Kysyntä-toimitusketjun synkronointi epävarman kysynnän ja tarjonnan toimintaympäristössä

Kysynnän ja tarjonnan epävarmuudet ovat nykyisin arkipäivää useilla toimialoilla. Elämme epävarmuuden suhteen ennen näkemättömiä aikoja, minkä on arvioitu jatkuvan myös tulevaisuudessa. Yritysten tilauskannat ovat lyhyitä, ja tilaukset viivästyvät tai peruuntuvat kokonaan. Toisaalta tarjonnan epävarmuudet aiheuttavat asiakasyrityksille haasteita esimerkiksi toimitusmyöhästymisten muodossa. Tuotannon ollessa hajaantunut verkostoihin yksittäisten yritysten toiminta ja päätökset vaikuttavat toisten verkostoyritysten toimintaan. Tämän takia epävarmuuden aiheuttamista muutoksista ja poikkeamista tulisi tiedottaa kumppaniyrityksiä, jotta kaikki pysyisivät samalla kellotaajuudella. Operatiivisen ja taktisen tiedon jakaminen on nykyisissä toimitusketjuissa jo arkipäivää, mutta yritysten välisistä rajapinnoista löytyy edelleen kehitettävää. Riittävästä ei kiinnitetä huomiota vastaanottajan kykyyn ja tapaan hyödyntää informaatiota – varsinkaan muutostilanteissa. Ajan/nopeuden ollessa yhä tärkeämpi kilpailutekijä informaation ajoituksella on kriittinen merkitys kysyntä-toimitusketjujen kokonaissuorituskykyyn. Toisin sanoen, millä ajanhetkellä tietoa tulisi jakaa, jotta kumppani pystyisi hyödyntämään saamaansa tietoa mahdollisimman hyvin. Kysyntä-toimitusketjun synkronoinnilla tarkoitetaan tässä väitöstutkimuksessa nimenomaan aikatekijään keskittymistä yritysten välisessä päätöksenteossa ja informaation jakamisessa toimitusketjun kokonaissuorituskyvyn parantamiseksi. Tutkimus kytkeytyy toimitusketjukoordinoinnin tieteelliseen keskusteluun. Koordinointiteorian keskeinen osa ovat riippuvuussuhteet, joita johdetaan koordinointimekanismien avulla. Kysyntätoimitusketjun synkronointia on mallinnettu aikaisemmin VOP-OPP-mallin (Value Offering Point – Order Penetration Point) ja sen johdannaisten avulla. Näissä malleissa asiakasyrityksen kysyntäketju ja toimittajayrityksen toimitusketju ovat keskinäisessä riippuvuussuhteessa, jota johdetaan päätöksenteon synkronoinnin ja informaation jakamisen koordinointimekanismeilla. VOP-OPP-malli johdannaisineen eivät kuitenkaan huomioi epävarman toimintaympäristön vaikutuksia synkronointiin. Näissä malleissa informaation ainoana laatudimensiona tarkasteltava aikatekijä on liian kapea-alainen näkökulma synkronointiin epävarmassa ympäristössä. Lisäksi nämä mallit keskittyvät vain yksisuuntaiseen, kysyntälähtöiseen, synkronointiin jättäen huomioimatta tarjontalähtöisen synkronoinnin. Aikatekijä- ja kokonaissuorituskykypainotustensa takia VOP-OPP-malli tarjosi kuitenkin hyvän lähtöfilosofian uusien synkronointimallien kehittämiseen. Väitöstutkimus toteutettiin hypoteettis-deduktiivisena tapaustutkimuksena, jossa ensin luotiin kirjallisuuden perusteella uudet teoreettiset synkronointimalliehdotukset. Tämän jälkeen ehdotusten toimivuutta arvioitiin käytännön kysyntä-toimitusketjuissa. Tutkimuksen uutuusarvo liittyy kysyntä-toimitusketjun synkronoinnin keskeisten piirteiden systeemiseen mallintamiseen epävarmassa toimintaympäristössä. Kontribuutiona esitetään kysyntä-toimitusketjun synkronoinnin moniulotteinen kokonaismalli, joka sisältää koordinointimekanismeina päätöksenteon synkronoinnin, informaation läpinäkyvyyden sekä asiakas- ja toimittajapään joustot. Tiedon vaihtoa mallissa tarkastellaan kaksisuuntaisesti – kysyntä- ja tarjontalähtöisesti. Informaation laatudimensioina mallissa ovat informaation ajoitus, luotettavuus ja tarkkuus. Kokonaismalli sisältää kolme alimallia: Demand Visibility Point – Demand Penetration Point (DVP-DPP) on kysyntälähtöisen synkronoinnin malli, Supply Visibility Point – Supply Information Penetration Point (SVP-SIPP) on tarjontalähtöisen synkronoinnin malli ja Integroitu DVP-DPP - SVP-SIPP-malli kytkee edellä mainitut mallit toisiinsa. Näissä alimalleissa informaation eri luokkia ovat tilausta edeltävä, tilaukseen liittyvä, tilauksen jälkeinen ja sovitun toimitusajankohdan jälkeinen kysyntä- ja tarjontatieto. Käytännön hyödyntämisen näkökulmasta mallit toimivat ns. mentaalitason koordinointimekanismeina, joiden tarkoitus on herättää toimitusketjukumppanit tavoittelemaan kokonaissuorituskyvyn parantamista oman edun tavoittelemisen sijasta. Tutkimuksen päärajoitteena on sen keskittyminen ainoastaan kahdenvälisiin yhteistyösuhteisiin, mikä tarjoaa nykyisessä verkostoituneessa toimintaympäristössä varsin kapean kuvan käytännön synkronointihaasteisiin.

