Autosimulaattoripeleihin soveltuvan kaksiakselisen liikealustan kehittäminen

Työssä kehitettiin kohtuuhintainen ja suorituskyvyltään riittävä autosimulaattoripelikäyttöön soveltuva liikealusta. Työssä tutustuttiin aluksi markkinoilla oleviin liikealustaratkaisuihin. Työssä selvitettiin myös liikealustaa koskevia turvallisuusmääräyksiä. Kehittäminen alkoi liikealustan vaatimusten määrittelyllä ja kuormituksien simuloinnilla. Runkorakenteet mitoitettiin kestämään simuloituja rasituksia. Liikealustan toimilaitteet valittiin simulointitulosten perusteella. Työssä suunniteltiin myös liikealustan ohjausjärjestelmä. Mekaanisien osien ja voimansiirron mitoittamisen jälkeen suoritettiin osien yksityiskohtainen suunnittelu. Alihankkijat valmistivat osat ja ne koottiin Älykkäiden koneiden laboratoriossa. Järjestelmän kokoamisen jälkeen viritettiin säätäjät ja testattiin liikealustan toimivuutta. Kehitettyä liikealustaa on käytetty muutamissa tapahtumissa. Asetetut tavoitteet saavutettiin ja liikealusta soveltuu kokemuksien perusteella hyvin rata-autosimulaattoripelien kanssa käytettäväksi.

Liikkuvan kenttätyön hallinta etätunnistusta ja paikannusta hyödyntävällä mobiilijärjestelmällä

Liikkuvan kenttätyön työntekijät suorittavat työpäivän aikana työtä useassa eri työkohteessa. Työkohteilla suoritettujen työtehtävien kirjaus tapahtuu usein jälkikäteen ja muistinvaraisesti. Diplomityön tavoitteena on esittää ratkaisu liikkuvan kenttätyön työkirjausten automatisointiin. Tavoitteen mukaisen etätunnistusta ja paikannusta hyödyntävän mobiilijärjestelmän avulla työntekijöiden käsinkirjoitetut ja mahdollisesti puutteelliset työkirjaukset korvataan automaattisilla ja täsmällisillä kirjauksilla. Järjestelmän tavoitteena on vähentää työntekijöiden työkuormaa. Työssä arvioidaan etätunnistuksen hyödyntämistä mobiilisovelluksen käyttöä helpottavana tekniikkana. Parhaimmillaan etätunnistus poistaa kokonaan mobiililaitteen näppäilytarpeen, mutta aiheuttaa osaltaan lisää työtä järjestelmän ylläpitoon. Työn tuloksissa esitetään myös satelliittipaikannuksen todettu tarkkuus ja soveltuvuus liikkuvan kenttätyön tarpeisiin taajama- ja kaupunkialueella. Varsinkin kaupunkialueella satelliittiperustaisen paikkatiedon tehokas hyödyntäminen edellyttää suodatusta ja älykkyyttä paikkatiedon prosessointiin.

Simulating the performance of paper machine control

The topic of this thesis is the simulation of a combination of several control and data assimilation methods, meant to be used for controlling the quality of paper in a paper machine. Paper making is a very complex process and the information obtained from the web is sparse. A paper web scanner can only measure a zig zag path on the web. An assimilation method is needed to process estimates for Machine Direction (MD) and Cross Direction (CD) profiles of the web. Quality control is based on these measurements. There is an increasing need for intelligent methods to assist in data assimilation. The target of this thesis is to study how such intelligent assimilation methods are affecting paper web quality. This work is based on a paper web simulator, which has been developed in the TEKES funded MASI NoTes project. The simulator is a valuable tool in comparing different assimilation methods. The thesis contains the comparison of four different assimilation methods. These data assimilation methods are a first order Bayesian model estimator, an ARMA model based on a higher order Bayesian estimator, a Fourier transform based Kalman filter estimator and a simple block estimator. The last one can be considered to be close to current operational methods. From these methods Bayesian, ARMA and Kalman all seem to have advantages over the commercial one. The Kalman and ARMA estimators seems to be best in overall performance.

