Thesis (PhD)--Stellenbosch University, 2015. / ENGLISH ABSTRACT: In order to facilitate the creation of complex and robust RSFQ digital logic circuits an extensive library of electronic design automation (EDA) tools is a necessity. It is the aim of this work to introduce various methods to improve the current state of EDA in RSFQ circuit design. Firstly, Monte Carlo methods such as Latin Hypercube sampling and Sobol sequences are applied for their variance reduction abilities in approximating circuit yield. In addition, artificial neural networks are also investigated for their applicability in modeling the parameter-yield space. Secondly, a novel technique for circuit functional testing using automated state machine extraction is presented, which greatly simplifies the logical verification of a circuit. This method is also used, along with critical timing extraction, to automatically generate Hardware Description Language(HDL) models which can be used for high level circuit design. Lastly, the Greedy Local search, Simulated Annealing and Genetic Algorithm meta-heuristics were statistically compared in a novel manner using a yield model provided by artificial neural networks. This is done to ascertain their performance in optimising RSFQ circuits in relation to yield. The variance reduction techniques of Latin Hypercube Sampling and Sobol sequences were shown to be beneficial for the use with RSFQ circuits. For optimisation purposes the use of Simulated Annealing and Genetic Algorithms were shown to improve circuit optimisation for possible multi-modal search spaces. An HDL model is also successfully generated from a complex RSFQ circuit for use in high level circuit design which includes critical timing and propagation latency. All the techniques presented in this study form part of a software library that can be further refined and extended in future work.

Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: The design of steel structures needs to incorporate some optimisation procedure that evolves the initial design into a more economic nal design, where this nal design must still satisfy all the initial design criteria. A candidate optimisation technique suggested by this research is the genetic algorithm. The genetic algorithm (GA) is an optimisation technique that was inspired by evolutionary principles, such as the survival of the ttest (also known as natural selection). The GA operates by generating a population of individuals which 'compete' with one another in order to survive, or di erently stated, in order to make it into the next generation. Each individual presents a solution to the problem. Surviving solutions which propagate through to the next generation are typically 'better' or ' tter' than the ones that had died o , hence suggesting a process of optimisation. This process continues until a de ned convergence criteria is met (e.g. speci ed maximum number of generations is reached), where after the best individual in the population serves as the ultimate solution to the problem. This study thoroughly investigates the inner workings that drive the algorithm, after which an algorithm is presented to face the challenges of structural optimisation. This algorithm will be concerned only with sizing optimisation; geometry, topology and shape optimisation is outside the scope of this research. The objective of this optimising problem will be to minimise the weight of the structure, it is assumed that the weight is inversely propotional to the cost of the structure. The motive behind using a genetic algorithm in this study is largely due to its ability to handle discrete search spaces; classical search methods are typically limited to some form of gradient search technique for which the search space must be continuous. The algorithm is also preferred due to its ability to e ciently search through vast search spaces, which is typically the case for a structural optimisation problem. The genetic algorithm's performance will be examined through the use of bench-marking problems. Benchmarking is done for both planar and space trusses; the 10 - and 25 bar truss problems. Such problems are typically analysed with stress and displacement constraints. After the performance of the algorithm is validated, the study commences towards solving real life practical problems. The rst step towards solving such problems would be to investigate the 160 bar truss benchmarking problem. This problem will be slightly adapted by applying South African design standards to the design, SANS (2005). This approach is more realistic, when