Design and validation of stateful composite RESTful web services

A web service is a software system that provides a machine-processable interface to the other machines over the network using different Internet protocols. They are being increasingly used in the industry in order to automate different tasks and offer services to a wider audience. The REST architectural style aims at producing scalable and extensible web services using technologies that play well with the existing tools and infrastructure of the web. It provides a uniform set of operation that can be used to invoke a CRUD interface (create, retrieve, update and delete) of a web service. The stateless behavior of the service interface requires that every request to a resource is independent of the previous ones facilitating scalability. Automated systems, e.g., hotel reservation systems, provide advanced scenarios for stateful services that require a certain sequence of requests that must be followed in order to fulfill the service goals. Designing and developing such services for advanced scenarios with REST constraints require rigorous approaches that are capable of creating web services that can be trusted for their behavior. Systems that can be trusted for their behavior can be termed as dependable systems. This thesis presents an integrated design, analysis and validation approach that facilitates the service developer to create dependable and stateful REST web services. The main contribution of this thesis is that we provide a novel model-driven methodology to design behavioral REST web service interfaces and their compositions. The behavioral interfaces provide information on what methods can be invoked on a service and the pre- and post-conditions of these methods. The methodology uses Unified Modeling Language (UML), as the modeling language, which has a wide user base and has mature tools that are continuously evolving. We have used UML class diagram and UML state machine diagram with additional design constraints to provide resource and behavioral models, respectively, for designing REST web service interfaces. These service design models serve as a specification document and the information presented in them have manifold applications. The service design models also contain information about the time and domain requirements of the service that can help in requirement traceability which is an important part of our approach. Requirement traceability helps in capturing faults in the design models and other elements of software development environment by tracing back and forth the unfulfilled requirements of the service. The information about service actors is also included in the design models which is required for authenticating the service requests by authorized actors since not all types of users have access to all the resources. In addition, following our design approach, the service developer can ensure that the designed web service interfaces will be REST compliant. The second contribution of this thesis is consistency analysis of the behavioral REST interfaces. To overcome the inconsistency problem and design errors in our service models, we have used semantic technologies. The REST interfaces are represented in web ontology language, OWL2, that can be part of the semantic web. These interfaces are used with OWL 2 reasoners to check unsatisfiable concepts which result in implementations that fail. This work is fully automated thanks to the implemented translation tool and the existing OWL 2 reasoners. The third contribution of this thesis is the verification and validation of REST web services. We have used model checking techniques with UPPAAL model checker for this purpose. The timed automata of UML based service design models are generated with our transformation tool that are verified for their basic characteristics like deadlock freedom, liveness, reachability and safety. The implementation of a web service is tested using a black-box testing approach. Test cases are generated from the UPPAAL timed automata and using the online testing tool, UPPAAL TRON, the service implementation is validated at runtime against its specifications. Requirement traceability is also addressed in our validation approach with which we can see what service goals are met and trace back the unfulfilled service goals to detect the faults in the design models. A final contribution of the thesis is an implementation of behavioral REST interfaces and service monitors from the service design models. The partial code generation tool creates code skeletons of REST web services with method pre and post-conditions. The preconditions of methods constrain the user to invoke the stateful REST service under the right conditions and the post condition constraint the service developer to implement the right functionality. The details of the methods can be manually inserted by the developer as required. We do not target complete automation because we focus only on the interface aspects of the web service. The applicability of the approach is demonstrated with a pedagogical example of a hotel room booking service and a relatively complex worked example of holiday booking service taken from the industrial context. The former example presents a simple explanation of the approach and the later worked example shows how stateful and timed web services offering complex scenarios and involving other web services can be constructed using our approach.

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.

