Genetic algorithms are modern algorithms intended to solve optimization problems. Inspiration originates in evolutionary principles in nature. Parallelization of genetic algorithms provides not only faster processing but also new and better solutions. Parallel genetic algorithms are also closer to real nature than their sequential counterparts. This paper describes the most used models of parallelization of genetic algorithms. Moreover, it provides the design and implementation in programming language Python. Finally, the implementation is verified in several test cases.

Manual accuracy in microsurgery is reduced by tremor and limited access. A surgical approach through the middle ear also puts delicate structures at risk, while the surgeon is often working at an unergonomic position. At this point a micromanipulator could have a positive influence. A system was developed to measure “working accuracy”, time and precision during manipulation in the middle ear. 10 ENT- surgeons simulated a perforation of the stapedial footplate on a modified 3D print of a human skull in a mock OR. Each trial was repeated more than 200 times aiming manually and using a micro-manipulator. Data of over 4000 measurements was tested and graphically processed. Work strain was evaluated with a questionnaire. Accuracy for manual and micromanipulator perforation revealed a small difference. Learning curves showed a stronger decrease both in deviation and time when the micromanipulator was used. Also a lower work strain was apparent. The micromanipulator has the potential as an aiding device in ear surgery.:Inhaltsverzeichnis 2 Bibliografische Beschreibung 3 Referat 3 1 Einführung 4 1.1. Mittelohrchirurgie= Mikrochirurgie 4 1.1.1. Stapedotomie- Operationsprinzip 4 1.1.2. Mögliche Komplikationen einer Stapedotomie durch manuelle Manipulation 4 1.2. Chirurgische Genauigkeit 5 1.3. Störfaktoren der Genauigkeit bei einem mittelohrchirurgischen Eingriff 6 1.3.1. Physiologische Limitationen der menschlichen Hand 6 1.3.2. Ergonomie des mittelohrchirurgischen Eingriffs 7 1.3.3. Besondere Bedingungen des mikrochirurgischen Eingriffs 8 1.4. Chirurgische Assistenzsysteme 8 1.5. Ziel der Arbeit 13 2 Publikationsmanuskript 15 3 Zusammenfassung 24 4 Literaturverzeichnis 30 Erklärung über die eigenständige Abfassung der Arbeit 36 Curriculum Vitae 37 Danksagung 39 / Die manuelle Genauigkeit in der Mikrochirurgie wird duch Tremor und limitierten Zugang eingeschränkt. Ein chirurgischer Eingriff am Mittelohr birgt außerdem ein Verletzungspotential für empfindliche anatomische Strukturen. Überdies ist die Sitzposition des Operateurs oft unergonomisch. Ein neuartiger Mikromanipulator kann auf diese Faktoren einen positiven Einfluss haben. Eine spezielle Software wurde entwickelt und Genauigkeit, Zeit und Präzision bei einem Eingriff am Mittelohr zu bestimmen. 10 Kopf- Hals- Chirurgen simulierten die Perforation der Steigbügelfußplatte an einem 3D Modell eines menschlichen Schädels in einem Demonstrations- OP. Jeder Versuch wurde mehr als 200 mal zunächst manuell und später mit Hilfe des Mikromanipulators wiederholt. Die Daten von mehr als 4000 Messversuchen wurden getestet und grafisch dargestellt. Die Arbeitsbelastung wure mittels eines Fragebogens evaluiert. Manuelle und mikromanipulatorgestütze Genauigkeit zeigten einen signifikanten, jedoch ,absolut betrachtet,sehr geringen Unterschied der Genauigkeit. Die Lernkurven zeigten einen steileren Verlauf sowohl im Hinblick auf Genauigkeit als auch Versuchszeit, wenn der Mikromanipulator zur Anwendung kam. Weiterhin war eine geringere Arbeitsbelastung zu erkennen. Der Mikromanipulator birgt Potential als kompaktes Hilfsmittel für die Ohrchirurgie.:Inhaltsverzeichnis 2 Bibliografische Beschreibung 3 Referat 3 1 Einführung 4 1.1. Mittelohrchirurgie= Mikrochirurgie 4 1.1.1. Stapedotomie- Operationsprinzip 4 1.1.2. Mögliche Komplikationen einer Stapedotomie durch manuelle Manipulation 4 1.2. Chirurgische Genauigkeit 5 1.3. Störfaktoren der Genauigkeit bei einem mittelohrchirurgischen Eingriff 6 1.3.1. Physiologische Limitationen der menschlichen Hand 6 1.3.2. Ergonomie des mittelohrchirurgischen Eingriffs 7 1.3.3. Besondere Bedingungen des mikrochirurgischen Eingriffs 8 1.4. Chirurgische Assistenzsysteme 8 1.5. Ziel der Arbeit 13 2 Publikationsmanuskript 15 3 Zusammenfassung 24 4 Literaturverzeichnis 30 Erklärung über die eigenständige Abfassung der Arbeit 36 Curriculum Vitae 37 Danksagung 39