compared to simply specifying stress and displacement constraints due to the fact that an element cannot simply be assigned the same stress constraint for tension and compression; slenderness and buckling e ects need to be taken into account. For this case, the search space will no longer simply be some sample search space, but will consist of real sections taken from the Southern African Steel Construction Handbook, SAISC (2008). Finally, the research will investigate what is needed to optimise a proper real life structure, the Eskom Self-Supporting Suspension 518H Tower. It will address a wide variety of topics, such as modelling the structure as realistically as possible, to investigating key aspects that might make the problem di erent from standard benchmarking problems and what kind of steps can be taken to over-come possible issues and errors. The algorithm runs in parallel with a nite element method program, provided by Dr G.C. van Rooyen, which analyses the solutions obtained from the algorithm and ensures structural feasibility. / AFRIKAANSE OPSOMMING: Die ontwerp van staal strukture moet 'n sekere optimalisasie proses in sluit wat die aanvanklike ontwerp ontwikkel na 'n meer ekonomiese nale ontwerp, terwyl die nuwe ontwerp nog steeds aan al die aanvanklike ontwerp kriteria voldoen. 'n Kandidaat optimeringstegniek wat voorgestel word deur hierdie navorsing is die genetiese algoritme. Die genetiese algoritme (GA) is 'n optimaliserings tegniek wat ge- ïnspireer was deur evolusionêre beginsels soos die oorlewing van die sterkste (ook bekend as natuurlike seleksie). Dit werk deur die skep van 'n bevolking van individue wat 'kompeteer' met mekaar om dit te maak na die volgende generasie. Elke individu bied 'n oplossing vir die probleem. Oorlewende oplossings wat voortplant deur middel van die volgende generasie is tipies 'beter' of ' kser' as die individue wat uitgesterf het, dus word 'n proses van optimalisering word saamgestel. Hierdie proses gaan voort totdat 'n bepaalde konvergensie kriteria voldoen is (bv. 'n gespesi seerde aantal generasies), waar na die beste individu in die bevolking dien as die uiteindelike oplossing vir die probleem. Hierdie studie ondersoek die genetiese algoritme, waarna 'n algoritme aangebied word om die uitdagings van strukturele optimalisering aan te spreek. Hierdie algoritme het alleenlik te doen met snit optimalisering; meetkunde, topologie en vorm optimalisering is buite die bestek van hierdie navorsing. Die motief agter die gebruik van 'n genetiese algoritme in hierdie studie is grootliks te danke aan sy vermoë om diskrete soek ruimtes te hanteer; klassieke soek metodes word gewoonlik beperk tot 'n vorm van 'n helling tegniek waarvoor die soektog ruimte deurlopende moet wees. Die algoritme is ook gekies as gevolg van sy vermoë om doeltre end deur groot soektog ruimtes te soek, wat gewoonlik die geval vir 'n strukturele probleem met optimering is. Die genetiese algoritme se prestasie sal ondersoek word deur die gebruik van standaarde toetse. Standarde toetse word gedoen vir beide vlak en ruimte kappe, die 10 - en 25 element vakwerk. Sulke probleme word tipies met spanning en verplasing beperkings ontleed. Na a oop van die bekragtiging van die algoritme, word praktiese probleme hanteer. Die eerste stap in die rigting sou wees om die 160 element vakwerk toets probleem te ondersoek. Hierdie probleem sal e ens aangepas word deur die toepassing van die Suid-Afrikaanse ontwerp standaarde, SANS (2005) aan die ontwerp. Dit is 'n meer realistiese benadering in vergelyking met net gespesi seerde spanning en verplasing beperkings as gevolg van die feit dat 'n element nie net eenvoudig dieselfde spanning beperking vir spanning en druk toegeken kan word nie; slankheid en knik e ekte moet ook in ag geneem word. In hierdie geval sal die soek ruimte nie meer net meer eenvoudig 'n sekere teoretiese soek ruimte wees nie, maar sal bestaan uit ware snitte wat uit die Suid Afrikaanse Konstruksie Handboek kom, SAISC (2008). Ten slotte sal die navorsing ondersoek instel na 'n standaard Eskom Transmissie toring en dit sal 'n wye verskeidenheid van onderwerpe aanspreek, soos om die modellering van die struktuur so realisties as moontlik te maak, tot die ondersoek van sleutelaspekte wat die probleem verskillend van standaard toets probleme maak en ook watter soort stappe geneem kan word om moontlike probleme te oor-kom. Die algoritme werk in parallel met 'n eindige element metode program, wat deur Dr GC van Rooyen verskaf is, wat die oplossings ontleed van die algoritme en verseker dat die struktuur lewensvatbaar is.

