Dynamiikan simulointi poralaitteiden tuotekehityksessä

Diplomityö käsittelee kallioporalaitteen eliniän kuormitusten arviointiin tarkoitetun simulointimallin rakentamista. Työssä luotiin modulaarinen malli, jolla voidaan simuloida dynaamisesti esteen yliajo. Esteen yliajo on perinteinen tehdastesti uusien laitteiden prototyypeille. Sillä pyritään saamaan selville laitteen maksimikuormitustapaukset. Pintaporalaitteen simulointimalli tehtiin ADAMS-ohjelmistolla laitteen suunnittelussa tehtyjä CAD-malleja hyödyntäen. ADAMS-ohjelmistolla mallinnettiin laitteen yksinkertaistettu mekaniikka siten, että laite oli jaettu viiteen eri moduuliin. Runko ja telasto olivat omana osionaan. Puomi ja syöttölaite oli oma kokoonpanonsa ja ohjaamo sekä katteet olivat kaksi erillistä modulia. Viides moduuli oli hydrauliikka, joka simuloitiin rinnakkaissimulointina EASY5-ohjelmistolla. Simuloituja esteen yliajon tuloksia verrattiin prototyyppilaitteen tehdastestien mitattuihin kuormituksiin. Vertailu tehtiin mallinnettujen neljän sylinterin paineita tarkastelemalla. Tuloksia tarkastellessa havaittiin, että simulaatiomalli antaa varsinkin staattisissa tarkasteluissa oikean suuntaisia tuloksia. Dynaamisissa tilanteissa koneen maksimikuormituksilla mallinnustarkkuus ei tämän työn laajuudessa ole riittävä varsinaiseen eliniän analysointiin. Sen sijaan mallinnustekniikka todettiin periaatteessa toimivaksi ja jatkokehityskelpoiseksi.

Modelling of hydrogen stratification and gas mixing in containment using the APROS code

Hydrogen stratification and atmosphere mixing is a very important phenomenon in nuclear reactor containments when severe accidents are studied and simulated. Hydrogen generation, distribution and accumulation in certain parts of containment may pose a great risk to pressure increase induced by hydrogen combustion, and thus, challenge the integrity of NPP containment. The accurate prediction of hydrogen distribution is important with respect to the safety design of a NPP. Modelling methods typically used for containment analyses include both lumped parameter and field codes. The lumped parameter method is universally used in the containment codes, because its versatility, flexibility and simplicity. The lumped parameter method allows fast, full-scale simulations, where different containment geometries with relevant engineering safety features can be modelled. Lumped parameter gas stratification and mixing modelling methods are presented and discussed in this master’s thesis. Experimental research is widely used in containment analyses. The HM-2 experiment related to hydrogen stratification and mixing conducted at the THAI facility in Germany is calculated with the APROS lump parameter containment package and the APROS 6-equation thermal hydraulic model. The main purpose was to study, whether the convection term included in the momentum conservation equation of the 6-equation modelling gives some remarkable advantages compared to the simplified lumped parameter approach. Finally, a simple containment test case (high steam release to a narrow steam generator room inside a large dry containment) was calculated with both APROS models. In this case, the aim was to determine the extreme containment conditions, where the effect of convection term was supposed to be possibly high. Calculation results showed that both the APROS containment and the 6-equation model could model the hydrogen stratification in the THAI test well, if the vertical nodalisation was dense enough. However, in more complicated cases, the numerical diffusion may distort the results. Calculation of light gas stratification could be probably improved by applying the second order discretisation scheme for the modelling of gas flows. If the gas flows are relatively high, the convection term of the momentum equation is necessary to model the pressure differences between the adjacent nodes reasonably.