Este trabalho apresenta um estudo qualitativo das equações diferenciais nãolineares que descrevem o sincronismo de fase nos PLLs de 3ª ordem que compõem redes OWMS de topologia mista, Estrela Simples e Cadeia Simples. O objetivo é determinar, através da Teoria de Bifurcações, os valores ou relações entre os parâmetros constitutivos da rede que permitam a existência e a estabilidade do estado síncrono, quando são aplicadas, no oscilador mestre, duas funções de excitação muito comuns na prática: o degrau e a rampa de fase. Na determinação da estabilidade dos pontos de equilíbrio, sob o ponto de vista de Lyapunov, a existência de pontos de equilíbrio não-hiperbólicos não permite uma aproximação linear e, nesses casos, é aplicado o Teorema da Variedade Central. Essa técnica de simplificação de sistemas dinâmicos permite fazer uma aproximação homeomórfica em torno desses pontos, preservando a orientação no espaço de fases e possibilitando determinar localmente suas estabilidades. / This work presents a qualitative study of the non-linear differential equations that describe the synchronous state in 3rd order PLLs that compose One-way masterslave time distribution networks with Single Star and Single Chain topologies. Using bifurcation theory, the dynamical behavior of third-order phase-locked loops employed to extract the syncronous state in each node is analyzed depending on constitutive node parameters when two usual inputs, the step and the ramp phase pertubations, are supposed to appear in the master node. When parameter combinations result in non hyperbolic synchronous states, from Lyapunov point of view, the linear approximation does not provide any information about the local behavior of the system. In this case, the center manifold theorem permits the construction of an equivalent vector field representing the asymptotic behavior of the original system in the neighborhood of these points. Thus, the local stability can be determined.

Neste trabalho, são estudados os problemas de sincronismo de fase nas redes mestre-escravo de via única (OWMS), nas topologias Estrela Simples, Cadeia Simples e mista, através da Teoria Qualitativa de Equações Diferenciais, com ênfase no Teorema da Variedade Central. Através da Teoria das Bifurcações, analisa-se o comportamento dinâmico das malhas de sincronismo de fase (PLL) de segunda ordem que compõem cada rede, frente às variações nos seus parâmetros constitutivos. São utilizadas duas funções de excitação muito comuns na prática: o degrau e a rampa de fase, aplicadas pelo nó mestre. Em cada caso, discute-se a existência e a estabilidade do estado síncrono. A existência de pontos de equilíbrio não-hiperbólicos, não permite uma aproximação linear, e nesses casos é aplicado o Teorema da Variedade Central. Através dessa rigorosa técnica de simplificação de sistemas dinâmicos é possível fazer uma aproximação homeomórfica em torno desses pontos, preservando a orientação no espaço de fases. Desse modo, é possível determinar, localmente, suas estabilidades. / This work presents stability analysis of the syncronous state for three types of one-way master-slave time distribution network topologies: single star, single chain and both of them, mixed. Using bifurcation theory, the dynamical behavior of second-order phase-locked loops employed to extract the syncronous state in each node is analyzed in function of the constitutive parameters. Two usual inputs, the step and the ramp phase pertubations, are supposed to appear in the master node and, in each case, the existence and stability of the syncronous state are studied. For parameter combinations resulting in non hyperbolic synchronous states, the linear approximation does not provide any information, even about the local behaviour of the system. In this case, the center manifold theorem permits the construction of an equivalent vector field representing the asymptotic behaviour of the original system in the neighborhood of these points. Thus, the local stability can be determined.