The Effect of Different Weed Management Strategies on the Growth and Yield of Direct-Seeded Dry Rice (Oryza sativa)

Weed management is a primary concern in direct seeded rice (DSR) cropping because weed growth becomes a major constraint on crop yield. A two year field study was set up to evaluate the effect of various weed control measures on crop growth, grain yield and grain quality of DSR. The experiment involved five different weed control measures: hand weeding, hoeing, inter-row tine cultivation, inter-row spike hoeing and herbicide treatment (Nominee 100 SC). The extent of weed control (compared to a non-weeded control) ranged from 50-95%. The highest crop yield was obtained using hand weeding. Hand weeding, tine cultivation and herbicide treatment raised the number of fertile rice tillers formed per unit area and the thousand grain weight. Tine cultivation provided an effective and economical level of weed control in the DSR crop.

Climate, soil and tree flora relationships in forests in the state of São Paulo, southeastern Brasil

ABSTRACT - (Climate, soil and tree flora relationships in forests in the state of São Paulo, southteastern Brasil). With the aim of verifying possible influences of abiotic features on the spatial distribution of forest tree species and families, thirteen surveys in the state of São Paulo were selected, representing different conditions (localization at the extreme coordenates and altitudes, succesional stages, surveying methods). By applying Jaccard's Index to the binary matrices of 806 synonymized specific binomina and 79 families (Cronquist's system) phenograms were constructed using the method of the unweighted pair grouping by mathematical average (UPGMA). The species formed two floristic blocks: hygrophyllous (yearly rainfall greater than 2000 mm without dry season) and mesophyllous (yearly rainfall about 1400 mm with variable dry season). The latter was divided in two other groups: the high-altitudinal (median altitudes higher than 750 m, frost average frequency greater than 3 days/year) and low-altitudinal. Both mesophyllous floristic blocks were subdivided according to soil conditions (texture, eutrophism, acid or allic dystrophism, iron content). At the family level the relations were weak, but also showed the soil nutritional status as a possible constraint to the spatial partition of families.

Stiffness based trajectory planning and feedforward based vibration suppression control of parallel robot machines

The dissertation proposes two control strategies, which include the trajectory planning and vibration suppression, for a kinematic redundant serial-parallel robot machine, with the aim of attaining the satisfactory machining performance. For a given prescribed trajectory of the robot's end-effector in the Cartesian space, a set of trajectories in the robot's joint space are generated based on the best stiffness performance of the robot along the prescribed trajectory. To construct the required system-wide analytical stiffness model for the serial-parallel robot machine, a variant of the virtual joint method (VJM) is proposed in the dissertation. The modified method is an evolution of Gosselin's lumped model that can account for the deformations of a flexible link in more directions. The effectiveness of this VJM variant is validated by comparing the computed stiffness results of a flexible link with the those of a matrix structural analysis (MSA) method. The comparison shows that the numerical results from both methods on an individual flexible beam are almost identical, which, in some sense, provides mutual validation. The most prominent advantage of the presented VJM variant compared with the MSA method is that it can be applied in a flexible structure system with complicated kinematics formed in terms of flexible serial links and joints. Moreover, by combining the VJM variant and the virtual work principle, a systemwide analytical stiffness model can be easily obtained for mechanisms with both serial kinematics and parallel kinematics. In the dissertation, a system-wide stiffness model of a kinematic redundant serial-parallel robot machine is constructed based on integration of the VJM variant and the virtual work principle. Numerical results of its stiffness performance are reported. For a kinematic redundant robot, to generate a set of feasible joints' trajectories for a prescribed trajectory of its end-effector, its system-wide stiffness performance is taken as the constraint in the joints trajectory planning in the dissertation. For a prescribed location of the end-effector, the robot permits an infinite number of inverse solutions, which consequently yields infinite kinds of stiffness performance. Therefore, a differential evolution (DE) algorithm in which the positions of redundant joints in the kinematics are taken as input variables was employed to search for the best stiffness performance of the robot. Numerical results of the generated joint trajectories are given for a kinematic redundant serial-parallel robot machine, IWR (Intersector Welding/Cutting Robot), when a particular trajectory of its end-effector has been prescribed. The numerical results show that the joint trajectories generated based on the stiffness optimization are feasible for realization in the control system since they are acceptably smooth. The results imply that the stiffness performance of the robot machine deviates smoothly with respect to the kinematic configuration in the adjacent domain of its best stiffness performance. To suppress the vibration of the robot machine due to varying cutting force during the machining process, this dissertation proposed a feedforward control strategy, which is constructed based on the derived inverse dynamics model of target system. The effectiveness of applying such a feedforward control in the vibration suppression has been validated in a parallel manipulator in the software environment. The experimental study of such a feedforward control has also been included in the dissertation. The difficulties of modelling the actual system due to the unknown components in its dynamics is noticed. As a solution, a back propagation (BP) neural network is proposed for identification of the unknown components of the dynamics model of the target system. To train such a BP neural network, a modified Levenberg-Marquardt algorithm that can utilize an experimental input-output data set of the entire dynamic system is introduced in the dissertation. Validation of the BP neural network and the modified Levenberg- Marquardt algorithm is done, respectively, by a sinusoidal output approximation, a second order system parameters estimation, and a friction model estimation of a parallel manipulator, which represent three different application aspects of this method.

