Optimal design of 3R manipulators by using classical techniques and simulated annealin

In this paper, the optimum design of 3R manipulators is formulated and solved by using an algebraic formulation of workspace boundary. A manipulator design can be approached as a problem of optimization, in which the objective functions are the size of the manipulator and workspace volume; and the constrains can be given as a prescribed workspace volume. The numerical solution of the optimization problem is investigated by using two different numerical techniques, namely, sequential quadratic programming and simulated annealing. Numerical examples illustrate a design procedure and show the efficiency of the proposed algorithms.

The adjustment from Russia to Finland for corporate repatriates: How the repatriation experience influences readjustment in the workplace

To manage foreign operations, companies must often send their employees on international assignments. Repatriating these expatriates can be difficult because they have been forgotten during their posting, and their new experiences are not utilised. In addition to the possible difficulties in organisational repatriation, the returnee can suffer from readjustment problems after a lengthy stay abroad has changed their habits and even identity. This thesis examines the repatriation experience of Finnish assignees returning from Russia. The purpose of the study is to understand how the repatriation experience influences their readjustment to work in Finland. This experience is influenced by many factors including personal and situational changes, the repatriation process, job and organisational factors, and individual’s motives. The theoretical background of the study is founded on two models of repatriation adjustment. A refined, holistic theoretical framework for the study is created. It describes the formation of the repatriation experience and its importance for readjustment to work and retention. The qualitative research approach is suitable for the thesis which examines the returnees’ personal experiences and feelings: a qualitative case study aims to explain the phenomenon in-depth and comprehensively. The data was collected in summer 2013 through semi-standardised interviews with eight Finnish repatriates. They had returned from Russia within the last two years. The data was analysed by structuring the interview transcripts using template analysis. The results supported earlier literature and suggest that the re-entry remains a challenging phase for both the individual and the company. For some, adjusting to a new job was difficult for various reasons. The repatriates underwent personal change and development and felt it was for the better. Many repatriates criticised the company’s repatriation process upon return. Finding a suitable return job was not clear. Instead, the returnees had to be active in finding a new position. Many assignees had only modest career-related motives regarding the assignment and they had realistic expectations about the return. Therefore they were not extremely surprised or dissatisfied when they were not actively offered positions or support by the company. The significance of motives stood out even more than the theory predicted. As predicted, they are linked to the expectations of employees. Moreover, if the employees are motivated to remain in the company, they can tolerate partly a negative repatriation experience. Despite the complexity of the return and readjustment, the assignment as a whole was seen as a rewarding experience by all participants.

University Image vs. University Identity: Congruence between Expectations and Experience

The aim of this thesis was to examine congruencies between university identity and university images of prospective and current students. Therefore, factors essentially influencing on expected and experienced university images were identified. Providing an understanding on the differences in the formation of both concepts allowed the analysis of potential incongruities between a university’s identity and the perceptions its students hold. The study was conducted in July and August 2013 at Lappeenranta University of Technology by means of a web-based research survey. The sample consisted of 160 international Master’s degree students who were admitted in 2011, 2012 and 2013. Descriptive and multivariate statistical analysis methods were used to process the data. The results of the study indicated statistically significant incongruities between the case university’s identity and its students’ images. Further, the expected and experienced university images showed incongruities to each other. Deviations were additionally detected to be dependent on the students’ home regions. All in all, there is potential for an improvement of the students’ experiences resulting from a low perception of the student’s preparation for future job life.

The grand voyage : the experience, the narrated experience and the experience economy : an analysis of ocean cruisers' travel blogs

Lectio praecursoria, Åbo Akademi University 7 June 2013.

Towards optimal fractionation of lignocellulosic biomass using switchable ionic liquids

