867 resultados para ball milling


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Stopping and turning maneuvers on high traffic volume asphalt cement concrete surfaced roads and streets often cause distortion of the pavement. Distortion may show up as excessive rutting in the wheel path, shoving of the pavement and/or rippling of the surface. Often times repeated corrective work such as cold milling or heater planing is required in these areas to maintain the pavement surface in a reasonable condition. In recent years polymer additives have been developed for asphalt cement concrete paving mixes that show promise in improving the inplace stability of the pavements. AC-13 (Styrelf 13) available from Bitucote Products Company, St. Louis, Missouri is an asphalt cement that has been modified by an additive to exhibit characteristics of very high stability in asphalt mixes.

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The use of Railroad Flatcars (RRFCs) as the superstructure on low-volume county bridges has been investigated in a research project conducted by the Bridge Engineering Center at Iowa State University. These bridges enable county engineers to replace old, inadequate county bridge superstructures for less than half the cost and in a shorter construction time than required for a conventional bridge. To illustrate their constructability, adequacy, and economy, two RRFC demonstration bridges were designed, constructed, and tested: one in Buchanan County and the other in Winnebago County. The Buchanan County Bridge was constructed as a single span with 56-ft-long flatcars supported at their ends by new, concrete abutments. The use of concrete in the substructure allowed for an integral abutment at one end of the bridge with an expansion joint at the other end. Reinforced concrete beams (serving as longitudinal connections between the three adjacent flatcars) were installed to distribute live loads among the RRFCs. Guardrails and an asphalt milling driving surface completed the bridge. The Winnebago County Bridge was constructed using 89-ft-long flatcars. Preliminary calculations determined that they were not adequate to span 89 ft as a simple span. Therefore, the flatcars were supported by new, steel-capped piers and abutments at the RRFCs' bolsters and ends, resulting in a 66-ft main span and two 10-ft end spans. Due to the RRFC geometry, the longitudinal connections between adjacent RRFCs were inadequate to support significant loads; therefore, transverse, recycled timber planks were utilized to effectively distribute live loads to all three RRFCs. A gravel driving surface was placed on top of the timber planks, and a guardrail system was installed to complete the bridge. Bridge behavior predicted by grillage models for each bridge was validated by strain and deflection data from field tests; it was found that the engineered RRFC bridges have live load stresses significantly below the AASHTO Bridge Design Specification limits. To assist in future RRFC bridge projects, RRFC selection criteria were established for visual inspection and selection of structurally adequate RRFCs. In addition, design recommendations have been developed to simplify live load distribution calculations for the design of the bridges. Based on the results of this research, it has been determined that through proper RRFC selection, construction, and engineering, RRFC bridges are a viable, economic replacement system for low-volume road bridges.

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Aquest treball versa sobre la intimitat i el cinema. S'estructura entres actes. En el primer, explico la meva experiència com a directora d'unapel·lícula que protagonitzo i que vaig censurar per massa impúdica. En elsegon, reflexiono sobre les pel·lícules autobiogràfiques i el concepted'intimitat, per plantejar alguns dels dilemes sobre la seva representaciófílmica. Analitzo i comparo les imatges de pel·lícules de dos directors, NaomiKawase i Jonathan Caouette, qui també s'hi han encarat, buscant l'efectemirall. En el tercer, considero les motivacions, les compensacions, la reacciódels espectadors i les conseqüències d'arriscar-se a exposar la intimitat, lapròpia i la dels qui ens envolten.