Analysis of electricity distribution network operation business models and capitalization of control room functions with DMS

Electricity distribution network operation (NO) models are challenged as they are expected to continue to undergo changes during the coming decades in the fairly developed and regulated Nordic electricity market. Network asset managers are to adapt to competitive technoeconomical business models regarding the operation of increasingly intelligent distribution networks. Factors driving the changes for new business models within network operation include: increased investments in distributed automation (DA), regulative frameworks for annual profit limits and quality through outage cost, increasing end-customer demands, climatic changes and increasing use of data system tools, such as Distribution Management System (DMS). The doctoral thesis addresses the questions a) whether there exist conditions and qualifications for competitive markets within electricity distribution network operation and b) if so, identification of limitations and required business mechanisms. This doctoral thesis aims to provide an analytical business framework, primarily for electric utilities, for evaluation and development purposes of dedicated network operation models to meet future market dynamics within network operation. In the thesis, the generic build-up of a business model has been addressed through the use of the strategicbusiness hierarchy levels of mission, vision and strategy for definition of the strategic direction of the business followed by the planning, management and process execution levels of enterprisestrategy execution. Research questions within electricity distribution network operation are addressed at the specified hierarchy levels. The results of the research represent interdisciplinary findings in the areas of electrical engineering and production economics. The main scientific contributions include further development of the extended transaction cost economics (TCE) for government decisions within electricity networks and validation of the usability of the methodology for the electricity distribution industry. Moreover, DMS benefit evaluations in the thesis based on the outage cost calculations propose theoretical maximum benefits of DMS applications equalling roughly 25% of the annual outage costs and 10% of the respective operative costs in the case electric utility. Hence, the annual measurable theoretical benefits from the use of DMS applications are considerable. The theoretical results in the thesis are generally validated by surveys and questionnaires.

Advanced orbital pipe welding

Since the introduction of automatic orbital welding in pipeline application in 1961, significant improvements have been obtained in orbital pipe welding systems. Requirement of more productive welding systems for pipeline application forces manufacturers to innovate new advanced systems and welding processes for orbital welding method. Various methods have been used to make welding process adaptive, such as visual sensing, passive visual sensing, real-time intelligent control, scan welding technique, multi laser vision sensor, thermal scanning, adaptive image processing, neural network model, machine vision, and optical sensing. Numerous studies are reviewed and discussed in this Master’s thesis and based on a wide range of experiments which already have been accomplished by different researches the vision sensor are reported to be the best choice for adaptive orbital pipe welding system. Also, in this study the most welding processes as well as the most pipe variations welded by orbital welding systems mainly for oil and gas pipeline applications are explained. The welding results show that Gas Metal Arc Welding (GMAW) and its variants like Surface Tension Transfer (STT) and modified short circuit are the most preferred processes in the welding of root pass and can be replaced to the Gas Tungsten Arc Welding (GTAW) in many applications. Furthermore, dual-tandem gas metal arc welding technique is currently considered the most efficient method in the welding of fill pass. Orbital GTAW process mostly is applied for applications ranging from single run welding of thin walled stainless tubes to multi run welding of thick walled pipes. Flux cored arc welding process is faster process with higher deposition rate and recently this process is getting more popular in pipe welding applications. Also, combination of gas metal arc welding and Nd:YAG laser has shown acceptable results in girth welding of land pipelines for oil and gas industry. This Master’s thesis can be implemented as a guideline in welding of pipes and tubes to achieve higher quality and efficiency. Also, this research can be used as a base material for future investigations to supplement present finding.

Public-Private Partnerships: Managing organizational change for acquiring value creative capabilities

The objective of the dissertation is to examine organizational responses of public actors to customer requirements which drive the transformation of value networks and promote public-private partnership in the electricity distribution industry and elderly care sectors. The research bridges the concept of offering to value networks where capabilities can be acquired for novel product concepts. The research contributes to recent literature, re-examining theories on interactions of customer requirements and supply management. A critical realist case study approach is applied to this abductive the research which directs to describe causalities in the analyzed phenomena. The presented evidence is based on three sources, which are in-depth interviews, archival analysis and the Delphi method. Service provision requires awareness on technology and functionalities of offering. Moreover, service provision includes interactions of multiple partners, which suggests the importance of the co-operative orientation of actors. According to the findings,portfolio management has a key role when intelligent solutions are implemented in public service provision because its concepts involve a variety of resources from multiple suppliers. However, emergent networks are not functional if they lack leaders who have access to the customer interface, have power to steer networks and a capability to build offerings. Public procurement policies were recognized to focus on a narrow scope in which price is a key factor in decisions. In the future, the public sector has to implement technology strategies and portfolio management, which mean longterm platform development and commitment to partnerships. On the other hand, the service providers should also be more aware of offerings into which their products will be integrated in the future. This requires making the customer’s voice in product development and co-operation in order to increase the interconnectivity of products.

