top of page
  • Writer's picture

Tuomo Kivelä and his DSII Journey

Tuomo Kivelä has proudly carried the title of the first DSII graduate last December with his doctoral dissertation "Increasing the Automation Level of Serial Robotic Manipulators with Optimal Design and Collision-free Path Control". The dissertation explores the structural design of serial robotic manipulators and their collision-free path control. The optimal structure of the robotic manipulator, among others, improves the productivity and the efficiency of the machine. Sophisticated control solutions for heavy-duty machines based on a digital tunnel environment, enables multiple machines working in the same workspace.

During the interview with Tuomo, he shared that his overall feelings about DSII are very positive. "I truly believe that DSII helped me to push towards doctoral degree and without DSII the journey would have been much more difficult. I also enjoy working with Sandvik. The supervisors and the staff of the Sandvik were willing to give advice and guidance, whenever I need it. I look forward to working with Sandvik."

It is important to note that Tuomo Kivelä has shown exceptional advancement in creating patent applications and publishing scientific papers during his DSII journey.

- Two patent applications, one patent application filed and another in drafting phase (Neither of these are public yet).

- Four published publications and the dissertation during the DSII.

a. Kivelä, T, Mattila, J & Puura, J 2017, 'A generic method to optimize a redundant serial robotic manipulator's structure' Automation in Construction, vol 81, pp. 172-179. DOI: 10.1016/j.autcon.2017.06.006 (Journal) (

b. Kivelä, T, Mattila, J, Puura, J & Launis, S 2017, Redundant robotic manipulator path planning for real-time obstacle and self-collision avoidance. in C Ferraresi & G Quaglia (eds), Advances in Service and Industrial Robotics: Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017. Mechanisms and Machine Science, vol. 49, Springer International Publishing, pp. 208-216, International Conference on Robotics in Alpe-Adria Danube Region, 1 January. DOI: 10.1007/978-3-319-61276-8_24 (Conference) (

c. Kivelä, T, Mattila, J, Puura, J & Launis, S 2017, On-line Path Planning with Collision Avoidance for Coordinate-Controlled Robotic Manipulators. in ASME/Bath 2017 Fluid Power and Motion Control, FPMC2017., FPMC2017-4297, ASME, ASME/BATH Symposium on Fluid Power and Motion Control, United Kingdom, 1 January. DOI: 10.1115/FPMC2017-4297 (Conference) (

d. Kivelä, T, Mustalahti, P & Mattila, J 2017, “Real-time distance query and collision avoidance for point clouds with heavy-duty redundant manipulator,” in 2017 IEEE 8th International Conference on Cybernetics and Intelligent Systems (CIS) and IEEE Conference on Robotics, Automation and Mechatronics (RAM), Nov 2017, pp. 1 – 6. (Conference)

e. Kivelä, T 2017, Increasing the Automation Level of Serial Robotic Manipulators with Optimal Design and Collision-free Path Control. Tampere University of Technology. Publication, vol. 1509, Tampere University of Technology. (Doctoral Thesis) (

Redundant Robotic Manipulator Path Planning for Real-Time Obstacle and Self-Collision Avoidance. This paper presents a method to generate joint trajectories for a redundant manipulator. The control system of the manipulator determines the joint references so that the goal pose can be reached with

At the moment, DSII graduate has joined Sandvik’s research and technology department in Tampere, January 1st 2018, where he, among other topics, continues the work with the topics of his dissertation by co-operating with productization department. He is eager to continue research and development work with digital revolution towards fully automated mines.

In DSII, one thing is that you get in touch with real problems that need to solved.

To sum up Tuomo's experience with Docstoral School of Industry Innovation, he shared: "I think that the overall concept of the DSII is superior. One thing is that you get in touch with real problems that need to solved. This increases the motivation to find suitable solutions to the problems on hands. Another thing is that you get immediate feedback whether the solutions you came up with is suitable for real use or not. And the best feedback for the researcher is to see that your solutions are changing the way to do things."

bottom of page