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ABSTRACTNeedle fibre calcite (NFC) is one of the most widespread habits of pedogenic calcite. It is a monocrystal of calcite, in the shape of a needle, with a diameter of one micron and a length between 4 and 103 times its width. NFC occurs in soils with different macroscopic and microscopic morphologies. Macroscopically, two main habits of NFC exist: "cotton ball'Mike clusters and as "powder" coating on pebbles inside the soil. It can also act as nucleation sites for precipitation of calcite cements of purely physicochemical origin (LCC - Late Calcitic Cement). Although many studies have been conducted on needle fibre calcite, its origin remains a subject of debate. The NFC having never been reproduced in the laboratory whatever the considered approach, the processes responsible for its precipitation as a so particular morphology remain unexplained. The shift between the length orientation of the needle crystal and the normal axis of calcite growth (c-axis) is also unresolved.Samples taken in two soils observed in quarries (Villiers and Savagnier) in the Swiss Jura Mountains are used to investigate the processes involved in the formation of these calcite crystals in pedogenic environments. Three groups of microscopic morphologies are distinguished: (i) simple needles (SN), (ii) simple needles with overgrowths (SNO), and (iii) simple needles with nanofibres (SNN), nanofibres being either organic or mineral in nature. These groups correspond to different stages in the formation and evolution of NFC.Comparison of carbon and oxygen isotope compositions of NFC with LCC, in relationship with the composition of the carbonate host rock (CHR), and the carbon isotope signature of dissolved inorganic carbon (DIC) from the soil waters, indicates that both NFC and LCC are precipitated in isotopic equilibrium with the soil solution. Similar Ô13C and Ô180 values of the elongated NFC and the rhombohedral calcite crystals of the LCC suggest that the precipitation of these different calcite habits is not due to changes in physicochemical conditions. The growth of NFC crystals inside an organic mould formed by the fungal hyphae could explain the formation of calcite ciystals in the shape of a needle in isotopic equilibrium with the local environment.Strontium and calcium isotope compositions of the three microscopic groups of NFC and LCC were also studied, in order to determine the origin of calcium (Ca2+) entrapped in the calcite lattice and to elucidate the processes responsible for the precipitation of NFC. The 87Sr/86Sr ratio of the SN is closer to the 87Sr/86Sr ratio of the carbonate host rock than the LCC, SNO, and SNN. This could be another clue for the formation of SN inside fungal hyphae, because fungi are known to dissolve the rocks to release and translocate through their hyphae nutrients necessary for their growth. SN and SNN are depleted in Sr and enriched in ^Ca compared to the LCC. In the context of Villiers quarry, where the two ciystal shapes precipitate at similar temperature (in a range of 0,6°C), such variations are the result of a slower precipitation rate of NFC, which is inconsistent with a purely physicochemically precipitated elongate crystal.Finally, NFC is enriched in major and trace elements (i.e. Fe, Zn, Cu, and Mo) compared to the LCC. This enrichment is ascribed to modification in precipitation processes between the NFC and LCC. Right now, it is not possible to preclude the influence of the particular shape of NFC or the biological influence. REEs are not fractionated in NFC, contrary to LCC. Thus, NFC does not precipitate from a percolation solution circulating downward the soil, which should lead to the fractionation of the REEs. As explained above, fungi, are able to dissolve and translocate nutrients. This kind of processes allows releasing elements in the soil solution without fractionation and could explain the particular chemical signature of NFC regarding the REEs.The geochemical approach to investigate the origin of NFC presented in this study does not allow providing direct clues to the fungal origin of NFC, but brings several new insights in the understanding of the formation of such a particular mineral, calcite needles, by precluding definitively their physicochemical origin.RESUMELa calcite en aiguilles (NFC) est l'une des formes les plus ubiquiste de calcite pédogénique. Il s'agit d'un monocrystal de calcite d'un diamètre d'un micron et d'une longueur 4 à 102 fois supérieure à sa largeur. A l'échelle macroscopique, la NFC a été observée sous deux principaux aspects : l'une « cotonneuse » et l'autre formant un mince croûte autour des graviers du sol. La NFC peut également servir de support à la nucléation de ciments secondaires précipités de manière purement physico-chimique (LCC). Malgré les nombreuses études menées sur la NFC, son origine demeure encore inconnue. A ce jour, aucune expérience en laboratoire n'a permis de créer de la calcite en aiguilles, et ce, quelque soit l'approche abordée. Par conséquent, les processus précis responsables de la précipitation calcite avec une telle morphologie restent inconnus. Le décalage existant entre l'axe d'allongement des aiguilles de calcite et l'axe normal de croissance de la calcite (axe c) reste inexpliqué.Des échantillons de NFC, LCC, roche mère, eau de pluie des différents horizons du sol ont été prélevés principalement au front de deux carrières de graviers, ainsi que dans un profil de sol adjacent à ces carrières, dans le but de mieux comprendre les processus à l'origine de la précipitation de calcite en forme d'aiguille. Trois micro-morphologies ont été distinguées: les aiguilles simples (SN), les aiguilles simples avec surcroissances calcitiques (SNO) et enfin les aiguilles simples avec nanofibres (SNN), celles-ci pouvant être de minérales ou organiques. Ces groupes, d'après nos résultats et les études antérieures pourraient correspondre à différentes étapes de formation de la calcite en aiguilles.Dans un premier temps, la comparaison des signatures isotopiques de la calcite en aiguilles, du LCC, de la roche mère et du carbone inorganique dissout dans la solution du sol (CID) indique que la NFC, tout comme le LCC, précipite en équilibre avec la solution du sol. Les valeurs similaires en Ô13C et δ180 de cristaux de calcite allongés (NFC) et rhombohédriques (LCC) formés dans un même milieu suggère que ces différences morphologiques ne peuvent pas être attribuées à des modifications purement physico-chimiques. La croissance de NFC à l'intérieur d'un moule organique comme les hyphes de champignons semble être la seule hypothèse plausible permettant d'expliquer la formation de monocrystaux allongés de calcite en équilibre avec leur environnement.La composition isotopique en strontium (Sr) et calcium (Ca) des LCC et des trois micro¬morphologies de la NFC ont été étudiées également, afin de déterminer l'origine du Ca2+ présent dans le réseau cristallin de la calcite en aiguilles, ainsi que les processus responsables de la formation de NFC. Les valeurs du rapport 87Sr/86$r de la forme SN sont les plus proches de celles de la roche mère par rapport aux formes SNN et SNO et du LCC. Ceci pourrait être un nouvel indice de l'implication des champignons dans la précipitation de calcite en aiguilles, puisqu'ils sont connus pour avoir la capacité de dissoudre les roches afin de libérer les nutriments nécessaires à leur croissance, ainsi que de les transloquer par leurs hyphes. De plus, les formes SN et SNN sont appauvries en Sr et enrichies en "Ca, comparativement au LCC. Dans le sol étudié, tous les carbonates de calcium précipitent à la même température, par conséquent, de telles variations sont dues à un taux de précipitation plus lent de SN et SNN, ce qui est contradictoire avec l'hypothèse physico-chimique. Pour finir, la NFC est enrichie en certains éléments majeurs et traces (i.e. Fe, Zn, Cu et Mo) par rapport au LCC. Ceci peut être attribué à différents processus de formation entre la NFC et le LCC. Pour le moment il est impossible d'exclure l'influence de la forme particulière de la NFC ou celle du champignon. Les terres rares (REEs) ne sont pas fractionnées dans la NFC, contrairement au LCC. Ceci peut être expliqué par le fait que la NFC précipite à partir d'une solution qui n'a pas percolé à travers le sol. Les champignons en dissolvant les roches mettent en solution éléments sans les fractionner. L'approche géochimique de l'étude de la calcite en aiguilles ne permets pas de produire des preuves directes sur sa potentielle origine fongique, mais permet de mieux comprendre comment un minéral aussi singulier que la NFC peut se former. D'autre pare cette étude permets d'exclure définitivement l'hypothèse physico-chimique de l'origine de la calcite en aiguilles