En ny familj av reversibla (switchable) joniska vätskor (SIL) innehållande 1,8-diazobicyklo-[5.4.0]-undek-7-en (DBU), en molekyl innehållande en eller flera hydroxyl- grupper (t.ex. glycerol) och en sur gas (CO2, SO2) syntetiserades via en enkel procedur samt karakteriserades. [DBU][karbonat] eller [sulfonat] bildades ur en respektive icke-jonisk blandning av en molekylär, organisk polyol (eller ennan molekyl innehållande en OH-grupp) och en amidinbas under bubblandet av en sur gas. Därtill kunde den joniska vätskan omvandlas tillbaka till sina beståndsdelar med hjälp av att upphetta och/eller bubbla en inert gas såsom kväve genom vätskan. SIL- strukturerna kartlades med bl.a. NMR- och FTIR- spektroskopi. Omvandlingen från lågpolära (molekylära) vätskor till högpolära joniska vätskor (SIL) bekräftades även genom att observera förändringar i deras fysikaliska egenskaper, såsom viskositet och färg. Nedbrytningstemperaturerna hos SILs bestämdes med hjälp av termogravimetrisk analys (TGA) som antydde att nedbrytningstemperaturen hos de syntetiserade föreningarna log mellan 50 och 200oC. De nya joniska vätskorna uppvisade högre nedbrytningstemperaturer jämfört med i litteraturen tidigare förekommande exempel och kunde därför tillämpas på flera ändamål. Därtill, reversibla (switchable) joniska vätskor uppbyggda av bl.a. alkoholer, antingen hexanol eller butanol, och CO2 samt en amidin (DBU) användes vid upplösning och fraktionering av ved. Joniska vätskor syntetiserade ur glycerol och sura gaser tillsammans med amidiner användes även för fraktionering av andra lignocellulosor såsom färsk björk (Betula pendula). Björkflis utsattes för behandling, för en period på en till fem dagar vid 100oC och under atmosfäriskt tryck. Alla syntetiserade joniska vätskor visade sig vara relativt neutrala i avseende på upplösning och avlägsnandet av lignin. Slutligen, optimala fraktioneringprocessbetingelser för ved med reversibla joniska vätskor kartlades. Fraktionering av vedbiomassa med dessa joniska vätskor uppvisade sig att vara en selektiv och effektiv metod för extraktion av olika komponenter från lignocellulosa. Den olösta fraktionen hos en vedflis, närmast cellulosa, fibrillerades. -------------------------------------------------------------------------------------------------------------------- Tässä työssä kehitettiin perhe uuden tyyppisiä, reversiibeleitä (switchable) ioninesteitä ( SIL ) joka koostuvat orgaanisesta super-emäksestä kuten 1,8- diatsabisyklo [ 5.4.0] undek- 7-eeni (DBU ) ja yhden tai useampia hydroksyyliryhmiä sisältältävästä molekyylistä (esim. glyseroli) ja happamasta kaasusta (CO2 , SO2) yksinkertaisen menetelmän avulla. [DBU] [ karbonaatti] tai [sulfonaatti] syntetisoitiin kunkin lähtöaineen seoksista kuplittamalla seosta happamalla kaasulla jolloin eksoterminen reaktio tapahtui ja ioninen neste syntyi. Ioniset nesteet voitiin palauttaa takaisin lähtöaineseokseksi kuumentamalla ja/tai kuplittamalla neutraalia kaasua (esim. typpi) seoksen läpi. SIL rakenteet määritettiin ja niiden ominaisuudet kartoitettiin eri menetelmillä, mukaan lukien NMR- ja FTIR -spektroskopia. Ionisen, korkeapoläärisen nesteen syntyminen todennettiin myös viskositeettimittauksilla ja värinmuutoksilla käyttäen hyväksi polariteetti-indikaattoria (Nile red). Myös hajoamislämpötilat määritettiin termogravimetrisellä analyysillä (TGA) ja todettiin että syntetisoitujen yhdisteiden hajoamislämpötila oli välillä 50 ja 200oC . Näiden uusien reversiibeleiden ioninesteiden hajoamisämpötilat olivat korkeammat verrattuna kirjallisuudessa aikaisemmin mainittuihin esimerkkeihin joten niitä voidaan soveltaa useisiin tarkoituksiin. Myös ioninesteitä jotka sisälsivät primäärejä alkoholeja rakennusaineina syntetisoitiin ja hyödynnettiin puun fraktioinnissa. Männyn ja kuusen lisäksi tuoreita koivulastuja onnistuttiin fraktioimaan miedoissa olosuhteissa. Kaikkien syntetisoitujen ioninesteiden todettiin olevan suhteellisen neutraaleja ligniinin liuotuksen suhteen. Vielä, optimaaliset fraktiointiolosuhteet määritettiin ryhmälle reversiibeleitä ioninesteitä ja näiden uudenlaisten ioninesteiden todettiin olevan tehokkaita puun ja muiden lignoselluloosien eri fraktioiden liuotuksessa. Liukenematon osa puulastua joka oli lähinnä selluloosaa fibrilloitui.