One hundred million years of interhemispheric communication: the history of the corpus callosum

Analysis of regional corpus callosum fiber composition reveals that callosal regions connecting primary and secondary sensory areas tend to have higher proportions of coarse-diameter, highly myelinated fibers than callosal regions connecting so-called higher-order areas. This suggests that in primary/secondary sensory areas there are strong timing constraints for interhemispheric communication, which may be related to the process of midline fusion of the two sensory hemifields across the hemispheres. We postulate that the evolutionary origin of the corpus callosum in placental mammals is related to the mechanism of midline fusion in the sensory cortices, which only in mammals receive a topographically organized representation of the sensory surfaces. The early corpus callosum may have also served as a substrate for growth of fibers connecting higher-order areas, which possibly participated in the propagation of neuronal ensembles of synchronized activity between the hemispheres. However, as brains became much larger, the increasingly longer interhemispheric distance may have worked as a constraint for efficient callosal transmission. Callosal fiber composition tends to be quite uniform across species with different brain sizes, suggesting that the delay in callosal transmission is longer in bigger brains. There is only a small subset of large-diameter callosal fibers whose size increases with increasing interhemispheric distance. These limitations in interhemispheric connectivity may have favored the development of brain lateralization in some species like humans. "...if the currently received statements are correct, the appearance of the corpus callosum in the placental mammals is the greatest and most sudden modification exhibited by the brain in the whole series of vertebrated animals..." T.H. Huxley (1).

Analysis of heart rate control to assess thermal sensitivity responses in Brazilian toads

In anurans, changes in ambient temperature influence body temperature and, therefore, energy consumption. These changes ultimately affect energy supply and, consequently, heart rate (HR). Typically, anurans living in different thermal environments have different thermal sensitivities, and these cannot be distinguished by changes in HR. We hypothesized that Rhinella jimi (a toad from a xeric environment that lives in a wide range of temperatures) would have a lower thermal sensitivity regarding cardiac control than R. icterica (originally from a tropical forest environment with a more restricted range of ambient temperatures). Thermal sensitivity was assessed by comparing animals housed at 15° and 25°C. Cardiac control was estimated by heart rate variability (HRV) and heart rate complexity (HRC). Differences in HRV between the two temperatures were not significant (P=0.214 for R. icterica and P=0.328 for R. jimi), whereas HRC differences were. All specimens but one R. jimi had a lower HRC at 15°C (all P<0.01). These results indicate that R. jimi has a lower thermal sensitivity and that cardiac control is not completely dependent on the thermal environment because HRC was not consistently different between temperatures in all R. jimi specimens. This result indicates a lack of evolutive trade-offs among temperatures given that heart rate control at 25°C is potentially not a constraint to heart rate control at 15°C.

Ohjelmistotestauksen käytänteet Suomessa

Ohjelmistotestauksen merkitys on kasvanut sen mukaan mitä enemmän ohjelmisto-tuotteet vaikuttavat jokapäiväisesseen elämämme. Tämän vuoksi yritysten investointien ja laadunvarmentamisen yhteys on ilmeinen. Organisaatiot panostavat yhä enemmän ei–funktionaaliseen testaukseen, kuten turvallisuuden, suorituskyvyn ja käytettävyyden testaamiseen. Tämän työn tarkoituksena on tutkia ohjelmistotestauksen nykytilannetta Suomessa. Syy tähän on uudistaa ja parantaa ohjelmistotestauksen kurssitarjontaa Turun yliopistossa vastaamaan parhaalla mahdollisella tavalla yritysten tarvetta. Opinnäyte on toteutettu replikaatio-tutkimuksena. Pääosa kyselystä sisältää kysymyksiä ohjelmistotestauksen menetelmistä ja työkaluista testausprosessin toimintojen aikana. Lisäksi on yleisiä kysymyksiä yrityksistä ja niiden ohjelmistotestausympäristöistä. Kyselyssä otetaan myös kantaa yritysten käyttämiin monenlaisiin testaus-tasoihin, -tyyppeihin ja testauksessa kohdattuihin haasteisiin. Tämä opinnäyte perustuu testausprosessistandardeihin. Ohjelmistotestausstandardit ovat keskeisessä asemassa tässä työssä, vaikka ne ovat olleet viime aikoina vahvan kritiikin kohteena. Epäilys standardien välttämättömyyteen on syntynyt muutoksista ohjelmistokehityksessä. Tämä työ esittelee tulokset ohjelmistotestauksen käytännöistä. Tuloksia on verrattu aiheeseen liittyvän aiemman kyselyn (Lee, Kang, & Lee, 2011) tuloksiin. Ajanpuutteen havaitaan olevan suuri haaste ohjelmistotestauksessa. Ketterä ohjelmistokehitys on saavuttanut suosiota kaikissa vastaajien yrityksissä. Testauksen menetelmät ja työkalut testauksen arviointiin, suunnitteluun ja raportointiin ovat hyvin vähäisessä käytössä. Toisaalta testauksen menetelmien ja työkalujen käyttö automaattiseen testauksen toteuttamiseen ja virheiden hallintaan on lisääntynyt. Järjestelmä-, hyväksyntä-, yksikkö- ja integraatiotestaus ovat käytössä kaikkien vastaajien edustamissa yrityksissä. Kaikkien vastaajien mielestä regressio- sekä tutkiva- ja ei-funktionaalinen testaus ovat tärkeitä tekniikoita.

