Linn Danielsen Evjemo is one of the PhD-candidates of SFI Manufacturing. In this blog, she takes us along on a journey about additive manufacturing using industrial robots.

My name is Linn Danielsen Evjemo, and I started my PhD work in December 2016. My project is focused on large-scale, robotized additive manufacturing (AM) using industrial robot arms, with a special focus on cold metal transfer welding (CMT). The aim is to combine the large workspace of an industrial robot arm with the flexibility and relative affordability of traditional AM methods.

Early in my PhD I did some preliminary experiments together with PostDoc Signe Moe (also part of SFI Manufacturing), building a simple cup-structure in a viscous glue using a UR-5 robot manipulator, as shown in figure 1A. The cup structure, shown in figure 1B, was built from the bottom-up in a continuous helix-path, which separates this from traditional AM methods that require the build to be done strictly layer-by-layer.

Figure 1A and 1B: Images from proof-of-concept experiment using robot manipulator and an air-pressure driven caulking gun. 

The focus has later been on building metal structures using arc-welding, mostly CMT. These experiments have been done in collaboration with technician Morten Høgseth Danielsen, and later also PhD fellow Geir Langelandsvik, at SINTEF Industry. In the first experiments, a simple box structure was built in a semi-layer-wise manner using aluminum, in order to map the basic challenges related to temperature and material behavior for a continuous build.

Figure 2A and 2B: 2A shows a simulation of the path used to build the aluminum box structure shown in 2B, which has dimensions 12 x 12 cm2. The layer height in the simulation in 2A is not representative of the actual welding process.

​We have later focused on challenges related to intersections within each layer, as well as keeping a build going (close to) continuously. This has been tested both with aluminum and with a nickel alloy (Inconel 625), the latter shown in figure 3B and 3C. As can be expected, it was easier to keep the shape of the structure under control when using a metal with a higher melting point, because this made the structure less likely to distort as the build went along and the temperature rose.

Figure 3A, 3B and 3C: Here we can see the path for the weld in order to avoid actual crossings within each layer, and the final metal structure before and after processing. The dimensions are approximately 16 x 16 cm2.
 
The next step will be to advance to more complex structures, and to try and exploit the freedom in orientation of the robot arm to build structures that could not be built using traditional AM methods.

Eirik Bådsvik Hamre Korsen is one of the PhD-candidates of SFI Manufacturing. In this blog, he introduces us to the world of performance management systems in manufacturing organizations.

I am Eirik, a PhD-student funded by SFI Manufacturing at NTNU, and working at NTNU at Gjøvik. I have been a management consultant within the field of performance management and system implementation before exploring academia. At SFI Manufacturing, I am a part of research area three, innovative and sustainable organizations. In my PhD, I study performance management systems in manufacturing organizations. 
 
Performance management tools
An interesting observation is how organizations are useing different performance management tools in parallel, which all have the same purpose: to implement the organizational strategy. Most organizations have a management reporting system based on a set of key performance indicators, often inspired by, or based on, balanced scorecards. In parallel, they have a quality management system, which is audited and qualified for certification. In additional, they are useing a number of operational or lean tools and techniques.
 
In my PhD, I explore how the organization uses these different tools and techniques, in the light of strategic alignment, the dilemma of difference perspectives between engineers versus business management educated managers, and how this is being influenced by digitalization and IT-systems.
 
I question to what extent these tools contribute to the strategic alignment of the organization. Are any of these tools in conflict with each other or counterproductive? At to what extent are they integrated into each other, or are they living parallel lives?
 
Digitalization
After Kaplan and Johnsen (1987) “Relevance lost”, there has been a debate on how management accounting can be relevant and reflect the organization's operations. One of their explanations is the different educational background of business management and finance versus engineers. To what extent does this dilemma still exists? 
 
The performance management tools are often tightly linked to the organization's IT-systems. A buzz word these days is digitalization, and many ask how this will impact their organizations. I ask how digitalization will influence the performance management systems, and how we manage our organization?

Processes, tools and techniques 
As manufacturing (or any organization) continually needs to improve to survive, I hope to contribute on how we can improve the performance management processes, tools and techniques used in organizations. I believe, by using the right tools to the right purpose in an efficient and effective manner, we can increase the basis for decision making, allocation or priority of resources, and motivation of employees and managers. 
​

​Eirik's contact information 

Etter mange år med utflagging, er det de siste årene blitt flere bedrifter som har tatt produksjonen hjem til Norge igjen. Men hvordan skal man klare å produsere saker og ting i Norge og tjene penger på det, når lønningene fortsatt er en brøkdel i utlandet? Og hvor viktig er det at produksjonen ligger her?

