| 1. |
- Andrén, Peter
(author)
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Development and results of the Swedish road deflection tester
- 2006
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Licentiate thesis (other academic/artistic)abstract
- A project to construct a high-speed road deflection tester was initiated in the 1991. A mid-sized truck was used as a carrier for the first prototype. The results were promising and it was decided to build a full-size truck system. The new vehicle, based on a Scania R143 ML, was completed in 1997. The Road Deflection Tester (RDT) is equipped with two arrays of twenty noncontact laser sensors that collects transversal surface profiles at normal traffic speeds. One profile, placed between the wheel axles, constitutes an unloaded case. The other profile, just behind the rear axle of the vehicle, constitutes the loaded case. By subtracting the front cross profile from the corresponding rear one, the "deflection profile" is assessed. The deflection is assumed to vary with the stiffness of the road. In order to produce a large load on the rear wheels the engine was mounted in the back of the vehicle, slightly behind the rear axle. In testing mode the rear axle force is approximately 112 kN, and the front axle force is about 30 kN. An incremental wheel pulse transducer, two force transducers and two accelerometers, an optical speedometer and a gyroscope are also mounted on the RDT. The first test programme was carried out in 1998. Due to the careful choice of test sections, data from these sections still produce the best results. A smaller test programme was carried out in 2001, and a larger one in 2002 when the RDT was taken to England and France for demonstration. Promising results, both on an aggregated scale and for individual test sections, have been obtained. The RDT compares favourably with the Falling Weight Deflectometer. Short histories of road construction and road research give some historical and cultural background to the more recent developments. A more comprehensive history of rolling deflectographs presents all devices found in the literature from the start in the mid-fifties when the California Traveling Deflectograph and Lacroix Deflectograph were constructed, to the latest laser based High-Speed Deflectograph. Many references are given for further reading. The data acquisition hardware on the RDT system consist of sensors, signal converters, signal processing cards, an industrial computer for data communication, and an ordinary PC for operating the equipment and data storage. The software used to evaluate the data is written entirely in Matlab. Many levels of pre-processing make evaluation relatively fast, and the modularised design makes it easy to implement new evaluation algorithms in a clean and efficient way. A literature survey on the deformations of solids under static and moving load is presented in Appendix A. The static case started with Boussinesq in 1885, was much developed in the sixties, but since the eighties only a very limited amount of new results have been published. The moving load case, on the other hand, is still an field of active research and development.
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| 2. |
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| 3. |
- Eriksson, Anders
(author)
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A discrete-event simulation approach to improve efficiency in stump fuel supply chains
- 2014
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Licentiate thesis (other academic/artistic)abstract
- Current concerns about climate change and fossil fuel dependency have intensified interest in renewable energy and increased demand for sustainable alternatives. Softwood tree stumps could be a very interesting renewable fuel assortment. The stump-root system constitutes about 25% of stem volume. In Sweden, stump fuel extraction is not a well-established practice and large resources are currently left in the forest after final felling. The stump fuel supply chain is both challenging and complex due to distance between resource and end-user, bulkiness of the material, initially high moisture and ash content, and number of sub-processes involved. Optimisation of logistics issues within the stump fuel supply chain is crucial to ensure low delivery cost. Carefully planned stump fuel systems can reduce the supply costs and help deliver the fuel at a competitive price. In this thesis, various systems for stump transport and comminution were evaluated, particularly regarding resource use efficiency and cutting of unnecessary costs. Various factors associated with different aspects such as harvest site characteristics, fuel quality, biomass losses and machine performance were also evaluated in terms of their impact on fuel cost. A discrete-event simulation approach was applied. Models for all machines and activities included, from forest to end-user, were developed and programmed using the ExtendSim simulation language. The simulation results showed large variations in system performance and system cost. The cost of different transport and comminution alternatives differed by approximately a factor of two, irrespective of transport distance. The most cost-effective option proved to be crushing stumps on the ground and using a self-loading truck for wood fuel transport. Minimising idle machine capacity was identified as a key factor in achieving a cost-effective system. Moreover, well-planned stump storage was shown to reduce the delivery cost significantly. The most influential parameter for fuel cost was machine productivity. Enabling machines to operate efficiently throughout the whole supply chain is crucial for system economics and can be decisive for stump fuel feasibility.