Excessive functions, Appell polynomials and optimal stopping

The main topic of the thesis is optimal stopping. This is treated in two research articles. In the first article we introduce a new approach to optimal stopping of general strong Markov processes. The approach is based on the representation of excessive functions as expected suprema. We present a variety of examples, in particular, the Novikov-Shiryaev problem for Lévy processes. In the second article on optimal stopping we focus on differentiability of excessive functions of diffusions and apply these results to study the validity of the principle of smooth fit. As an example we discuss optimal stopping of sticky Brownian motion. The third research article offers a survey like discussion on Appell polynomials. The crucial role of Appell polynomials in optimal stopping of Lévy processes was noticed by Novikov and Shiryaev. They described the optimal rule in a large class of problems via these polynomials. We exploit the probabilistic approach to Appell polynomials and show that many classical results are obtained with ease in this framework. In the fourth article we derive a new relationship between the generalized Bernoulli polynomials and the generalized Euler polynomials.

Hallintoelinten tehtävät ja palkitseminen osuustoiminnallisissa organisaatioissa

Tämä kvantitatiivisella tutkimuslomakkeella toteutettu tutkimus pyrki selvittämään, miten hallintoelinten (eri hallintoportaiden välistä) palkitsemisen oikeudenmukaisuutta voitaisiin kehittää. Tutkimus pilkkoutui pienempiin osiin, joissa selvitettiin mitä tehtävät hallintoelimissä käsittävät, mitä työn vaativuus hallintoelimissä käsittää sekä miten hallintohenkilön osaaminen, hallintotyön vaativuus ja hallinnon työskentelyprosessi vaikuttavat hallinnon palkitsemiseen. Tutkielman teoriapohja koostuu tieteellisen keskustelun hallinnon dynamiikkaa ilmentävistä teorioista, ryhmäprosessiteoriasta, työn vaativuuden osa-alueista ja rahallisen palkitsemisen oikeudenmukaisuudesta. Konteksti huomioidaan lain, osuuskunnan sääntöjen ja corporate governance -suositusten myötä. Tutkimuksen perusteella muiden paitsi hallitustehtävien osalta hallintoelinten tehtävät näyttäytyivät hieman epäselvinä hallinnon eri tehtävissä toimiville henkilöille. Puheenjohtajatehtävien osalta puheenjohtajat olivat perillä toiminnastaan kun taas muut hallintoelimet antoivat alempia arvioita puheenjohtajan toiminnan toteutumisesta listan mukaisten tehtävien mukaan. Työn vaativuus olisi tutkimuksen mukaan hyvä toteuttaa kokonaisuutena, mikäli sillä tavoitellaan hallinnon palkkioiden oikeudenmukaisuutta. Vaativuusarvioinnissa on siis hyvä huomioida niin tietotaito, ongelmanratkaisu kuin myös vastuu ja vaikuttavuus. Vaativuusarvioinnin lisäksi hallinnon työskentelyprosessin luonteeseen ja hallintohenkilön osaamiseen on syytä kiinnittää huomiota määritettäessä hallinnon palkkioiden sopivaa tasoa.

Multi-source ingestion of publisher articles - The SCOAP3 repository experience

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

Data Management [in eprints] for arts research: the experience at University of the Arts London

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

Hacking User Experience in a Repository Service: ScholarSphere as a Case Study

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

Big Data Processing in the Cloud: a Hydra/Sufia Experience

Presentation at Open Repositories 2014, Helsinki, Finland, June 9-13, 2014

Experience with molecular and cytogenetic diagnosis of fragile X syndrome in Brazilian families

We report on the cytogenetic and DNA analysis of 55 families with the fragile X (FMR-1 locus) mutation (318 individuals and 15 chorionic villi samples). A total of 129 males were investigated, 54 mentally normal and 75 presenting mental retardation. Among the 54 normal males, 11 had the premutation, and none expressed the fragile site. The full mutation was detected in 73 retarded males, and 14 (18%) presented a premutation along with the full mutation (mosaics). All of them manifested the fragile site. The frequencies of fragile site expression correlated positively with the sizes of the expansion of the CGG repeats (D). Among 153 normal females, 85 were found to be heterozygous for the premutation and 15 had the full mutation. In the premutated females the fragile site was not observed or it occurred at frequencies that did not differ from those observed in 53 noncarriers. Cytogenetic analysis was thus ineffective for the diagnosis of premutated males or females. Among the 51 heterozygotes for the full mutation, 36 (70%) had some degree of mental impairment. As in males, a positive correlation was detected between the frequencies of fragile site manifestation and the size of the expansion. However, the cytogenetic test was less effective for the detection of fully mutated females, than in the case of males, since 14% false negative results were found among females. Segregation analysis confirmed that the risk of mental retardation in the offspring of heterozygotes increases with the length of D. The average observed frequency of mental retardation in the offspring of all heterozygotes was 30%. There was no indication of meiotic drive occurring in female carriers, since the number of individuals who inherited the mutation did not differ from the number of those inheriting the normal allele. No new mutations were detected in the 55 genealogies studied here.