Envisioned in the next 15 to 30 years in the aviation industry, hybrid-electric propulsion offers theopportunity to integrate new technology bricks providing additional degrees of freedom to improveoverall aircraft performance, limit the use of non-renewable fossil resources and reduce the aircraftenvironmental footprint. Today, hybrid-electric technology has mainly been applied to groundbased transports, cars, buses and trains, but also ships. The feasibility in the air industry has to beestablished and the improvement in aircraft performance has still to be demonstrated. This thesisaims to evaluate the energy savings enabled by electric power in the case of a 70-seat regionalaircraft. First, energy saving opportunities are identified from the analysis of the propulsion andaerodynamic efficiencies of a conventional twin turboprop aircraft. The potential benefits comingfrom the variation of the size of prime movers and the new power managements with the use ofbatteries are studied. Also, possible aerodynamic improvements enabled by new propellerintegrations are considered. For each topic, simplified analyses provide estimated potential ofenergy saving. These results are then used to select four electrified propulsion systems that arestudied in more detail in the thesis: a parallel-hybrid, a turboelectric with distributed propulsion, apartial-turboelectric with high-lift propellers and an all-electric. Evaluating the selected hybrid-electric aircraft is even more challenging that the sizing of the different components, the energymanagement strategies and the mission profiles one can imagine are many and varied. Inaddition, the overall aircraft design process and the evaluation tools need to be adaptedaccordingly. The Airbus in-house Multidisciplinary Design Optimisation platform named XMDO,which includes most of the required modifications, is eventually selected and further developedduring the thesis. For examples, new parametric component models (blown wing, electrical motor,gas turbine, propeller, etc…) are created, a generic formulation for solving the propulsion systemequilibrium is implemented, and simulation models for take-off and landing are improved. In orderto evaluate the energy efficiency of the hybrid-electric aircraft, a reference aircraft equipped with aconventional propulsion system is first optimised with XMDO. Different optimisation algorithms aretested, and the consistency of the new design method is checked. Then, all the hybrid-electricconfigurations are optimised under the same aircraft design requirements as the reference. Forthe electrical components, two levels of technology are defined regarding the service entry date ofthe aircraft. The optimisation results for the turboelectric and the partial-turboelectric are used tobetter understand the potential aerodynamic improvements identified in the first part of the thesis.Optimisations for the parallel-hybrid, including different battery recharge scenarios, highlight thebest energy management strategies when batteries are used as secondary energy sources. All theresults are finally compared to the reference in terms of fuel and energy efficiencies, for the twoelectrical technology levels. The last part of the thesis focuses on the all-electric aircraft, and aimsat identifying the minimum specific energy required for batteries as a function of the aircraft designrange. A trade study is also carried-out in accordance with the service entry date for the otherelectrical components

One of the main advantages of the Gantry-Tau machine is a large accessible workspace\footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio further by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. In this Thesis some of the features of the Gantry-Tau structure are described and results are presented from the analysis of the kinematic, elastostatic and elastodynamic properties of the PKM. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the machine are still difficult to calculate and this thesis introduces a multi-objective optimisation scheme based on the geometric approach for the workspace area, unreachable area, joint angle limitations and link collisions as well as the functional dependencies of the elements of the static matrix and the Laplace transform to define the first resonance frequency and Cartesian and torsional stiffness. The method to calculate the first resonance frequency assumes that each link and universal joint can be described by a mass-springdamper model and calculates the transfer function from a Cartesian (TCP) force or torque to Cartesian position or orientation. The geometric methods involve the simple geometric shapes (spheres, circles, segments, etc) and vectors. The functional dependencies are based on the properties between the kinematic parameters. These approaches are significantly faster than analytical methods based on the inverse kinematics or the general Finite Elements Method (FEM). The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation gives the following features: • Workspace/footprint ratio more than 3.19. • First resonance frequency greater than 48 Hz. • Lowest Cartesian stiffness in the workspace 5N/μm. • The unreachable space in the middle of the workspace is not detected. • No link collisions. The results show that by careful