Hydraulisen puomin avoimen piirin koordinaattiohjaus paine-ero-tilavuusvirta-approksimaation avulla

Diplomityön tavoitteena oli kehittää mahdollisimman hyvä koordinaattiohjaus. Sen tuli olla jälkiasennettavissa perinteisen ohjauksen rinnalle työkoneisiin, joissa on käytetty sähköohjattuja proportionaaliventtiileitä. Työssä keskityttiin tutkimaan suuntaventtiilin yli vallitsevasta paine-erosta saatavan tilavuusvirtatiedon hyödyntämistä ohjauksessa. Työn ensimmäisessä vaiheessa koordinaattiohjaus toteutettiin käyttäen 0-peittoisilla karoilla ja karan asematakaisinkytkennällä varustettuja suuntaventtiileitä. Hydrauliseen kuristukseen perustuen saatiin paine-erosta käyttökelpoista tilavuusvirtasignaalia ja koordinaattiohjauksen liikeradan seurannassa oli parhaimmillaan vain 3 cm:n virhe koenosturin työliikkeen pituudella. Toisessa vaiheessa käytettiin työkoneissa yleisesti esiintyvää positiivisin karapeitoin varustettua mobiiliventtiilistöä, jossa oli karakohtaiset painekompensaattorit. Painekompensaattoreiden takia ei paine-eron mittaaminen puhtaasti suuntaventtiilin karan yli ollut mahdollista, jonka takia tyydyttiin koordinaattiohjaus toteuttamaan ilman paineen mittausta luottaen painekompensaattoreiden toimintaan. Käytetyn venttiilistön kavitoinninestotoiminnon huomiointi ohjauksessa jäi ratkaisematta ja se ohitettiin vastusvastaventtiileiden avulla. Koordinaattiohjauksen tarkkuus mobiiliventtiileillä oli vaatimaton ja tulosten toistettavuus heikko. Tulosten perusteella todettiin avoimellakin koordinaattiohjauksella olevan mahdollista saavuttaa lupaava tarkkuus ammattikuljettajiin verrattuna. Mobiiliventtiilistöön liittyvät, työn aikana esiinnousseet epäkohdat olisi ratkaistava ennen käytettyjen menetelmien soveltamista käytännön kohteisiin.

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.

Water relations of tree species growing on a rock outcrop in the "Parque Estadual de Itapuã", RS

Water relations of the tree species Myrsine umbellata Mart. ex A. DC., Dodonaea viscosa Jacq. and Erythroxylum argentinum O. E. Schulz, growing on a rock outcrop in the "Parque Estadual de Itapuã" (RS), were studied. Environmental (precipitation, temperature, soil water) and plant (water potential, vapor pressure deficit, stomatal conductance, transpiration, leaf specific hydraulic conductance, osmotic potential and cell wall elasticity) parameters were collected in five periods and pooled into two sets of data: wet and dry periods. Myrsine umbellata showed great stability of the plant parameters, including the maintenance of high pre-dawn (psiwpd) and mid-day (psiwmd) water potentials in the dry period (-0.48 and -1.12 MPa, respectively), suggesting the presence of a deep root system. Dodonaea viscosa and E. argentinum reached lower psiwpd (-1.41 and -1.97 MPa, respectively) and a greater degree of stomatal closure in the dry period, suggesting a shallower root system. Differential exposure to soil drought was also corroborated by differential drought effects on the whole-plant leaf specific hydraulic conductance (Gt). Correlation analysis pointed to weak correlations between psiwpd and g s. Erythroxylum argentinum was the only species to show osmotic adjustment in response to drought. It is suggested that M. umbellata has low tolerance to water deficits, adopting an avoidance behavior. The much lower values of psiw reached by D. viscosa and E. argentinum suggest a greater tolerance to drought by these species.

Heterogeneity of glomerular perfusion and filtration induced by epinephrine and norepinephrine