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We initiate a systematic scan of the landscape of black holes in any spacetime dimension using the recently proposed blackfold effective worldvolume theory. We focus primarily on asymptotically flat stationary vacuum solutions, where we uncover large classes of new black holes. These include helical black strings and black rings, black odd-spheres, for which the horizon is a product of a large and a small sphere, and non-uniform black cylinders. More exotic possibilities are also outlined. The blackfold description recovers correctly the ultraspinning Myers-Perry black holes as ellipsoidal even-ball configurations where the velocity field approaches the speed of light at the boundary of the ball. Helical black ring solutions provide the first instance of asymptotically flat black holes in more than four dimensions with a single spatial U(1) isometry. They also imply infinite rational non-uniqueness in ultraspinning regimes, where they maximize the entropy among all stationary single-horizon solutions. Moreover, static blackfolds are possible with the geometry of minimal surfaces. The absence of compact embedded minimal surfaces in Euclidean space is consistent with the uniqueness theorem of static black holes

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This research was initiated in 1991 as a part of a whitetopping project to study the effectiveness of various techniques to enhance bond strength between a new Portland cement concrete (PCC) overlay and an existing asphalt cement concrete (ACC) pavement surface. A 1,676 m (5,500 ft) section of county road R16 in Dallas County, Iowa was divided into 12 test sections. The various techniques used to enhance bond were power brooming, power brooming with air blast, milling, cement and water grout, and emulsion tack coat. As a part of these bonding techniques, two pavement thicknesses were placed; two different concrete proportions were used; and two sections were planed to a uniform cross-slope.