Kommentti Eka Roivaisen artikkeliin suomalaisten WAIS-III normien arvioinnista

Wechsler Adult Intelligent Scale (WAIS) III.

Suomalaisten WAIS III normien arviointia

Wechsler Adult Intelligent Scale (WAIS) III.

Novel force control methods in a teleoperation system of a hydraulic slider

The objective of the this research project is to develop a novel force control scheme for the teleoperation of a hydraulically driven manipulator, and to implement an ideal transparent mapping between human and machine interaction, and machine and task environment interaction. This master‘s thesis provides a preparatory study for the present research project. The research is limited into a single degree of freedom hydraulic slider with 6-DOF Phantom haptic device. The key contribution of the thesis is to set up the experimental rig including electromechanical haptic device, hydraulic servo and 6-DOF force sensor. The slider is firstly tested as a position servo by using previously developed intelligent switching control algorithm. Subsequently the teleoperated system is set up and the preliminary experiments are carried out. In addition to development of the single DOF experimental set up, methods such as passivity control in teleoperation are reviewed. The thesis also contains review of modeling of the servo slider in particular reference to the servo valve. Markov Chain Monte Carlo method is utilized in developing the robustness of the model in presence of noise.

Sähköauto osana älykästä sähköverkkoa – Ohjaus ja toiminnallisuudet

Tulevaisuudessa sähköverkko kohtaa monia haasteita, kun sähköautot yleistyvät, vaatien suuren tehotarpeen. Uusiutuvan energiantuotannon epävarma huipputehon tuotanto ei välttämättä pysty kattamaan sähköautoista johtuvaa suurta tehopiikkiä, jos suuret määrät ajoneuvoista kytketään yhtä aikaa lataukseen. Jos sähköajoneuvot voidaan ladata ohjatusti, ei välttämättä tarvita lisäenergian tuotantoa kattamaan kasvanutta huipputehon tarvetta. Lisäksi sähköajoneuvojen akut toimivat koko sähköverkolle energiavarastoina, jollaista ei ole ennen ollut. Älykkäällä sähköverkolla voidaan ohjata sähköajoneuvon latausta, mikäli ajoneuvossa on ohjausjärjestelmä ja akkujen varaustilan mittaus. Tässä kandidaatin työssä ohjelmoidaan mittaus- ja ohjauskortti plug-in hybridiautoa varten, jossa on V2G-ominaisuus. Ohjainkortista toteutetaan toimintakuvaus, jonka mukaan se myös ohjelmoidaan. Ohjainkortti mittaa akkujen jännitettä ja virtaa, joista voidaan määrittää akkujen varaustilat. Ohjainkortti lähettää tiedot eteenpäin PC:lle, jolta ohjainkortti saa käskyn toimintatilasta. Mittaustietojen perusteella voidaan seurata mahdollisia vikatilanteita. Kandidaatintyön aikana ohjainkorttia ei ehditty asentamaan ajoneuvoon, mutta laboratoriotestien mukaan voidaan todeta, että ohjainkortti on ohjelmallisesti toimiva. Mittauksissa selvisi, että ohjainkortin mittaustulot eivät olleet tarpeeksi tarkkoja käyttökohteeseen. Todettiin, että ohjainkortti vaatii rakenteellisia muutoksia mittaustuloksien parantamista varten, ennen ohjainkortin käyttöönottoa, mutta kandidaatintyön tavoitteet saavutettiin.

WAIS-III ja sosiaalinen kognitio

Wechsler Adult Intelligent Scale (WAIS) III.