The role of catecholamines in the distribution of intrarenal blood flow and in single-nephron glomerular filtration rate (SNGFR) was evaluated in anesthetized Wistar rats by the Hanssen technique. Epinephrine (EPI) and norepinephrine (NOR) were infused to produce elevations of 20-30 mmHg in mean arterial pressure. Superficial and juxtamedullary nephron perfusion and filtration were determined by the presence of Prussian blue dye. In the control group, 100% of the nephrons presented a homogeneous pattern of perfusion and filtration. In contrast, a heterogeneous distribution of the dye was found even in the larger arteries (arciform and radial), indicating variable perfusion and filtration in both superficial and juxtamedullary nephrons. The effects of EPI and NOR were also evaluated in the superficial cortex by the micropuncture technique in two additional groups of Munich-Wistar rats. Mean SNGFR was 27% and 54% lower in the EPI- and NOR-treated groups, respectively. No change in mean intraglomerular hydraulic pressure was observed after EPI or NOR infusion in spite of a highly scattered pattern, indicating an important variability in perfusion along the superficial cortex, and/or different sensitivity of the pre- and post-glomerular arterioles. The present data suggest that EPI and NOR may affect intrarenal hemodynamics by modifying perfusion and filtration in both superficial and juxtamedullary glomeruli and not by shifting blood flow from superficial to juxtamedullary nephrons. The heterogeneous pattern of perfusion was a consequence of differential vasoconstriction along the intrarenal arteries, probably due to different density and/or sensitivity of the adrenergic receptor subtypes present in the intrarenal vascular tree.

Virtuaalisimuloinnin käytettävyys PF-suodattimien hydraulijärjestelmien koulutuksessa, analysoinnissa ja vianmäärityksessä

Tämän työn tavoitteena oli luoda koulutusmateriaalia PF-suodattimien hydraulijärjestelmien koulutusta varten sekä selvittää Automation Studio-ohjelmiston soveltuvuutta PF-suodattimien analysointiin ja vianmääritykseen. Työssä tutkittiin myös aktivoivien koulutusmenetelmien vaikutusta oppimisprosessiin. Työn tärkeimpinä tuloksina saatiin opetusvideot PF-suodattimien hydraulijärjestelmissä käytettävistä peruskomponenteista sekä järjestelmien toimintaa kuvaavat opetusvideot. Työssä käytettyä mallinnus- ja simulointiohjelmistoa ei voida nykyisellä ohjelmaversiolla täysin soveltaa PF-suodattimien vianmääritykseen tai analysointiin. Työssä selvennettiin menestyksekkään vianmäärityksen ja analysoinnin kannalta tarvittavat laajennustarpeet ohjelmistoon. Koulutuksesta kerätyn palautteen perusteella opetusvideot yhdistettynä aktivoiviin koulutusmenetelmiin helpottavat PF-suodattimien hydraulijärjestelmien koulutusta sekä edistävät oppimisprosessia. Aktivoivia koulutusmenetelmiä voidaan pitää erityisesti soveltuvina aikuiskoulutukseen.

Application and development of numerical methods for the modelling of innovative gas cooled fission reactors

Innovative gas cooled reactors, such as the pebble bed reactor (PBR) and the gas cooled fast reactor (GFR) offer higher efficiency and new application areas for nuclear energy. Numerical methods were applied and developed to analyse the specific features of these reactor types with fully three dimensional calculation models. In the first part of this thesis, discrete element method (DEM) was used for a physically realistic modelling of the packing of fuel pebbles in PBR geometries and methods were developed for utilising the DEM results in subsequent reactor physics and thermal-hydraulics calculations. In the second part, the flow and heat transfer for a single gas cooled fuel rod of a GFR were investigated with computational fluid dynamics (CFD) methods. An in-house DEM implementation was validated and used for packing simulations, in which the effect of several parameters on the resulting average packing density was investigated. The restitution coefficient was found out to have the most significant effect. The results can be utilised in further work to obtain a pebble bed with a specific packing density. The packing structures of selected pebble beds were also analysed in detail and local variations in the packing density were observed, which should be taken into account especially in the reactor core thermal-hydraulic analyses. Two open source DEM codes were used to produce stochastic pebble bed configurations to add realism and improve the accuracy of criticality calculations performed with the Monte Carlo reactor physics code Serpent. Russian ASTRA criticality experiments were calculated. Pebble beds corresponding to the experimental specifications within measurement uncertainties were produced in DEM simulations and successfully exported into the subsequent reactor physics analysis. With the developed approach, two typical issues in Monte Carlo reactor physics calculations of pebble bed geometries were avoided. A novel method was developed and implemented as a MATLAB code to calculate porosities in the cells of a CFD calculation mesh constructed over a pebble bed obtained from DEM simulations. The code was further developed to distribute power and temperature data accurately between discrete based reactor physics and continuum based thermal-hydraulics models to enable coupled reactor core calculations. The developed method was also found useful for analysing sphere packings in general. CFD calculations were performed to investigate the pressure losses and heat transfer in three dimensional air cooled smooth and rib roughened rod geometries, housed inside a hexagonal flow channel representing a sub-channel of a single fuel rod of a GFR. The CFD geometry represented the test section of the L-STAR experimental facility at Karlsruhe Institute of Technology and the calculation results were compared to the corresponding experimental results. Knowledge was gained of the adequacy of various turbulence models and of the modelling requirements and issues related to the specific application. The obtained pressure loss results were in a relatively good agreement with the experimental data. Heat transfer in the smooth rod geometry was somewhat under predicted, which can partly be explained by unaccounted heat losses and uncertainties. In the rib roughened geometry heat transfer was severely under predicted by the used realisable k − epsilon turbulence model. An additional calculation with a v2 − f turbulence model showed significant improvement in the heat transfer results, which is most likely due to the better performance of the model in separated flow problems. Further investigations are suggested before using CFD to make conclusions of the heat transfer performance of rib roughened GFR fuel rod geometries. It is suggested that the viewpoints of numerical modelling are included in the planning of experiments to ease the challenging model construction and simulations and to avoid introducing additional sources of uncertainties. To facilitate the use of advanced calculation approaches, multi-physical aspects in experiments should also be considered and documented in a reasonable detail.