Proximity Based Authentication in IoT

IoT consists of essentially thousands of tiny sensor nodes interconnected to the internet, each one of which executes the programmed functions under memory and power limita- tions. The sensor nodes are distributed mainly for gathering data in various situations. IoT envisions the future technologies such as e-health, smart city, auto-mobiles automa- tion, construction sites automation, and smart home. Secure communication of data under memory and energy constraints is major challenge in IoT. Authentication is the first and important phase of secure communication. This study presents a protocol to authenticate resource constraint devices in physical proximity by solely using the shared wireless communication interfaces. This model of authentication only relies on the abundance of ambient radio signals to authenticate in less than a second. To evaluate the designed protocol, SkyMotes are emulated in a network environment simulated by Contiki/COOJA. Results presented during this study proves that this approach is immune against passive and active attacks. An adversary located as near as two meters can be identified in less than a second with minimal expense of energy. Since, only radio device is used as required hardware for the authentication, this technique is scalable and interoperable to heterogeneous nature of IoT.

Improve the production capacity: A case study of Eurofins Viljavuuspalvelu Oy

In any manufacturing system, there are many factors that are affecting and limiting the capacity of the entire system. This thesis addressed a study on how to improve the production capacity in a Finnish company (Viljavuuspalvelu Oy) through different methods like bottleneck analysis, Overall Equipment Effectiveness (OEE), and Just in Time production. Four analyzing methods have been studied in order to detect the bottleneck machine in Viljavuuspalvelu Oy. The results shows that the bottleneck machine in the industrial area that constraint the production is the grinding machine while the bottleneck machine in the laboratory section is the photometry machine. In addition, the Overall Equipment Effectiveness (OEE) of the entire system of the studied case was calculated and it has been found that the OEE of the Viljavuuspalvelu Oy is 35.75%. Moreover, two methods on how to increase the OEE were studied and it was shown that either the total output of the company should be 1254 samples/shift in order to have an OEE around 85% which is considered as a world class or the Ideal run rate should be 1.45 pieces/minute. In addition, some realistic methods are applied based on the finding in this thesis to increase the OEE factor in the company and in one realistic method the % OEE has increase to 62.59%. Finally, an explanation on how to implement the Just in Time production in Viljavuuspalvelu Oy has been studied.

Crescimento econômico e liquidez externa no Brasil após 1970

Economic growth and foreign liquidity in Brazil after 1970. This paper assesses the relationship between the capital account and the Brazilian economic growth according to balance-of-payments constraint approach. The Thirlwall (1979)'s simple rule is extended to take into consideration capital account and several empirical evidence using time series analysis are shown. Conversely to the simple rule when fitted rates of balance-of-payment equilibrium economic growth average bellow the observed ones, fitted rates of growth using the rule extended to international liquidity are consistently greater than the observed ones. It is fair to conclude that, first, the Brazilian economy grows better during abundant international liquidity and, second, the economy sub utilizes such advantage growing far less than it could grow.

A taxa de câmbio real e a restrição externa: uma proposta de releitura com elasticidades endógenas

This paper investigates a topic of the agenda about growth models, emphasizing the elaboration of an external constrained model with endogenous elasticity, with an emphasis on real exchange rate level as main tool for the economic development. The model is anchored in Kaldor, Thirlwall and Barbosa Filho's models and it will demonstrate that external constraint changes in the course of time.