design of the PKM, a collision free workspace without the unreachable area in the middle can be achieved. High stiffness and high first resonance frequency are important parameters for the the Gantry-Tau when used in industrial applications, such as cutting, milling and drilling of steel or aluminium and pick-and-place operations. These applications require high static and dynamic accuracy in combination with high speed and acceleration. The optimisation parameters are the support frame lengths, actuator positions,endeffector kinematics and the robot’s arm lengths. Because of the fast computational speed of the geometric approaches and computational time saving of the methods based on the functional dependency, they are ideal for inclusion in a design optimisation framework, normally a nonlinear optimisation routine. In this Thesis the evolutionary algorithm based on the complex search method is used to optimise the 3-DOF Gantry-Tau. The existing lab prototype of this machine was assembled and completed at the University of Agder

The growing amount and diversity of functions to be implemented by the current and future embedded applications (like, for example, in automotive electronics) have shown that, in many cases, time-triggered and event-triggered functions have to coexist on the computing nodes and to interact over the communication infrastructure. When time-triggered and event-triggered activities have to share the same processing node, a natural way for the execution support can be provided through a hierarchical scheduler. Similarly, when such heterogeneous applications are mapped over a distributed architecture, the communication infrastructure should allow for message exchange in both time-triggered and event-triggered manner in order to ensure a straightforward interconnection of heterogeneous components. This thesis studies aspects related to the analysis and design optimisation for safety-critical hard real-time applications running on hierarchically scheduled distributed embedded systems. It first provides the basis for the timing analysis of the activities in such a system, by carefully taking into consideration all the interferences that appear at run-time between the processes executed according to different scheduling policies. Moreover, due to the distributed nature of the architecture, message delays are also taken into consideration during the timing analysis. Once the schedulability analysis has been provided, the entire system can be optimised by adjusting its configuration parameters. In our work, the entire optimisation process is directed by the results from the timing analysis, with the goal that in the end the timing constraints of the application are satisfied. The analysis and design methodology proposed in the first part of the thesis is applied next on the particular category of distributed systems that use FlexRay as a communication protocol. We start by providing a schedulability analysis for messages transmitted over a FlexRay bus, and then by proposing a bus access optimisation algorithm that aims at improving the timing properties of the entire system. For all the problems that we investigated, we have carried out extensive experiments in order to measure the efficiency of the proposed solutions. The results have confirmed both the importance of the addressed aspects during system-level design, and the applicability of our techniques for analysing and optimising the studied systems.

The thesis presents research into the understanding and improvement of heat dissipation from friction brakes. The investigations involved two brake types, considered to be the most thermally loaded and therefore most challenging; axle mounted high speed railway and commercial vehicle disc brakes. All three modes of heat transfer (conduction, convection and radiation) and airflow characteristics have been analysed experimentally and theoretically in order to increase the understanding of heat dissipation. Despite the very practical aspects of this research, a 'generic heat transfer approach' was applied, enabling wider engineering applications of the results. Experimental analyses conducted on a specially developed Spin Rig allowed measurements of cooling and airflow characteristics for different designs. Methodologies have been developed to determine thermal contact resistance, heat transfer coefficients, emissivity and aerodynamic (pumping) losses. Established values and relationships compared very favourably with theoretical work. Analytical, FE and CFD analyses were employed to further investigate design variations and perform sensitivity studies. Inertia dynamometer route simulations provided disc temperatures for validation of the overall work. Recommendations have been made for optimising heat dissipation, by proposing practically acceptable and economically viable design solutions. A proposed ventilated disc design efficiency ratio allows large, high speed ventilated disc designs, to be efficiently and accurately evaluated and compared, providing a valuable disc design optimisation tool. The determination of the methodologies, parameters and functions defining cooling characteristics, enable heat dissipation to be predicted confidently and accurately for brakes and other engineering assemblies at early design stages.