VVER-440 Thermal Hydraulics as a Computer Code Validation Challenge

This thesis concentrates on the validation of a generic thermal hydraulic computer code TRACE under the challenges of the VVER-440 reactor type. The code capability to model the VVER-440 geometry and thermal hydraulic phenomena specific to this reactor design has been examined and demonstrated acceptable. The main challenge in VVER-440 thermal hydraulics appeared in the modelling of the horizontal steam generator. The major challenge here is not in the code physics or numerics but in the formulation of a representative nodalization structure. Another VVER-440 specialty, the hot leg loop seals, challenges the system codes functionally in general, but proved readily representable. Computer code models have to be validated against experiments to achieve confidence in code models. When new computer code is to be used for nuclear power plant safety analysis, it must first be validated against a large variety of different experiments. The validation process has to cover both the code itself and the code input. Uncertainties of different nature are identified in the different phases of the validation procedure and can even be quantified. This thesis presents a novel approach to the input model validation and uncertainty evaluation in the different stages of the computer code validation procedure. This thesis also demonstrates that in the safety analysis, there are inevitably significant uncertainties that are not statistically quantifiable; they need to be and can be addressed by other, less simplistic means, ultimately relying on the competence of the analysts and the capability of the community to support the experimental verification of analytical assumptions. This method completes essentially the commonly used uncertainty assessment methods, which are usually conducted using only statistical methods.

Typenpoiston tehostaminen kunnallisessa jätevedenpuhdistuksessa membraanibioreaktorin avulla

Tämä diplomityö tehtiin Vihdin Vesihuoltolaitoksen Nummelan jäteveden puhdistamolle. Työssä tutkittiin typenpoistoa kunnallisista jätevesistä membraanibioreaktorin (MBR) avulla. MBR:ssä yhdistyvät perinteinen aktiivilieteprosessi ja kalvosuodatus. Työn tavoite oli päästä yli 95 % typenpoistoon. Aluksi typenpoisto oli yli 80 %, kun pilot-mittakaavan MBR-laitosta operoitiin perinteisen prosessin parametrein. Typenpoistoa onnistuttiin tehostamaan nostamalla nitraattipitoisen palautuslietteen kierrätystä prosessin alkupäähän (1600 L/h) ja lisäämällä aktiivista biomassaa reaktorissa. Yli 90 % typenpoisto edellytti myös pidempää viipymäaikaa (noin kaksinkertainen perinteiseen prosessiin verrattuna). Tutkimuksessa päästiin parhaimmillaan jopa 95 % typenpoistumaan operoimalla laitteistoa pienellä typpikuormalla (0,1 kg/vrk) ja alhaisemmalla lietepitoisuudella (10 g/L). Typpikuorman noustessa (0,3 kg/vrk) typenpoistoteho laski. Tätä onnistuttiin parantamaan (yli 90 %) nostamalla biomassan määrää reaktorissa (15 g/L). Hyvän typenpoiston saavuttaminen edellytti myös suurempaa metanolin ja hapen syöttöä.