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There are still many vintage portland cement concrete (PCC) pavements, 18 ft wide (5.4 m), dating back to pre-World War II era in use today. Successive overlays have been placed to cover joints and to improve rideability. The average thickness of the existing asphalt cement concrete (ACC) along route E66 in Tama County, Iowa, was 6.13 in. (15.6 cm). The rehabilitation strategy called for widening the base using the top 3 in. (7.6 cm) of the existing ACC by a recycling process involving cold milling and mixing with additional emulsion/rejuvenator. The material was then placed into a widening trench and compacted to match the level of the milled surface. This project was undertaken to develop a rehabilitation methodology to widen these older pavements economically and to have a finished surface capable of carrying traffic with little or no additional work.

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Velocity-density tests conducted in the laboratory involved small 4-inch diameter by 4.58-inch-long compacted soil cylinders made up of 3 differing soil types and for varying degrees of density and moisture content, the latter being varied well beyond optimum moisture values. Seventeen specimens were tested, 9 with velocity determinations made along two elements of the cylinder, 180 degrees apart, and 8 along three elements, 120 degrees apart. Seismic energy was developed by blows of a small tack hammer on a 5/8-inch diameter steel ball placed at the center of the top of the cylinder, with the detector placed successively at four points spaced 1/2-inch apart on the side of the specimen involving wave travel paths varying from 3.36 inches to 4.66 inches in length. Time intervals were measured using a model 217 micro-seismic timer in both laboratory and field measurements. Forty blows of the hammer were required for each velocity determination, which amounted to 80 blows on 9 laboratory specimens and 120 blows on the remaining 8 cylinders. Thirty-five field tests were made over the three selected soil types, all fine-grained, using a 2-foot seismic line with hammer-impact points at 6-inch intervals. The small tack hammer and 5/8-inch steel ball was, again, used to develop seismic wave energy. Generally, the densities obtained from the velocity measurements were lower than those measured in the conventional field testing. Conclusions were reached that: (1) the method does not appear to be usable for measurement of density of essentially fine-grained soils when the moisture content greatly exceeds the optimum for compaction, and (2) due to a gradual reduction in velocity upon aging, apparently because of gradual absorption of pore water into the expandable interlayer region of the clay, the seismic test should be conducted immediately after soil compaction to obtain a meaningful velocity value.

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In the last two decades, the third-dimension has become a focus of attention in electron microscopy to better understand the interactions within subcellular compartments. Initially, transmission electron tomography (TEM tomography) was introduced to image the cell volume in semi-thin sections (∼500nm). With the introduction of the focused ion beam scanning electron microscope, a new tool, FIB-SEM tomography, became available to image much larger volumes. During TEM tomography and FIB-SEM tomography, the resin section is exposed to a high electron/ion dose such that the stability of the resin embedded biological sample becomes an important issue. The shrinkage of a resin section in each dimension, especially in depth, is a well-known phenomenon. To ensure the dimensional integrity of the final volume of the cell, it is important to assess the properties of the different resins and determine the formulation which has the best stability in the electron/ion beam. Here, eight different resin formulations were examined. The effects of radiation damage were evaluated after different times of TEM irradiation. To get additional information on mass-loss and the physical properties of the resins (stiffness and adhesion), the topography of the irradiated areas was analysed with atomic force microscopy (AFM). Further, the behaviour of the resins was analysed after ion milling of the surface of the sample with different ion currents. In conclusion, two resin formulations, Hard Plus and the mixture of Durcupan/Epon, emerged that were considerably less affected and reasonably stable in the electron/ion beam and thus suitable for the 3-D investigation of biological samples.

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Migraine is frequently comorbid with depression. There appear to be common aetiological factors for both disorders, but the aetiology of migraine within depressed patients, in particular the significance of aura, has been little studied. A large sample of concordantly depressed sibling pairs [the Depression-Network (DeNT) sample] was assessed as having migraine with aura (MA), migraine without aura (MoA), probable migraine or no migraine according to International Headache Society guidelines. Correlations between siblings' migraine status were used to assess the nature of familial liability to migraine. A multiple threshold isocorrelational model fit best, in which different syndromes are conceptualized as different severities of one underlying dimension rather than as having separate aetiologies. Thus, MA and MoA were found to be different forms of the same disorder, with MA occupying the more extreme end of the spectrum of liability. Implications for our understanding of the relationship between migraine and depression are discussed.