One of the main advantages of the Gantry-Tau machine is a large accessible workspace\footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio further by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. In this Thesis some of the features of the Gantry-Tau structure are described and results are presented from the analysis of the kinematic, elastostatic and elastodynamic properties of the PKM. However, the optimal kinematic, elastostatic and elastodynamic design parameters of the machine are still difficult to calculate and this thesis introduces a multi-objective optimisation scheme based on the geometric approach for the workspace area, unreachable area, joint angle limitations and link collisions as well as the functional dependencies of the elements of the static matrix and the Laplace transform to define the first resonance frequency and Cartesian and torsional stiffness. The method to calculate the first resonance frequency assumes that each link and universal joint can be described by a mass-springdamper model and calculates the transfer function from a Cartesian (TCP) force or torque to Cartesian position or orientation. The geometric methods involve the simple geometric shapes (spheres, circles, segments, etc) and vectors. The functional dependencies are based on the properties between the kinematic parameters. These approaches are significantly faster than analytical methods based on the inverse kinematics or the general Finite Elements Method (FEM). The reconfigurable Gantry-Tau kinematic design obtained by multi-objective optimisation gives the following features: • Workspace/footprint ratio more than 3.19. • First resonance frequency greater than 48 Hz. • Lowest Cartesian stiffness in the workspace 5N/μm. • The unreachable space in the middle of the workspace is not detected. • No link collisions. The results show that by careful design of the PKM, a collision free workspace without the unreachable area in the middle can be achieved. High stiffness and high first resonance frequency are important parameters for the the Gantry-Tau when used in industrial applications, such as cutting, milling and drilling of steel or aluminium and pick-and-place operations. These applications require high static and dynamic accuracy in combination with high speed and acceleration. The optimisation parameters are the support frame lengths, actuator positions,endeffector kinematics and the robot’s arm lengths. Because of the fast computational speed of the geometric approaches and computational time saving of the methods based on the functional dependency, they are ideal for inclusion in a design optimisation framework, normally a nonlinear optimisation routine. In this Thesis the evolutionary algorithm based on the complex search method is used to optimise the 3-DOF Gantry-Tau. The existing lab prototype of this machine was assembled and completed at the University of Agder

Thesis (MSc)--Stellenbosch University, 2015. / ENGLISH ABSTRACT: The design optimisation of a linear oscillatory electric generator for application in freepiston Stirling engines is described in this thesis. A basic overview of free-piston Stirling engine technology is given by firstly providing a brief description of the operation of the heat engine. The applications of free-piston Stirling engines in industry are given and the proposed future applications are described. Different types of electrical machine designs from industry and academia are evaluated in a literature study. A classification structure is also proposed based on the magnetic flux variation within the designs. Based on the literature study, a transverse flux, single-phase, moving magnet, tubular topology was chosen for investigation. Athree dimensional finite element simulation was chosen as the most appropriatemethod to model the linear electrical machine. A commercial simulation package was called from a simulation script and the outputs from the finite element simulation were again used to calculate the electrical machine performance parameters using the instantaneous voltageand current values. A sequential quadratic programming algorithm was used to perform optimisation of the machine topologies, with the optimisation variables being dimensional parameters that describe the machine geometry and the goal of the optimisation to minimise the active mass of the machine, while maintaining preset minima for the output power and the efficiency. The machine was optimised for a number of different translator configurations and the different configurations were analysed and compared. It was found that a quasi-Halbach arrangement of the permanent magnets yielded the lowest overall active mass. A comparative study is also presented, where this quasi-Halbach variant is compared to a commercial machine. It was found that the linear machine design with a quasi-Halbach arrangement compares well with the commercial machine. A prototype and test bed was designed and constructed. Due to manufacuring difficulties