Possibility of press forming wood films into primary packaging

In recent times the packaging industry is finding means to maximize profit. Wood used to be the most advantageous and everyday material for packaging, worktables, counters, constructions, interiors, tools and as materials and utensils in the food companies in the world. The use of wood has declined vigorously, and other materials like plastic, ceramic, stainless steel, concrete, and aluminum have taken its place. One way that the industry could reduce its cost is by finding possibilities of using wood for primary packaging after which it can be safely recycled or burned as a carbon source for energy. Therefore, the main objective of this thesis is to investigate the possibility of press-forming a wood film into primary packaging. In order to achieve the stated objectives, discussion on major characteristics of wood in terms of structure, types and application were studied. Two different wood species, pine and birch were used for the experimental work. These were provided by a local carpentry workshop in Lappeenranta and a workshop in Ruokolahti supervised by Professor Timo Kärki. Laboratory tests were carried out at Lappeenranta University of Technology FMS workshop on Stenhøj EPS40 M hydraulic C-frame press coupled with National Instruments VI Logger and on the Adjustable packaging line machine at LUT Packaging laboratory. The tests succeeded better on the LUT packaging line than on the Stenhoj equipment due to the integrated heating system in the machine. However, there is much work to be done before the quality of a tray produced from the wood film is comparable to that of the wood plastic composite tray.

Novel virtual environment and real-time simulation based methods for improving life-cycle efficiency of non-road mobile machinery

Virtual environments and real-time simulators (VERS) are becoming more and more important tools in research and development (R&D) process of non-road mobile machinery (NRMM). The virtual prototyping techniques enable faster and more cost-efficient development of machines compared to use of real life prototypes. High energy efficiency has become an important topic in the world of NRMM because of environmental and economic demands. The objective of this thesis is to develop VERS based methods for research and development of NRMM. A process using VERS for assessing effects of human operators on the life-cycle efficiency of NRMM was developed. Human in the loop simulations are ran using an underground mining loader to study the developed process. The simulations were ran in the virtual environment of the Laboratory of Intelligent Machines of Lappeenranta University of Technology. A physically adequate real-time simulation model of NRMM was shown to be reliable and cost effective in testing of hardware components by the means of hardware-in-the-loop (HIL) simulations. A control interface connecting integrated electro-hydraulic energy converter (IEHEC) with virtual simulation model of log crane was developed. IEHEC consists of a hydraulic pump-motor and an integrated electrical permanent magnet synchronous motorgenerator. The results show that state of the art real-time NRMM simulators are capable to solve factors related to energy consumption and productivity of the NRMM. A significant variation between the test drivers is found. The results show that VERS can be used for assessing human effects on the life-cycle efficiency of NRMM. HIL simulation responses compared to that achieved with conventional simulation method demonstrate the advances and drawbacks of various possible interfaces between the simulator and hardware part of the system under study. Novel ideas for arranging the interface are successfully tested and compared with the more traditional one. The proposed process for assessing the effects of operators on the life-cycle efficiency will be applied for wider group of operators in the future. Driving styles of the operators can be analysed statistically from sufficient large result data. The statistical analysis can find the most life-cycle efficient driving style for the specific environment and machinery. The proposed control interface for HIL simulation need to be further studied. The robustness and the adaptation of the interface in different situations must be verified. The future work will also include studying the suitability of the IEHEC for different working machines using the proposed HIL simulation method.