I NRK P2s program Ekko i går var tema «Made in Norway: Hvorfor det?». PhD-stipendiat Henrik Brynthe Lund deltok i en debatt rundt tema «reshoring», med utgangspunkt i forskningen innenfor SFI Manufacturing. De andre deltakerne i debatten var Stein Lier Hansen fra Norsk Industri, og Trygve Hegnar fra Finansavisen.

Hør på det interessante programmet her
​

I am Anna-Maria Persson and I started my PhD at the 1st of February this year. My study is related to the field of mechanical properties of thermoplastic elastomers in injection moulded components. My PhD is a SINTEF Material and Chemistry funded industrial PhD, associated to SFI Manufacturing and admitted by NTNU.

I started my PhD with experimental studies of the elasto-visco-plastic response of a novel but commercialised thermoplastic elastomer prepared by vulcanization (TPV). One significant aspect is sample preparation and geometry (figure 1), and another is handling and treating the experimental data (strain) output. As the experimental methodology in itself is a target for the PhD, a selected few more materials will be studied subsequently.
​

Figure 1A and 1B: Speckle patterns for digital image correlation giving 3D field strain measurements of cyclic compression tests.
​
In parallel, materials models are intended calibrated and verified, primarily for a selection of published material models, including behavioural features of non-linear nature and time-temperature dependency. I am currently immerged in 10-15 years of publications of rubber and elastomer material models. One major challenge is to adequately describe the complex mechanical response with a model also suitable for industrial use. Figure 2 is an example of one characteristic of elastomer mechanical response.

During my PhD, I will have a close dialogue with Kongsberg Automotive's Couplings division to get the valuable industrial view feedback (figure 4). To develop a response on how an integrated, free-geometry elastomer sealing can compete with a conventional o-ring in a demanding application, the material models will be used in simulation of two component injection moulded sealings. After this, the elastomer sealing performance needs to be related to the performance of a conventional rubber sealing (figure 3.)
​

Hi, my name is Signe Moe and I am a postdoctoral fellow at SFI Manufacturing, where I hope that several of my competences acquired during my PhD can be put to good use to ensure more effective production.
 
I graduated with a master’s degree in cybernetics in 2013 and immediately continued on a PhD at NTNU AMOS, Center for Autonomous Marine Operations and Systems, and in 2016 I completed my thesis “Guidance and Control of Robot Manipulators and Autonomous Marine Robots”. Soon thereafter I was officially a part of the SFI Manufacturing researcher team.
 
Set-based control of robotic systems
One of the main contributions of my PhD was the development of a control framework for robotic systems allowing us to define and control set-based tasks. Instead of telling a robot exactly what to do, we define a valid interval of states and ensure that our robot stays within these limits. This results in a system with more option on to perform its tasks, and opens up for a more efficient control structure. Furthermore, the framework is completely general and may therefore be applied to numerous applications.
 
Manufacturing
One possible task that is highly relevant for manufacturing purposes is directional control of robots, something which may be used to decrease operation time and/or energy consumption for instance in autonomous spray painting, welding and cleaning operations.
 
Another highly relevant task for any robotic system is collision avoidance, which is crucial to ensure safe and efficient operations. The set-based control framework may also be applied to this end, where the valid interval of the set-based task is defined as the set of safe distances between the robot and any obstacle.
 
Co-supervising
As part of my postdoctoral fellowship I am a co-supervisor to PhD-candidate Linn Danielsen Evjemo, who will work on 3D-printing by the use of robots. This will enable printing of larger objects in a much more versatile manner, as 3D-printing is currently performed in closed chambers in a strictly layer wise, horizontal routine. Robotic manipulators have a larger range and several additional degrees of freedom with regards to orientation control. Together, Linn and I have run initial, small-scale experiments as a proof of concept, where we used a small manipulator and a caulking gun to print a small cup.
​

Hi, I am Tina and I started my PhD in the fall of 2016. During my PhD, I will characterize the interface in joined materials, first and foremost joined aluminium and steel.

My background is from the nanotechnology study programme at NTNU. During my Master’s thesis work I used transmission electron microscopy (TEM) to study silicon carbide (SiC) from Saint-Gobain in Lillesand. With a transmission electron microscope, I can determine the crystal structure and composition of the investigated material. These characteristics determine the material’s mechanical properties and are thus important from an industrial perspective.
 
The joining of aluminium and steel
The research project that my PhD is a part of focuses on the development of multi-material products that combine desirable properties of the parent materials. First and foremost, the joining of aluminium and steel will be investigated, which is important where the combination of high strength and low weight is essential.

​My role in this project is to use TEM to characterise the interface between aluminium and steel. Several different intermetallic compounds are found here, that influence the properties of the joint. I aim to get a thorough understanding of the interface and to link its characteristics at the microscopic scale back to the properties of the joint on the macroscopic scale.