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| 4. |
- Ashwear, Nasseradeen, 1968-
(author)
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Vibration Frequencies as Status Indicators for Tensegrity Structures
- 2014
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Licentiate thesis (other academic/artistic)abstract
- Applications of vibration structural health monitoring (VHM) techniques are increasing rapidly. This is because of the advances in sensors and instrumentation during the last decades. VHM uses the vibration properties to evaluate many civil structures during the design steps, building steps and service life.The stiffness and frequencies of tensegrity structures are primarily related to the level of pre-stress. The present work investigates the possibilities to use this relation in designing, constructing and evaluating the tensegrity structures.The first part of the present work studies the improvement of current models for resonance frequency simulation of tensegrities by introducing the bending behaviour of all components, and by a one-way coupling between the axial force and the stiffness. From this, both local and global vibration modes are obtained. The resonance frequencies are seen as non-linearly dependent on the pre-stress level in the structure, thereby giving a basis for diagnosis of structural conditions from measured frequencies. The new aspects of tensegrity simulations are shown for simple, plane structures but the basic methods are easily used also for more complex structures.In the second part, the environmental temperature effects on vibration properties of tensegrity structures have been investigated, considering primarily seasonal temperature differences (uniform temperature differences). Changes in dynamic characteristics due to temperature variations were compared with the changes due to decreasing pre-tension in one of the cables. In general, it is shown that the change in structural frequencies made by temperature changes could be equivalent to the change made by damage (slacking). Different combinations of materials used and boundary conditions are also investigated. These are shown to have a significant impact on the pre-stress level and the natural frequencies of the tensegrity structures when the environment temperature is changed.
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| 5. |
- Eriksson, Daniel, 1987-
(author)
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Numerical models for degradation of concrete in hydraulic structures due to long-term contact with water
- 2018
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Licentiate thesis (other academic/artistic)abstract
- The durability of concrete is of major concern in all types of concrete structures where the combined effect of exposure conditions and the type and quality of the concrete material usually determines the rate of degradation. Furthermore, there are synergy effects between different deterioration mechanisms, which means that the combined rate of degradation is higher than the sum of the individual rates of each mechanism. Therefore, to accurately predict the residual service life of existing structures or when designing new structures, it is essential to consider all these aspects. This means that various chemical and physical processes, as well as how these interact, must be taken into account in models aiming to be used for service life predictions.This thesis presents the first part of a research project with the aim to investigate common deterioration mechanisms of concrete in hydraulic structures, and to improve the knowledge how these and other related phenomena can be described using mathematical models. The objective is also to study how different mechanisms interact and to find suitable approaches to account for these interactions in the models. To this end, a literature survey on commonly detected damage in hydraulic structures is presented. In addition, it also addresses in what types of and where in hydraulic structures the various damage types are usually observed. The mathematical models presented in this part of the project are focused on long-term water absorption in air-entrained concrete as well as on freezing of partially saturated air-entrained concrete. Both models are based on a multiphase description of concrete and poromechanics to describe the coupled hygro-thermo-mechanical behaviour. The thesis also presents some of the basic concepts of multiphase modelling of porous media, including discretization of the models using the finite element method (FEM). Furthermore, it covers the simplifications that are usually introduced in the general macroscopic balance equations for mass, energy and linear momentum when modelling cement-based materials.To verify the developed models and to show their capabilities, simulation results are compared with experimental data, in situ measurements and other simulations from the literature. The results indicate that both models perform well and can be used to predict long-term moisture conditions in hydraulic structures as well as freezing-induced strains in partially saturated air-entrained concrete, respectively. Even though no interactions with other deterioration mechanisms are included in the models, the development and use of these have given insights to which parameters that are important to consider in such extensions. Furthermore, based on the insights gained, the complexity of describing the full interactions between several mechanisms in mathematical models is also discussed. It is concluded that models aiming to be used for service life predictions of hydraulic structures in day-to-day engineering work need to be simplified. However, the type of advanced models presented in this thesis can serve as a basis to study which aspects and parameters that are essential to consider in simplified prediction models.