Electrical parameters and water permeability properties of monolayers formed by T84 cells cultured on permeable supports

T84 is an established cell line expressing an enterocyte phenotype whose permeability properties have been widely explored. Osmotic permeability (P OSM), hydraulic permeability (P HYDR) and transport-associated net water fluxes (J W-transp), as well as short-circuit current (I SC), transepithelial resistance (R T), and potential difference (deltaV T) were measured in T84 monolayers with the following results: P OSM 1.3 ± 0.1 cm.s-1 x 10-3; P HYDR 0.27 ± 0.02 cm.s-1; R T 2426 ± 109 omega.cm², and deltaV T 1.31 ± 0.38 mV. The effect of 50 µM 5,6-dichloro-1-ethyl-1,3-dihydro-2H-benzimidazol-2-one (DCEBIO), a "net Cl- secretory agent", on T84 cells was also studied. We confirm the reported important increase in I SC induced by DCEBIO which was associated here with a modest secretory deltaJ W-transp. The present results were compared with those reported using the same experimental approach applied to established cell lines originating from intestinal and renal epithelial cells (Caco-2, LLC-PK1 and RCCD-1). No clear association between P HYDR and R T could be demonstrated and high P HYDR values were observed in an electrically tight epithelium, supporting the view that a "water leaky" barrier is not necessarily an "electrically leaky" one. Furthermore, the modest secretory deltaJ W-transp was not consistent with previous results obtained with RCCD-1 cells stimulated with vasopressin (absorptive fluxes) or with T84 cells secreting water under the action of Escherichia coli heat stable enterotoxin. We conclude that, while the presence of aquaporins is necessary to dissipate an external osmotic gradient, coupling between water and ion transport cannot be explained by a simple and common underlying mechanism.

Metal additive manufacturing of internal flow channels with powder bed fusion processes

This thesis studies the advantages, disadvantages and possibilities of additive manufacturing in making components with internal flow channels. These include hydraulic components, components with cooling channels and heat exchangers. Processes studied in this work are selective laser sintering and selective laser melting of metallic materials. The basic principles of processes and parameters involved in the process are presented and different possibilities of internal channel manufacturing and flow improvement are introduced

Remote sensing for three-dimensional modelling of hydromorphology

Successful management of rivers requires an understanding of the fluvial processes that govern them. This, in turn cannot be achieved without a means of quantifying their geomorphology and hydrology and the spatio-temporal interactions between them, that is, their hydromorphology. For a long time, it has been laborious and time-consuming to measure river topography, especially in the submerged part of the channel. The measurement of the flow field has been challenging as well, and hence, such measurements have long been sparse in natural environments. Technological advancements in the field of remote sensing in the recent years have opened up new possibilities for capturing synoptic information on river environments. This thesis presents new developments in fluvial remote sensing of both topography and water flow. A set of close-range remote sensing methods is employed to eventually construct a high-resolution unified empirical hydromorphological model, that is, river channel and floodplain topography and three-dimensional areal flow field. Empirical as well as hydraulic theory-based optical remote sensing methods are tested and evaluated using normal colour aerial photographs and sonar calibration and reference measurements on a rocky-bed sub-Arctic river. The empirical optical bathymetry model is developed further by the introduction of a deep-water radiance parameter estimation algorithm that extends the field of application of the model to shallow streams. The effect of this parameter on the model is also assessed in a study of a sandy-bed sub-Arctic river using close-range high-resolution aerial photography, presenting one of the first examples of fluvial bathymetry modelling from unmanned aerial vehicles (UAV). Further close-range remote sensing methods are added to complete the topography integrating the river bed with the floodplain to create a seamless high-resolution topography. Boat- cart- and backpack-based mobile laser scanning (MLS) are used to measure the topography of the dry part of the channel at a high resolution and accuracy. Multitemporal MLS is evaluated along with UAV-based photogrammetry against terrestrial laser scanning reference data and merged with UAV-based bathymetry to create a two-year series of seamless digital terrain models. These allow the evaluation of the methodology for conducting high-resolution change analysis of the entire channel. The remote sensing based model of hydromorphology is completed by a new methodology for mapping the flow field in 3D. An acoustic Doppler current profiler (ADCP) is deployed on a remote-controlled boat with a survey-grade global navigation satellite system (GNSS) receiver, allowing the positioning of the areally sampled 3D flow vectors in 3D space as a point cloud and its interpolation into a 3D matrix allows a quantitative volumetric flow analysis. Multitemporal areal 3D flow field data show the evolution of the flow field during a snow-melt flood event. The combination of the underwater and dry topography with the flow field yields a compete model of river hydromorphology at the reach scale.