Collaboration with other PhD candidates 
I will collaborate closely with two other PhD candidates, Siri Marthe Arbo and Muhammad Zeeshan Khalid, who also work on this project. Siri Marthe works on the joining process itself and will provide me with samples for characterisation, while Zeeshan will use some of my data as input and starting parameters to perform simulations.

First months of my PhD
So far, I have been studying a sample made by SINTEF Chemistry and Materials, where aluminium and steel were joined using a cold metal transfer technique. For the next three years I will explore samples made from different aluminium and steel alloys and different joining techniques. I am excited to continue to improve on techniques within TEM and to get new and useful insights into these materials’ characteristics.
 
Thank you for reading and have a happy new year!

Hi, I am Marit and I started my PhD in August 2016. During my PhD, I will focus on life cycle assessments (LCA) as a management tool to facilitate the transition towards a green economy.

My background is a master's degree in nanotechnology with a specialization on materials, energy and industrial ecology. Before starting my PhD, I have been working in SINTEF Raufoss Manufacturing on several research projects concerning sustainability in the industry. My field of expertise is life cycle assessments (LCA) and environmental management. I am truly passionate about the environment and working towards a more sustainable industry really motivates me.

Sustainable development
I believe that new times will lead to new requirements for the companies to operate in a more sustainable manner.  Through the 2030 Agenda for sustainable development, the United Nations has presented five key areas for a sustainable development: people, planet, prosperity, peace and partnership. The plan of action proposed by the UN contains 17 sustainable development goals together with 169 targets. As global actors, several of the goals are relevant for the Norwegian manufacturing industry. Of particular relevance are the goal 9 and 13 that states the need to build resilient infrastructure, promote sustainable industrialization and foster innovation, and to take urgent action to combat climate change and its impacts.

Paris agreement
Through the Paris agreement, the Norwegian government has also committed to contribute to limiting the temperature increase to below 2 degrees, compared to preindustrial time. More specific, Norwegian government has stated a national goal of minimum 40% reduction in greenhouse gases emissions in 2030, compared to 1990 level. These reduction targets will surely affect the Norwegian manufacturing industry in the years to come.

The green shift
My idea is that LCA can be utilized to develop tools, preparing the Norwegian manufacturing industry for the green shift, integrating environmental management into core business activities. My aim is to provide some recommendations for the Norwegian manufacturing industry on how they can use LCA as a management tool to facilitate the transition towards a green economy.

First months of my PhD
My PhD is co-financed by SFI Manufacturing and another research project, SISVI (Sustainable innovation and shared value creation). I started in August, and the fall semester has been used to prepare and plan my work, taking courses and writing and presenting a conference paper on how product communication and digitalization and can be used to promote greener and more sustainable business development. Now I am really looking forward to start planning my case studies together with industry partners after Christmas.

Merry Christmas and a happy new year!
​

Hi, my name is Muhammad Zeeshan Khalid and I am the fourth PhD student that will be working with SFI Manufacturing. During my PhD, I will focus on atomistic modelling of multi-material interfaces.

I did my Master in Applied Physics from University of engineering and technology, Pakistan. During my master, I worked on many different areas and developed extensive knowledge about doing research. My master thesis was based on the mathematical modelling of high temperature thermal energy storage system for solar thermal power plant applications. I also worked on the analytical mathematical methodology to solve partial differential equations to simulate thermal energy storage model.

PhD position
I authored two review articles, which not only shaped my thinking about research fields, but also helped me to develop analytical and scientific writing skills. I also got an opportunity to review papers from renowned journals IEEE Transactions on Sustainable Energy and International Journal of Energy Research. After getting such good experience in research field, I became motivated and enthusiastic to pursue my career in this direction, so I started to look for PhD positions. I applied for a PhD position at NTNU Gjøvik in May 2016, and I got the position and started in October 2016.

Atomistic modelling of multi-material interfaces
My PhD thesis topic is Atomistic modelling of multi-material interfaces. My PhD is part of a large project working on Multi-Material Products and Processes in SFI Manufacturing. Part of this project is experimentally working on the interfacial microstructure and mechanical properties of dissimilar materials in Trondheim. Where they are using high definition microscopic images to study the properties of dissimilar materials using scanning electron microscopy (SEM), transmission electron microscopy (TEM), and HAADF-STEM techniques. PhD candidates involved in this experimental study are Siri Marthe Arbo and Tina Bergh. Experimental input provided by Siri Marthe and/or Tina are used to run DFT calculations to study nanostructure material’s interface properties. I am responsible for the DFT calculations to extrapolate experimental data.