Neste trabalho, são estudados os problemas de sincronismo de fase nas redes mestre-escravo de via única (OWMS), nas topologias Estrela Simples, Cadeia Simples e mista, através da Teoria Qualitativa de Equações Diferenciais, com ênfase no Teorema da Variedade Central. Através da Teoria das Bifurcações, analisa-se o comportamento dinâmico das malhas de sincronismo de fase (PLL) de segunda ordem que compõem cada rede, frente às variações nos seus parâmetros constitutivos. São utilizadas duas funções de excitação muito comuns na prática: o degrau e a rampa de fase, aplicadas pelo nó mestre. Em cada caso, discute-se a existência e a estabilidade do estado síncrono. A existência de pontos de equilíbrio não-hiperbólicos, não permite uma aproximação linear, e nesses casos é aplicado o Teorema da Variedade Central. Através dessa rigorosa técnica de simplificação de sistemas dinâmicos é possível fazer uma aproximação homeomórfica em torno desses pontos, preservando a orientação no espaço de fases. Desse modo, é possível determinar, localmente, suas estabilidades. / This work presents stability analysis of the syncronous state for three types of one-way master-slave time distribution network topologies: single star, single chain and both of them, mixed. Using bifurcation theory, the dynamical behavior of second-order phase-locked loops employed to extract the syncronous state in each node is analyzed in function of the constitutive parameters. Two usual inputs, the step and the ramp phase pertubations, are supposed to appear in the master node and, in each case, the existence and stability of the syncronous state are studied. For parameter combinations resulting in non hyperbolic synchronous states, the linear approximation does not provide any information, even about the local behaviour of the system. In this case, the center manifold theorem permits the construction of an equivalent vector field representing the asymptotic behaviour of the original system in the neighborhood of these points. Thus, the local stability can be determined.

Submitted by Irene Nascimento (irene.kessia@ufpe.br) on 2017-01-27T17:17:31Z No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) Dissertacao_Erika_1.pdf: 4090096 bytes, checksum: aad3d3481e2a810cc8765c9bade0883b (MD5) / Made available in DSpace on 2017-01-27T17:17:31Z (GMT). No. of bitstreams: 2 license_rdf: 1232 bytes, checksum: 66e71c371cc565284e70f40736c94386 (MD5) Dissertacao_Erika_1.pdf: 4090096 bytes, checksum: aad3d3481e2a810cc8765c9bade0883b (MD5) Previous issue date: 2016-07-29 / FACEPE / Microrrede é um conjunto de geração distribuída e sistemas de armazenamento de energia que abastece a demanda de um grupo de consumidores. A existência de um controle local independente da rede elétrica define uma microrrede, a qual pode se conectar ao sistema tradicional de potência ou desconectar-se e funcionar de forma autônoma a depender das condições físicas e/ou econômicas. O presente trabalho apresenta dois métodos de controle para o paralelismo de inversores em microrredes, o controle por inclinação e o controle mestre-escravo, com o objetivo de realizar um estudo comparativo. Primeiramente, são mostrados os conceitos de geração distribuída, microrredes e paralelismo de inversores. Depois, são apresentados os fundamentos teóricos e as principais características dos controles por inclinação e mestre-escravo. Por fim, é feita uma comparação entre as duas técnicas de controle para que permita definir qual é a melhor. Esta comparação é feita por meio de simulações de uma microrrede, analisando o seu desempenho nas situações conectada à rede elétrica principal, em ilhamento e durante o transitório de desconexão. Também é observado o comportamento de grandezas como corrente, amplitude e frequência da tensão e ainda o compartilhamento de carga entre os inversores. / Microgrid is a set of distributed generation and energy storage systems that supplies the demand of a group of consumers . The existence of a local control, independently of the main grid, defines a microgrid, which can be connected to or disconnected from the traditional power system working autonomously depending on the physical or economic conditions. This work presents two control methods for paralleling inverters in microgrids, droop control and masterslave control, in order to conduct a comparative study between both control techniques. Firstly, the concepts of distributed generation, microgrid and paralleled inverters are shown. Then, it is presented the theoretical fundamentals and main features of droop control and master-slave control. Finally, a comparison is done between both control techniques to allow define the best control technique. This comparison is done by means of simulations of a microrrede, analyzing its performance in the situations connected to the main grid, in islanding and during the disconnection transient. Also, it is observed the quantities behavior such as the current, the voltage amplitude and frequency and also the power shared among the inverters.