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Diffusion MRI has evolved towards an important clinical diagnostic and research tool. Though clinical routine is using mainly diffusion weighted and tensor imaging approaches, Q-ball imaging and diffusion spectrum imaging techniques have become more widely available. They are frequently used in research-oriented investigations in particular those aiming at measuring brain network connectivity. In this work, we aim at assessing the dependency of connectivity measurements on various diffusion encoding schemes in combination with appropriate data modeling. We process and compare the structural connection matrices computed from several diffusion encoding schemes, including diffusion tensor imaging, q-ball imaging and high angular resolution schemes, such as diffusion spectrum imaging with a publically available processing pipeline for data reconstruction, tracking and visualization of diffusion MR imaging. The results indicate that the high angular resolution schemes maximize the number of obtained connections when applying identical processing strategies to the different diffusion schemes. Compared to the conventional diffusion tensor imaging, the added connectivity is mainly found for pathways in the 50-100mm range, corresponding to neighboring association fibers and long-range associative, striatal and commissural fiber pathways. The analysis of the major associative fiber tracts of the brain reveals striking differences between the applied diffusion schemes. More complex data modeling techniques (beyond tensor model) are recommended 1) if the tracts of interest run through large fiber crossings such as the centrum semi-ovale, or 2) if non-dominant fiber populations, e.g. the neighboring association fibers are the subject of investigation. An important finding of the study is that since the ground truth sensitivity and specificity is not known, the comparability between results arising from different strategies in data reconstruction and/or tracking becomes implausible to understand.

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In soccer, dead-ball moves are those in which the ball is returned to play from a stationary position following an interruption of play. The aim of this study was to analyse the effectiveness of one such dead-ball move, namely corner kicks, and to identify the key variables that determine the success of a shot or header following a corner, thereby enabling a model of successful corner kicks to be proposed. We recorded 554 corner kicks performed during the 2010 World Cup in South Africa and carried out a univariate, bivariate and multivariate analysis of the data. The results indicated that corners were of limited effectiveness in terms of the success of subsequent shots or headers. The analysis also revealed a series of variables that were significantly related to one another, and this enabled us to propose an explanatory model. Although this model had limited explanatory power, it nonetheless helps to understand the execution of corner kicks in practical terms.