Nanostructure changes mechanism 
The basic motivation of an improved understanding of these nanostructured materials is the need to develop further use of efficient and lightweight technologies for automotive industry, aerospace, aviation, shipbuilding, railway and transportation industries, to not only perform efficiently, but also use less fuel to minimize the consumption cost. My project provides the basic information about the nanostructure changes mechanism during the welding of dissimilar materials to help experimentalist to improve their welding methodologies. My initial plan is to study the interfaces of aluminum and steel using density functional theory approach by developing atomistic model using the transmission electron microscopy (TEM) images.

1st month of my PhD
During my 1st month of my PhD, I worked on my PhD project description and read a lot of literature. I also met with some of the good researchers in my field, who gave me some important insights and ideas to develop my understanding. Therefore, I am hopeful, the next three years of my PhD will be very productive and useful. I am really excited and looking forward to the next three learning years as a PhD candidate.
​

Hi, my name is Henrik Brynthe Lund and I am the third PhD student that will be working with SFI Manufacturing. During my PhD, I will focus on industrial networks, learning systems and cluster development. 

I finished my combined geography and teacher master’s degree at the Department of Geography at NTNU in the spring of 2014. The topic of my master thesis was urban development and how economic and political processes’ influenced a property development project in my home town Moss, in Østfold county.

Just after finishing my master’s my daughter was born, and together with my fiancé I moved to Rindal, in Møre og Romsdal, to work as a teacher. After teaching a vast array of subjects, not one of them geography, in primary and lower secondary school for two years I applied for a PhD position at the Department of Geography in January 2016. I eventually got the position and started in mid-august.

Research area 3
The topic of my PhD thesis is industrial networks, learning systems, and cluster development. I am a part of the team working within the research area Innovative and sustainable organizations, where the Department of Geography is contributing to a work package titled Smart, dynamic and innovative cluster.
 
At the heart of innovation lies knowledge, which by many scholars has been deemed the most important factor in innovation. In the face of technological change within the manufacturing industry, e.g. adapting to Industry 4.0 and smart technology, firms are forced to improve their knowledge bases in all levels of manufacturing, from the floor up.

Industrial clusters
In my PhD project I will look at how the industrial clusters at Raufoss and Kongsberg plan to cope with the challenges posed by technological change, and how they work with actors on all levels, from local to global, to appropriate the knowledge needed in order to stay competitive and innovative.

​Initially I plan to study the future role of skilled, vocationally trained workers in the manufacturing industry, and how actors both inside and outside the clusters approach the issue of retraining skilled workers in order to meet new knowledge demands posed by emerging technology.  

First month as PhD candidate
The first month of my candidacy has been filled with new experiences and a steep learning curve. I have read a lot of literature within my field of interest, and the list of things that I do not know is getting longer and longer.
​
I have been introduced to a lot of new people, both at the Department of Geography and SINTEF, all of whom have met with sincere interest for me as a person and for my project. I am really looking forward to the next three years as a PhD candidate and I cannot wait to get into the field and do some research.

Mathias Hauan Arbo's PhD started in the fall of 2015 and focuses on robotic assembly and sensor fusion. Below Mathias will describe a Tuesday in his life as PhD candidate in SFI Manufacturing.

Shower. Breakfast. Brisk walk. Card, key, computer. And finally the much wanted cup of coffee. Tuesday mornings are the beginning of the work week that Monday wasn’t, as I usually try to let Mondays have emails and administrative tasks. After a brief coffee deliberation with my officemates, an email ticks in from IEEE. Every Tuesday morning, I get an update on last weeks published papers on industrial robotics and force control.

Not all are relevant, nor are all good, but sometimes an interesting paper comes along that shines through. And as I haven’t been doing research for long, it is important to try to establish an overview of the field, and where the good work is done. The next hour I go through the articles, saving those of interest and adding them to my Mendeley archive with short keywords so that they can be easily found later if needed.

Courses at NTNU
This semester I had 2 PhD courses and a self-study course. The two courses I had were TK8103: Advanced Nonlinear Systems and TK8102: Nonlinear State Estimation. In both courses we were to write a conference article. This semester essentially became a crash-course in academic writing and working.

In TK8102 I looked at the stability of a recently developed speed observer and a classic trajectory tracking controller for a robot. And in TK8103 I compared the previous observer-controller system to a “dynamic” trajectory tracking controller. We recently completed our presentations for the subjects, and got feedback as to what should be fixed. And I start working on that.
 
I get a tap on the shoulder “Lunch?”, the sun is shining and the weather is nice, we gather our troops and pass by the cafeteria to pick up some food before sitting outside in the sunshine. After a while we return to work and I continue where I left off. A typical Tuesday is reading, writing, coding and debugging. With some coffee and lunch breaks sprinkled on top.