Communicative and Anticipatory Decision-Making Supported by Bayesian Networks

The purpose of this research is to draw up a clear construction of an anticipatory communicative decision-making process and a successful implementation of a Bayesian application that can be used as an anticipatory communicative decision-making support system. This study is a decision-oriented and constructive research project, and it includes examples of simulated situations. As a basis for further methodological discussion about different approaches to management research, in this research, a decision-oriented approach is used, which is based on mathematics and logic, and it is intended to develop problem solving methods. The approach is theoretical and characteristic of normative management science research. Also, the approach of this study is constructive. An essential part of the constructive approach is to tie the problem to its solution with theoretical knowledge. Firstly, the basic definitions and behaviours of an anticipatory management and managerial communication are provided. These descriptions include discussions of the research environment and formed management processes. These issues define and explain the background to further research. Secondly, it is processed to managerial communication and anticipatory decision-making based on preparation, problem solution, and solution search, which are also related to risk management analysis. After that, a solution to the decision-making support application is formed, using four different Bayesian methods, as follows: the Bayesian network, the influence diagram, the qualitative probabilistic network, and the time critical dynamic network. The purpose of the discussion is not to discuss different theories but to explain the theories which are being implemented. Finally, an application of Bayesian networks to the research problem is presented. The usefulness of the prepared model in examining a problem and the represented results of research is shown. The theoretical contribution includes definitions and a model of anticipatory decision-making. The main theoretical contribution of this study has been to develop a process for anticipatory decision-making that includes management with communication, problem-solving, and the improvement of knowledge. The practical contribution includes a Bayesian Decision Support Model, which is based on Bayesian influenced diagrams. The main contributions of this research are two developed processes, one for anticipatory decision-making, and the other to produce a model of a Bayesian network for anticipatory decision-making. In summary, this research contributes to decision-making support by being one of the few publicly available academic descriptions of the anticipatory decision support system, by representing a Bayesian model that is grounded on firm theoretical discussion, by publishing algorithms suitable for decision-making support, and by defining the idea of anticipatory decision-making for a parallel version. Finally, according to the results of research, an analysis of anticipatory management for planned decision-making is presented, which is based on observation of environment, analysis of weak signals, and alternatives to creative problem solving and communication.

Socially Competent Leadership - predictors, impacts and skilling in engineering

Earlier management studies have found a relationship between managerial qualities and subordinate impacts, but the effect of managers‘ social competence on leader perceptions has not been solidly established. To fill the related research gap, the present work embarks on a quantitative empirical effort to identify predictors of successful leadership. In particular, this study investigates relationships between perceived leader behavior and three selfreport instruments used to measure managerial capability: 1) the WOPI Work Personality Inventory, 2) Raven‘s general intelligence scale, and 3) the Emotive Communication Scale (ECS). This work complements previous research by resorting to both self-reports and other-reports: the results acquired from the managerial sample are compared to subordinate perceptions as measured through the ECS other-report and the WOPI360 multi-source appraisal. The quantitative research is comprised of a sample of 8o superiors and 354 subordinates operating in eight Finnish organizations. The strongest predictive value emerged from the ECS self- and other-reports and certain personality dimensions. In contrast, supervisors‘ logical intelligence did not correlate with leadership perceived as socially competent by subordinates. 16 of the superiors rated as most socially competent by their subordinates were selected for case analysis. Their qualitative narratives evidence the role of life history and post-traumatic growth in developing managerial skills. The results contribute to leadership theory in four ways. First, the ECS self-report devised for this research offers a reliable scale for predicting socially competent leader ability. Second, the work identifies dimensions of personality and emotive skills that can be considered predictors of managerial ability and benefited from in leader recruitment and career planning. Third, the Emotive Communication Model delineated on the basis of the empirical data allows for a systematic design and planning of communication and leadership education. Fourth, this workfurthers understanding of personal growth strategies and the role of life history in leader development and training. Finally, this research advances educational leadership by conceptualizing and operationalizing effective managerial communications. The Emotive Communication Model devised directs the pedagogic attention in engineering to assertion, emotional availability and inspiration skills. The proposed methodology addresses classroom management strategies drawing from problem-based learning, student empowerment, collaborative learning, and so-called socially competent teachership founded on teacher immediacy and perceived caring, all constituting strategies moving away from student compliance and teacher modelling. The ultimate educational objective embraces the development of individual engineers and organizational leaders that not only possess traditional analytical and technical expertise and substantive knowledge but are intelligent also creatively, practically, and socially.

Development of a measuring-control system for energy monitoring in low power

In this thesis a control system for an intelligent low voltage energy grid is presented, focusing on the control system created by using a multi-agent approach which makes it versatile and easy to expand according to the future needs. The control system is capable of forecasting the future energy consumption and decisions making on its own without human interaction when countering problems. The control system is a part of the St. Petersburg State Polytechnic University’s smart grid project that aims to create a smart grid for the university’s own use. The concept of the smart grid is interesting also for the consumers as it brings new possibilities to control own energy consumption and to save money. Smart grids makes it possible to monitor the energy consumption in real-time and to change own habits to save money. The intelligent grid also brings possibilities to integrate the renewable energy sources to the global or the local energy production much better than the current systems. Consumers can also sell their extra power to the global grid if they want.