Real-time simulation of multibody systems with applications for working mobile vehicles

This dissertation describes an approach for developing a real-time simulation for working mobile vehicles based on multibody modeling. The use of multibody modeling allows comprehensive description of the constrained motion of the mechanical systems involved and permits real-time solving of the equations of motion. By carefully selecting the multibody formulation method to be used, it is possible to increase the accuracy of the multibody model while at the same time solving equations of motion in real-time. In this study, a multibody procedure based on semi-recursive and augmented Lagrangian methods for real-time dynamic simulation application is studied in detail. In the semirecursive approach, a velocity transformation matrix is introduced to describe the dependent coordinates into relative (joint) coordinates, which reduces the size of the generalized coordinates. The augmented Lagrangian method is based on usage of global coordinates and, in that method, constraints are accounted using an iterative process. A multibody system can be modelled as either rigid or flexible bodies. When using flexible bodies, the system can be described using a floating frame of reference formulation. In this method, the deformation mode needed can be obtained from the finite element model. As the finite element model typically involves large number of degrees of freedom, reduced number of deformation modes can be obtained by employing model order reduction method such as Guyan reduction, Craig-Bampton method and Krylov subspace as shown in this study The constrained motion of the working mobile vehicles is actuated by the force from the hydraulic actuator. In this study, the hydraulic system is modeled using lumped fluid theory, in which the hydraulic circuit is divided into volumes. In this approach, the pressure wave propagation in the hoses and pipes is neglected. The contact modeling is divided into two stages: contact detection and contact response. Contact detection determines when and where the contact occurs, and contact response provides the force acting at the collision point. The friction between tire and ground is modelled using the LuGre friction model, which describes the frictional force between two surfaces. Typically, the equations of motion are solved in the full matrices format, where the sparsity of the matrices is not considered. Increasing the number of bodies and constraint equations leads to the system matrices becoming large and sparse in structure. To increase the computational efficiency, a technique for solution of sparse matrices is proposed in this dissertation and its implementation demonstrated. To assess the computing efficiency, augmented Lagrangian and semi-recursive methods are implemented employing a sparse matrix technique. From the numerical example, the results show that the proposed approach is applicable and produced appropriate results within the real-time period.

Recueil de pièces historiques sur les affaires de Bourgogne, de 1306 à 1490, composé pour l'usage des ducs de Bourgogne, et contenant.