Este trabalho apresenta um estudo qualitativo das equações diferenciais nãolineares que descrevem o sincronismo de fase nos PLLs de 3ª ordem que compõem redes OWMS de topologia mista, Estrela Simples e Cadeia Simples. O objetivo é determinar, através da Teoria de Bifurcações, os valores ou relações entre os parâmetros constitutivos da rede que permitam a existência e a estabilidade do estado síncrono, quando são aplicadas, no oscilador mestre, duas funções de excitação muito comuns na prática: o degrau e a rampa de fase. Na determinação da estabilidade dos pontos de equilíbrio, sob o ponto de vista de Lyapunov, a existência de pontos de equilíbrio não-hiperbólicos não permite uma aproximação linear e, nesses casos, é aplicado o Teorema da Variedade Central. Essa técnica de simplificação de sistemas dinâmicos permite fazer uma aproximação homeomórfica em torno desses pontos, preservando a orientação no espaço de fases e possibilitando determinar localmente suas estabilidades. / This work presents a qualitative study of the non-linear differential equations that describe the synchronous state in 3rd order PLLs that compose One-way masterslave time distribution networks with Single Star and Single Chain topologies. Using bifurcation theory, the dynamical behavior of third-order phase-locked loops employed to extract the syncronous state in each node is analyzed depending on constitutive node parameters when two usual inputs, the step and the ramp phase pertubations, are supposed to appear in the master node. When parameter combinations result in non hyperbolic synchronous states, from Lyapunov point of view, the linear approximation does not provide any information about the local behavior of the system. In this case, the center manifold theorem permits the construction of an equivalent vector field representing the asymptotic behavior of the original system in the neighborhood of these points. Thus, the local stability can be determined.

This master's thesis describes a design of horizontal boring mills. The first part is dedicated to description of the various types of these machines and their accessories. There are also described drives and linear guideways. There is a list of plate horizontal boring mills of Czech and foreign producers. The second part of this thesis deals with designing of comlete machine's bed and its slides (X-axis). Casting of the bed and its slides are designed for universal machining to the use of rolling or hydrostatic guideways. The drive of X-axis is also designed and it works in master/slave mode. The final result of this master's thesis is a 3D model of the machine in two variants, with hydrostatic and rolling quideways. Machining drawings of the bed for both variants are attached to this thesis.

The subject of this thesis is design of feed box for axis x of portal milling machine center FRP 300 from production of TOS Kuřim-OS, a.s. Thesis contains recherche in application field of rack and pinion drives for machine tools feed mechanisms, possible design solutions of given task and elaborate of the most appropriate solution. Thesis further includes calculations, 3D model and drawings of selected parts.

Structural shape optimisation is a field that has been studied since early on in the development of finite element methods. The sub-fields of shape and topology optimisation are continuously growing in industry and aim to leverage the benefits of technologies such as 3D printing and additive manufacturing. These fields are also being used to optimise designs to improve quality and reduce cost. Gradient-based optimisation is well understood as an efficient method of obtaining solutions. In order to implement gradient-based optimisation methods in the context of structural shape optimisation, sensitivities describing the change of the domain stiffness are required. To obtain the stiffness sensitivities, mesh deformation sensitivities are required. In this study, a mesh generating method is developed that provides mesh deformation sensitivities. For shape optimisation it is advantageous to employ an optimisation algorithm that allows for the manipulation of CAD geometry. This means that the CAD geometry is finalised upon completion of the optimisation process. This, however, necessitates the calculation of accurate sensitivities associated with non-linear geometries, such as NURBS (those present in CAD), by the mesher. The meshing method developed in this study is analogous to a linear truss system. The system is solved for static equilibrium through a geometrically non-linear finite element analysis using Newton’s method. Sensitivities are made available by Newton’s method for use in generating mesh sensitivities for the system. It is important for the mesher to be able to accurately describe the geometrical domain which approximates the geometry being modelled. To do so, nodes on the boundary may not depart from the boundary. Instead of prescribing all boundary nodes, this mesher frees the boundary nodes to move University of Pretoria ii Department of Mechanical and Aeronautical Engineering along, but not away from the boundary. This is achieved using multipoint constraints since they allow for an analytical relationship between boundary node movement and the boundary. Two multipoint constraint (MPC) methods are investigated for boundary discretisation, namely, the Lagrangian and master-slave elimination methods (MSEM). The MSEM presents several difficulties in obtaining convergence on non-linear boundaries in general when compared to the Lagrangian method. The MSEM has reduced computational requirements for a single Newton step, especially when direct solvers are used. However, when indirect solvers are implemented the time difference between the two MPC methods reduces significantly. For a “medium” curvature geometry the Lagrangian implementation has only a 6% time penalty. The Lagrangian method is selected as the preferred MPC method for implementation in the mesher to avoid the convergence problems associated with the MSEM. This is justified on the basis of reliability outweighing the 6% time penalty for what is intended to be a tool in the shape optimisation process. Analytical sensitivities are obtained for the truss system in order to account for the MPC boundaries. The analytical mesh sensitivities are proven to be accurate through comparison with numerical sensitivities. The method is demonstrated to be able to accurately described the mesh deformation throughout the domain for both uniform and non-uniform meshes in the presence of non-linear boundaries. / Dissertation (MEng)--University of Pretoria, 2020. / Mechanical and Aeronautical Engineering / MEng (Mech) / Unrestricted