and were able to provide the desired motion. This proves that the proposed design method can be a useful tool for the design of improved CM’s. Furthermore, the variable sweep & AoA system could be used to boost the flight performance of SUAV’s.

On the Role of Automatic Guided Vehicles in the 4th Industrial Revolution

Elaborate presents automated guided vehicle state-of-art, describing AGVs' types and employed technologies. AGVs' applications is going to be exposed by means of performed work during Toyota's internship. It will be presented the acquired experience on automatic forklifts' implementation and tools employed in a realization of an AGV system. Morover, it will be presented the development of a python program able to retrieve data, stored in a database, and elaborate them to produce heatmaps on vehicles' errors. The said program has been tested live on customer's sites and obtained result will be explained. Finally, it is going to be presented the analysis on natural navigation technology applied to Toyota's AGVs. Tests on natural navigation have been run in warehouses to estimate capabilities and possible application in logistic field.

Design, fabrication and mechanical characterization of a structural node made using Wire and Arc Additive Manufacturing (WAAM) technology

Additive Manufacturing (AM), also known as “3D printing”, is a recent production technique that allows the creation of three-dimensional elements by depositing multiple layers of material. This technology is widely used in various industrial sectors, such as automotive, aerospace and aviation. With AM, it is possible to produce particularly complex elements for which traditional techniques cannot be used. These technologies are not yet widespread in the civil engineering sector, which is slowly changing thanks to the advantages of AM, such as the possibility of realizing elements without geometric restrictions, with less material usage and a higher efficiency, in particular employing Wire-and-Arc Additive Manufacturing (WAAM) technology. Buildings that benefit most from AM are all those structures designed using form-finding and free-form techniques. These include gridshells, where joints are the most critical and difficult elements to design, as the overall behaviour of the structure depends on them. It must also be considered that, during the design, the engineer must try to minimize the structure's own weight. Self-weight reductions can be achieved by Topological Optimization (TO) of the joint itself, which generates complex geometries that could not be made using traditional techniques. To sum up, weight reductions through TO combined with AM allow for several potential benefits, including economic ones. In this thesis, the roof of the British Museum is considered as a case study, analysing the gridshell structure of which a joint will be chosen to be designed and manufactured, using TO and WAAM techniques. Then, the designed joint will be studied in order to understand its structural behaviour in terms of stiffness and strength. Finally, a printing test will be performed to assess the production feasibility using WAAM technology. The computational design and fabrication stages were carried out at Technische Universität Braunschweig in Germany.

Interactions between physical and psychosocial demands of work associated to low back pain

OBJECTIVE: To examine the interaction between physical and psychosocial demands of work associated to low back pain. METHODS: Cross-sectional study carried out in a stratified proportional random sample of 577 plastic industry workers in the metropolitan area of the city of Salvador, Northeast Brazil in 2002. An anonymous standard questionnaire was administered in the workplace by trained interviewers. Physical demands at work were self-rated on a 6-point numeric scale, with anchors at each end of the scale. Factor analysis was carried out on 11 physical demand variables to identify underlying factors. Psychosocial work demands were measured by demand, control and social support questions. Multivariate analysis was performed using the likelihood ratio test. RESULTS: The factor analysis identified two physical work demand factors: material handling (factor 1) and repetitiveness (factor 2). The multiple logistic regression analysis showed that factor 1 was positively associated with low back pain (OR=2.35, 95% CI 1.50;3.66). No interaction was found between physical and psychosocial work demands but both were independently associated to low back pain. CONCLUSIONS: The study found independent effects of physical and psychosocial work demands on low back pain prevalence and emphasizes the importance of physical demands especially of material handling involving trunk bending forward and trunk rotation regardless of age, gender, and body fitness.