Contient : 1 Ordonnance de « PHELIPPE » LE BEL, concernant les gages de bataille. 1306 ; 2 Vidimus donné, le 25 octobre 1372, de lettres de « CHARLES » V (« 25 avril 1369 ») et de « MARGUERIETE DE FLANDRES, duchesse de Bourgogne » ( « 27 mars 1368 »), concernant la châtellenie de Lille ; 3 Avis envoyé par le duc de Bourgogne (PHILIPPE LE BON) au roi d'Angleterre (Henri V), sur la conduite à tenir pendant la guerre contre la France ; 4 Avis adressés au duc de Bourgogne (Philippe Le Bon) sur « ce qu'il a à faire pour se maintenir avec le roy et monseigneur le Daulphin ». Trois rédactions différentes ; 5 « Instruction touchant la paix de France et d'Engleterre », datée de Gand, « 10 septembre 1435 » ; 6 Autres Avis sur les précautions à prendre contre les Anglais, après la paix d'Arras ; 7 Autres Avis qui sont la reproduction partielle de ceux déjà indiqués au fol. 16 ; 8 « Advertissemens à correction des choses qui sont necessairement à faire et executer pour le bien du roy et de son royaume de France », écrits en vue du congrès d'Auxerre, en 1432 ; 9 « Advertissement » au duc de Bourgogne, pour le pousser à la guerre contre le roi de France ; 10 Avis au duc de Bourgogne, sur ce qu'il aura « à faire et pourveoir, se Dieux lui donne la grace et volenté de aller à puissance d'armes... sur les desloyaulx incredulles, ou royaulme de Behaigne, que l'en appelle Housses » ; 11 Disposition à prendre pour la bataille à livrer devant « Barsailles » le 17 septembre ; 12 « Instructions des choses que veult qu'on face le roy regent, dont il fault parler à monseigneur le maistre des arbalestriers », suite de questions relatives au service de l'artillerie ; la réponse à chacune de ces questions est en marge ; 13 Compte de fournitures d'artillerie ; 14 Harangue adressée au duc de Bourgogne par un ambassadeur d'Édouard IV, roi d'Angleterre ; 15 Note sur les tailles que le duc de Bourgogne pourrait imposer à ses sujets ; 16 État des secours en hommes et en armes que le duc de Bourgogne peut tirer de ses États de Flandre et d'Artois. — Projet de lettres circulaires pour convoquer les chevaliers, écuyers et hommes d'armes des mêmes pays, et pour demander aux villes des arbalètes et autres engins de guerre ; 17 État des choses nécessaires « pour le secours de la flotte estant presentement à La Rochelle » ; 18 Lettres de sauf-conduit octroyées par PHILIPPE LE BON à Hugues de Launoy, seigneur de Sanctes. « 3 avril 1443 » ; 19 « Lettres de retenue données par le duc JEHAN en faveur de Hugues de Launoy. 15 septembre 1418 » ; 20 Lettres de « PHELIPPE, duc de Bourgoigne », accordant à Antoine, seigneur de Croy, et à Hugues de Launoy, certaines sommes en récompense de leurs services. « 16 avril 1428 » ; 21 Lettres de PHILIPPE, duc de Bourgogne, portant remboursement d'une somme de sept cent nobles, en faveur de Hugues de Launoy. 15 juin 1438. En flamand ; 22 « Mandement par lequel monseigneur le duc JEHAN mande que ung officier soit deporté de son office et constraint à soy mettre avec les hommes de fiefz, ses pers, pour porter bon et loyal tesmoingnage et jugement. 22 mars 1418 » ; 23 « Lettres d'armes » de « JEHAN DE LUXEMBOURG, bastart de St Pol » ; 24 Formule de « Lettres closes envoyées par messeigneurs du conseil, en Flandres, à messeigneurs du grant conseil » ; 25 Formule de requête adressée au duc de Bourgogne par le receveur d'une de ses châtellenies ; 26 Lettres de retenue octroyées par « PHELIPPE, duc de Bourgoigne », à « Regnauldin Loyset, chevaucheur de l'escuirie ». 2 juillet 1430 ; 27 Mandement du même au même. 31 juillet 1430 ; 28 « L'Ordonnance de l'ayde de Zeellande, pour monseigneur de Santes et autres, en flameng ». 27 avril 1439 ; 29 « Mandement par lequel monseigneur le duc a renouvellé les gaiges de monseigneur de Santes comme chief du conseil de Hollande, Zeellande et Frise ». 10 juin 1434 ; 30 Quittance donnée par « ANTOINE DE CROY » à Hugues de Launoy. 26 décembre 1430 ; 31 Lettres de sauf-conduit données par « JAQUES DE HARECOURT,... lieutenant general pour le roy monseigneur le regent ou pays de Picardie », à « Jehan de Harecourt, evesque d'Amiens ». 14 juin 1422 ; 32 Lettres de créance données par JACQUELINE, « comtesse DE HAYNNAUT, HOLLANDE », à Collart Haymin, pour le seigneur de Santes. 20 juillet ; 33 Traité pour la reddition de Melun. 18 novembre 1408 ; 34 Traité pour la reddition de Meaux. 2 mai 1422 ; 35 « Lettres de PHILIPPE, fils du duc de Bourgogne, touchant le nombre des maistres de ses comptes à Lille... 20 février 1414 » ; 36 « Lettres de provision de l'office de maistre des comptes à Toussains Bajart ». 1er septembre 1417 ; 37 Fragment de chronique traitant principalement des faits et gestes du duc de Bourgogne, Jean sans Peur, du 29 avril 1417 au mois d'octobre de la même année ; 38 « Lettres de paix entre monseigneur le Daulphin et le duc Jean de Bourgogne, au Ponceau pres Melun, 11 juillet 1419 » ; 39 « Traictié fait par les commis et deputés de tres haulx... princes le roy de France, et son beau filz, le roy d'Engleterre, heritier et regent de France, avec les commis et deputés de par... les habitans de la ville de Compigne ». 