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| 6. |
- Kaphle, Manindra, 1979-
(author)
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Simulations of human movements through temporal discretization and optimization
- 2007
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Licentiate thesis (other academic/artistic)abstract
- Study of physical phenomena by means of mathematical models is common in various branches of engineering and science. In biomechanics, modelling often involves studying human motion by treating the body as a mechanical system made of interconnected rigid links. Robotics deals with similar cases as robots are often designed to imitate human behavior. Modelling human movements is a complicated task and, therefore, requires several simplifications and assumptions. Available computational resources often dictate the nature and the complexity of the models. In spite of all these factors, several meaningful results are still obtained from the simulations. One common problem form encountered in real life is the movement between known initial and final states in a pre-specified time. This presents a problem of dynamic redundancy as several different trajectories are possible to achieve the target state. Movements are mathematically described by differential equations. So modelling a movement involves solving these differential equations, along with optimization to find a cost effective trajectory and forces or moments required for this purpose. In this study, an algorithm developed in Matlab is used to study dynamics of several common human movements. The main underlying idea is based upon temporal finite element discretization, together with optimization. The algorithm can deal with mechanical formulations of varying degrees of complexity and allows precise definitions of initial and target states and constraints. Optimization is carried out using different cost functions related to both kinematic and kinetic variables. Simulations show that generally different optimization criteria give different results. To arrive on a definite conclusion on which criterion is superior over others it is necessary to include more detailed features in the models and incorporate more advanced anatomical and physiological knowledge. Nevertheless, the algorithm and the simplified models present a platform that can be built upon to study more complex and reliable models.
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| 7. |
- Kosterina, Natalia, 1983-
(author)
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Muscular force production during non-isometric contractions: Towards numerical muscle modeling
- 2009
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Licentiate thesis (other academic/artistic)abstract
- The main objective of the study was to investigate skeletal muscle force production during isometric contractions, active muscle stretches and shortenings. The motivation behind this work is to improve the dominant model of muscle contraction force generation based on the theories of Hill. The effect of force modification was observed after concentric and eccentric contractions and also stretch-shortening cycles. It has been shown that this force modification is not related to lengthening/shortening velocity, and the steady-state force after non-isometric contractions can be well described by initial isometric force and mechanical work performed by and on the muscle during length variations. The time constants calculated for isometric force redevelopment appeared to be in certain relations with those for initial isometric force development, an observation which extended our basis for ongoing muscle modeling. The main method of the project consists in two extensive series of experiments on mouse skeletal muscles. Analysis of the first series of experiments, concentric contractions, with an emphasis on the force depression has been presented in Paper 1. Paper 2 is based on contractions with various stretches and shortenings as well as their combination, force modification and its predictor are the quantities of interest. The third part of the project is also based on the second series of experiments. Timing aspects of the force production were calculated there.
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| 8. |
- Wang, Ruoli, 1982-
(author)
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Biomechanical Consequences of Foot and Ankle Injury and Deformity: Kinematics and Muscle Function
- 2009
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Licentiate thesis (other academic/artistic)abstract
- The overall aim of this thesis was to discuss kinematics and muscle function changes due to foot and ankle injury or deformity. The first study aims to characterize gait patterns of subjects with a common lower limb injury, ankle fractures. Using three-dimensional movement analysis with a modified multi-segment foot model, the inter-segment foot kinematics was determined during gait in 18 subjects one year after surgically treated ankle fractures. Gait data were compared to an age- and gender-matched control group and the correlations between functional ankle score and gait parameters were determined. It was observed that even with fairly good clinical results, restricted range of motion at and around the injured area, and less adducted forefoot were found in the injured limb. The second study aims to quantify the effect of subtalar inversion/eversion on the dynamic function of the main ankle dorsi/plantarflexors: gastrocnemius, soleus and tibialis anterior. Induced acceleration analysis was used to compute muscle-induced joint angular and body center of mass accelerations. A three-dimensional subject specific linkage model was configured by gait data and driven by 1 Newton of individual muscle force. The excessive subtalar inversion or eversion was modified by offsetting up to ±20˚ from the normal subtalar angle while other configurations remain unaltered. We confirmed that in the normal gait, muscles generally acted as their anatomical definitions and muscles can create motion in joints, even not spanned by the muscles. The plantarflexors play important roles in body support and forward progression. Excessive subtalar eversion had negative effect on ankle plantarflexion, which may induce a less plantarflexed ankle, less extended knee and more flexed hip after initial contact. This thesis focused on gait kinematics and muscle functions in the foot and ankle area employing both experimental gait and computational simulations. The findings can be regarded as references for evaluating of future patients and for dynamic muscle functions during gait.