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Diplomityön tavoitteena oli tehostaa venttiilipesien koneistuksessa käytettävän monitoimipystysorvin NC - ohjelmointia CAM - ohjelman käyttöönotolla. Tutkimus on osa laajempaa kokonaisuutta liittyen koneistusalihankinnan kehittämiseen ja yrityksen kilpailukyvyn ylläpitoon ja parantamiseen liiketoiminta-alueella, jolla on tällä hetkellä hyvät kasvunäkymät. Tavoite rajattiin yritykseen jo aiemmin hankitun WinCAM - ohjelman päivittämiseen ja hyödyntämiseen monitoimipystysorvin NC - ohjelmoinnissa. Tutkimuksen käytännön tavoitteena oli selvittää CAM - ohjelmoinnin käyttömahdollisuudet, sekä luoda CAM - ohjelmistoon pohjautuva, räätälöity NC - ohjelmointikonsepti pilottikohteeseen. Tutkimuksen kokeellisen osuuden muodostivat tällöin nykyisen tuotannon ongelmakohtien löytäminen, koneen ohjelmointitarpeiden kartoitus,sekä menetelmäkehitys. Tutkimuksen päämääränä oli tuotannon tasolla käytettävä järjestelmä, jolla koneen ohjelmointi olisi mahdollista myös vähemmällä konekohtaisella kokemuksella. Nykyisen toimintatavan ongelmina olivat yhtenäisen NC - ohjelmointikäytännön puute, niin valmiiden ohjelmien käytössä kuin uusienkin ohjelmien tekemisessä. Tähän olivat syynä NC - ohjauksen heikko käytettävyys erityisesti sorvauksen osalta. Nämä tekijät yhdistettynä monitoimityöstökoneessa tarvittavaan koordinaatiston hallintaan vaikeuttivat ohjelmointia. Työntekijäkohtaiset erot NC - ohjelmien käytössä, sekä laadultaan vaihtelevat valuaihiot aiheuttivat tuotannon läpäisyaikaan merkittävää vaihtelua. Siten myös koneen kuormituksen säätely oli vaikeaa. Uuden ohjelmointikonseptin toteutuksessa pidettiin etusijalla hyvää käytettävyyttä, sekä uuden menetelmän aukotonta liittymistä olemassa oleviin tuotantojärjestelmiin. Ohjelmointikonseptin toteutuksessa, osaperheestä haettiin selkeästi parametroitaviksi soveltuvat työvaiheet, jotka voitiin hallita yleiskäyttöisillä aliohjelmilla. Tuotteiden muidengeometrioiden hallintaan laadittiin geometriakirjasto, jota voitiin käyttää tavanomaisen graafisen ohjelmoinnin pohjana. Vanhaa toimintatapaa ja diplomityön aikana kehitettyä CAM - ohjelmointijärjestelmää vertailtiin perustuen NC - ohjelmien tehokkuuteen, jota tarkasteltiin saman työvaiheen työstöaikaan perustuen. Tämän lisäksi tärkeän tuloksen muodostavat myös kvalitatiivisetseikat, jotka liittyvät ohjelmointiympäristön käytettävyyteen. CAM - ohjelmoinnin kehittäminen ja käyttöönotto pilottikohteessa sujui pääosin hyvin ja laaditunsuunnitelman mukaisesti. Aiemmin hankalasti ohjelmoitavat työvaiheet, kuten erilaisten laippatasopintojen ja reikäpiirien ohjelmointi muutettiin makrokäyttöön soveltuviksi. Sorvauksessa ongelmia aiheuttaneen tiivistelilan koneistukseen sovellettiin graafista ohjelmointia. Koko tuotannon mittakaavassa NC - ohjelmoinninosuus oli kuitenkin vähäinen, mistä johtuen koneen tuottavuuteen ei tutkimuksenajanjaksolla voitu vaikuttaa. Sen sijaan tuotannon sujuvuuteen oleellisesti vaikuttavaa työtekijöiden 'hiljaisen tiedon' määrää voitiin vähentää vakioimalla ohjelmointia ja siirtämällä tehokkaiksi havaitut menetelmät ohjelmointijärjestelmään.

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Tämän diplomityön tavoitteena oli löytää Perlos Tools Joensuun tehtaalle sopiva taloudellinen ja läpimenoajaltaan lyhyt ruiskupuristusmuotin valmistusprosessi. Kirjallisuusosiossa tarkastellaan valmistuksen prosessimalleja, esitellään tärkeimmät muotinvalmistuksen menetelmät, sekä nykytilan ja tulevaisuuden haasteet. Lisäksi tarkastellaan muotinvalmistuksen työajan ja kulujen jakaantumista, tärkeimpiä investointilaskelmia, sekä investointien perustelemista simulointien avulla. Tutkimusosiossa simuloidaan erilaisia prosessimalleja, selvitetään valmistusmenetelmienja koneiden vaikutusta muotinvalmistuksen läpimenoaikaan, sekä lasketaan investointien ja valmistuskoneiden vaikutukset takaisinmaksuaikoihin. Simulaation tavoitteena on asiaankuuluvien mallien, sopivien kysymysten sekä prosessimallien kehittämisen kautta tuottaa analysoitua informaatiota päätöksenteon tueksi. Tutkimustulosten perusteella ruiskupuristusmuotin valmistusprosessi on optimoitu. Optimoinnin tuloksena tarkasteltavalla yrityksellä on käytössään taloudellinen ja läpimenoajaltaan lyhyt ruiskupuristusmuotin valmistusprosessi.

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Työn tavoitteena on tutkia mahdollisuutta käyttää laser interferometripohjaista aseman mittausjärjestelmää vesihydraulisessa sylinterissä. Työ liittyy Lappeenrannan teknillisessä yliopistossa kehitetyn rinnakkaisrakenteisen robotin PENTA WH muuttamiseen öljyhydraulisesta vesihydrauliseksi. Öljyhydraulisen prototyypin käyttämä vanha kuularuuviin ja inkrementaaliseen enkooderiin perustuvamittausjärjestelmä ei sovellu vesihydrauliseen robottiin. Työn tavoitteena on esittää vaihtoehtoinen ratkaisu.