16 mai 1422 ; 40 « Lettres du roy HENRY d'Angleterre sur la plainte à luy faicte par le duc de Bourgogne de quelques navires arrestés... 17 mars 1435 » ; 41 « Plaincte des officiers du duc de Bourgogne pour le retranchement de leurs gages en Hollande... 2 mars 1437 » ; 42 « Du Secours que le duc de Bourgogne envoya à l'empereur de Constantinople à Rhodes. 1440 » ; 43 Lettre de « BERTHELEMY DE JENNES », ministre général de l'ordre des Frères Mineurs « es parties d'Orient », au prieur de St-Jean de Jérusalem, sur les « maulx que les Turcs font aulx chrestiens, et des moyens d'y remedier... Constantinoble, le IIIe de frevier, l'an.MCCCC. et.XLII » ; 44 « Lettres du duc DE BOURGOGNE, par lesquelles il exempte de la loy de justice de l'Escluse, les capitaines et soldats du chasteau. 27 janvier 1439 » ; 45 « Nouvelles de Constantinople et des victoires du blanc vayvode de Hongrie contre les Turcs. 7 déc. 1448 » ; 46 « Narration pour encommenchier et faire unes lettres d'armes. 1449 » ; 47 « Lettres de Frere JEAN DE CAPISTRANO, Cordelier, au duc de Bourgogne », pour l'engager à reconquérir la Terre sainte. « 19 mars 1453 » ; 48 « Instruction de HUE DE LAUNOY, seigneur DE SANTES, sur le mariage d'Adolf de Cleves à la damoyselle de Coymbre, touchant la terre de Ziericxée en Zelande » ; 49 « Instruction pour entreprendre la guerre contre les Hons » ; 50 « Instruction pour combattre les Turs » ; 51 « Instruction pour entreprendre la guerre contre les hereticques de Behaigne » ; 52 Récit des préliminaires du traité de paix entre le duc Philippe de Bourgogne et les Gantois à Gavre; suivi dudit traité. Août 1453 ; 53 « Proposition de l'empereur pour une armée contre les Turcs, avec la response du duc de Bourgogne. 1454 » ; 54 « Lettre du voyage du duc de Bourgogne en Allemagne. 6 juin 1454 » ; 55 « Arrest contre le duc d'Alençon. Octobre 1458 » ; 56 Traduction d'une bulle de PIE II, qui appelle les princes chrétiens à la croisade contre les Turcs. 22 octobre 1463 ; 57 Lettre de « CHARLES DE BOURBON » au duc de Bourgogne sur la guerre du Bien Public. « 15 mars 1465 » ; 58 Lettre du roi « LOYS » XI au duc de Bourbon, pour le prier de venir auprès de lui ; 59 Réponse du duc « DE BOURBON. 24 mars 1464, avant Pasques » ; 60 Récit de la bataille de Montlhéry. 16 juillet 1465 ; 61 « Accors et appointemens faiz par le roy [Louis XI] aux princes. 2 octobre 1465 » ; 62 Lettre du roi « LOYS » XI aux Liégeois, par laquelle il leur fait part dudit accord. 21 octobre 1465 ; 63 « Lettre de deffiance » envoyée par « le gouverneur de Liege au duc de Bourgogne. 28 août 1465 » ; 64 Lettre du « comte DE CHAROLOIS » contre le seigneur de Groy. « 19 mars 1464 » ; 65 Ambassade du roi Louis XI vers le duc de Bourgogne, pour se faire rendre des prisonniers. 6 novembre 1464 ; 66 Lettres déjà citées aux nos 57, 58, 59 ; 67 Traité entre le roi Louis XI et les princes, à St-Maur des Fossés. 28 octobre 1465 ; 68 Autre Traité avec le comte de Charolais, à la suite de la guerre du Bien Public. 5 octobre 1465 ; 69 Déclaration du roi « LOYS » XI, qui adjoint trois prévôtés au bailliage d'Amiens, en faveur du duc de Bourgogne. 13 octobre 1465 ; 70 « Nouvelles du pays de Levant et des Turcs » ; 71 Lettre d'« ANTHOINE DU PAIAGE » sur les Turcs et sur le tribut de quatre mille ducats qu'ils demandent par an au grand maître de Rhodes. « 9 février 1466 » ; 72 Accord entre le duc de Bourgogne et les habitants de Saint-Trond. 2 novembre 1467 ; 73 Récit de ce qui se passa à Péronne entre le roi Louis XI et Charles, duc de Bourgogne. 9 octobre 1468 ; 74 « Prenosticacions pour l'an mil quatre cens soixante neuf » ; 75 « Comment le... roy de Portingal prist et assault la ville de Arzille au paiis d'Aufrique, l'an mil.IIII. C. LXXI » ; 76 Autre pièce relative au même sujet ; 77 Déclaration du duc « CHARLES » DE BOURGOGNE, envoyée à toutes les bonnes villes de France, sur la guerre qu'il entreprend contre le roi Louis XI, pour venger la mort du duc de Guyenne. Juillet 1472 ; 78 Trève entre le roi Louis XI et le duc de Bourgogne. 1472 ; 79 Institution de parlement à Malines par le duc « CHARLES » DE BOURGOGNE. Décembre 1473 ; 80 « La Maniere du siege de la ville de Nuys » par le duc Charles de Bourgogne. Mai 1475 ; 81 Trêve pour neuf ans entre le roi Louis XI et le duc « Charles » de Bourgogne. 13 septembre 1475 ; 82 Manifeste et supplication du « conte DE LINEY » au duc de Bourgogne ; 83 « Relation du seigneur DE GRIBOVAL au roy, de ce qu'il a faict et negotié vers le duc de Bourgogne pour le faict dudict comte de Ligny,... 25 dec » ; 84 « Traicté d'abolition accordé par le comte de Nassau, lieutenant du roy des Romains, aux habitants de la ville de Bruges. 6 dec. 1490 » ; 85 « Protestations contre les ennemis d'enfer, compilées par J. AUBERT » ; 86 « Le Fachon des figures du livre... de Teaudelet » ; 87 Ordonnance de la ville de Lille « sur le fait des sayettes » ; 88 Lettre d'« ANTHONNE DE LA SALLE » à un nouveau religieux ; 89 Autre de « PHILIPPE POT » au même