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| 9. |
- Dijkstra, Erik J.
(author)
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Constrained Optimization for Prediction of Posture
- 2016
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Licentiate thesis (other academic/artistic)abstract
- The ability to stand still in one place is important in a variety of activities of daily living. For persons with motion disorders, orthopaedic treatment, which changes geometric or biomechanical properties, can improve the individual'sposture and walking ability. Decisions on such treatment require insight in how posture and walking ability are aected, however, despite expectations based on experience, it is never a-priori known how a patient will react to a treatment. As this is very challenging to observe by the naked eye, engineering tools are increasingly employed to support clinical diagnostics and treatment planning. The development of predictive simulations allows for the evaluation of the eect of changed biomechanical parameters on the human biological system behavior and could become a valuable tool in future clinical decision making. In the first paper, we evaluated the use of the Zero Moment Point as a computationally inexpensive tool to obtain the ground reaction forces (GRFs) for normal human gait. The method was applied on ten healthy subjects walking in a motion analysis laboratory and predicted GRFs are evaluated against the simultaneously measured force plate data. Apart from the antero-posterior forces, GRFs are well-predicted and errors fall within the error ranges from other published methods. The computationally inexpensive method evaluated in this study can reasonably well predict the GRFs for normal human gait without using prior knowledge of common gait kinetics. The second manuscript addresses the complications in the creation and analysis of a posture prediction framework. The fmincon optimization function in MATLAB was used in conjunction with a musculoskeletal model in OpenSim. One clear local minimum was found in the form of a symmetric standing posture but perturbation analyses revealed the presence of many other postural congurations, each representing its own unique local minimum in the feasible parameter space. For human postural stance, this can translate to there being many different ways of standing without actually noticing a difference in the efforts required for these poses.
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| 10. |
- Enström, Johanna
(author)
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A Systems View of Advancements in Biomass Supply Chains
- 2022
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Licentiate thesis (other academic/artistic)abstract
- Forest fuel is an important source of energy with potential for increased use in the Nordic countries. Profitable forest operations are dependent on logistics as the forest is a natural resource with varying conditions over widespread areas. In comparison to saw log and pulp wood supply, forest fuel supply has to face challenges like low product value, seasonality and irregularity of customer demand, low bulk density and the need to process the biomass prior to delivery. In order to utilize both the economic potential and societal benefits from replacing fossil-based fuels with renewable forest fuels these challenges must be managed. This requires efficient long distance transports, with changes of transport mode typically required.This thesis examines preconditions necessary for logistic planning to achieve cost and energy efficient long distance transports within supply chains for forest fuel. The thesis has an explorative approach, including both qualitative and quantitative techniques. Paper I provides a review of the development within forestry logistics in Sweden and Finland since the beginning of the century, with focus on transports, terminal usage and storage related aspects. Paper II uses qualitative interviews to deepen the understanding of a specific forest fuel supply chain by focusing on communications and relations between the actors. Paper III is a study of the influence of a terminal before maritime transport of wood chips using simulation. Paper I shows that forestry logistics faces challenges, primarily related to increased variations in field conditions caused by climate change. The importance of terminal storage for the supply of forest products will likely increase as an effect. Also the entrepreneurs interviewed in Paper II stressed the benefits of terminals in the supply chain, e.g. enhanced planning opportunities and a more even workflow over the year. Paper III puts cost for extra terminal handling in relation to storage costs in a port and demonstrates the importance of including variation in logistic planning. The terminal flows were not profitable in the case of a small port. In order to make a well-founded decision gains in other parts of the supply chain must also be considered, even when they are harder to quantify. This deserves attention in future research.
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