however, the machine could not be completed in time for testing. / AFRIKAANSE OPSOMMING: Die ontwerpsoptimering van ’n lineêre ossillerende elektriese generator vir toepassing in vrysuier Stirling enjins word beskryf in hierdie tesis. ’n Basiese oorsig van vrysuier Stirling enjin tegnologie word gegee deur eerstens ’n kort beskrywing te gee van die werking van die hitte-enjin. Die aanwending van vrysuier Stirling enjins in industrie word gegee en voorgestelde toekomstige toepassings word beskryf. Verskillende tipes elektriese masjien ontwerpe vanuit die industrie en die akademie word geëvalueer in ’n literatuurstudie. ’n Klassifiseringstruktuur, gebaseer op die magnetiese vloedverandering in die ontwerpe, word ook voorgestel. ’n Transverse vloed, enkelfase, bewegende magneet, tubulêre topologie is gekies vir die ondersoek, gebaseer op die onder andere die literatuurstudie. ’n Drie-dimensionele eindige element simulasie is gekies as die mees geskikte metode om die lineêre elektriese masjien te modelleer. ’n Kommersiële simulasie pakket is deur middel van ’n simulasie skrip geroep en die uitsette vanaf die eindige element simulasie is weer gebruik om die werksverrigtingsparameters van die elektriese masjien te bereken deur gebruik te maak van die oomblikswaardes van die spanning en stroom. ’n Sekwensiële kwadratiese programmering algoritme is gebruik om optimering van die masjien topologieë te doen, met die dimensionele parameters wat die masjien geometrie beskryf as die optimeringsveranderlikes en doel van die optimering om die aktiewe massa van die masjien te minimeer, terwyl die uitsetdrywing en die benuttingsgraad by voorafgestelde minima gehou word. Die masjien is geoptimeer vir verskeie translator konfigurasies en die verskillende konfigurasies is geanaliseer en vergelyk. Dit is bevind dat ’n kwasi-Halbach skikking van die permanente magnete die laagste totale aktiewe massa gelewer het. ’n Vergelykende studie is ook aangebied, waar die kwasi-Halbach variant vergelyk is met ’n kommersiële masjien. Dit is bevind dat die lineêre masjien met die kwasi-Halbach skikking baie goed vergelyk met die kommersiële masjien. ’n Prototiepe masjien en toetsopstelling is ontwerp en aan mekaar gesit. Maar as gevolg van vervaardigbaarheids tekortkominge kon toetse op die prototiepe nie betyds gedoen word nie.

With ever-increasing numbers of engine actuators to calibrate within increasingly stringent emissions legislation, the engine mapping and calibration task of identifying optimal actuator settings is much more difficult. The aim of this research is to evaluate the feasibility and effectiveness of the Multidisciplinary Design Optimisation (MDO) frameworks to optimise the multi-attribute steady state engine calibration optimisation problems. Accordingly, this research is concentrated on two aspects of the steady state engine calibration optimisation: 1) development of a sequential Design of Experiment (DoE) strategy to enhance the steady state engine mapping process, and 2) application of different MDO architectures to optimally calibrate the complex engine applications. The validation of this research is based on two case studies, the mapping and calibration optimisation of a JLR AJ133 Jaguar GDI engine; and calibration optimisation of an EU6 Jaguar passenger car diesel engine. These case studies illustrated that: -The proposed sequential DoE strategy offers a coherent framework for the engine mapping process including Screening, Model Building, and Model Validation sequences. Applying the DoE strategy for the GDI engine case study, the number of required engine test points was reduced by 30 – 50 %. - The MDO optimisation frameworks offer an effective approach for the steady state engine calibration, delivering a considerable fuel economy benefits. For instance, the MDO/ATC calibration solution reduced the fuel consumption over NEDC drive cycle for the GDI engine case study (i.e. with single injection strategy) by 7.11%, and for the diesel engine case study by 2.5%, compared to the benchmark solutions.

With ever-increasing numbers of engine actuators to calibrate within increasingly stringent emissions legislation, the engine mapping and calibration task of identifying optimal actuator settings is much more difficult. The aim of this research is to evaluate the feasibility and effectiveness of the Multidisciplinary Design Optimisation (MDO) frameworks to optimise the multi-attribute steady state engine calibration optimisation problems. Accordingly, this research is concentrated on two aspects of the steady state engine calibration optimisation: 1) development of a sequential Design of Experiment (DoE) strategy to enhance the steady state engine mapping process, and 2) application of different MDO architectures to optimally calibrate the complex engine applications. The validation of this research is based on two case studies, the mapping and calibration optimisation of a JLR AJ133 Jaguar GDI engine; and calibration optimisation of an EU6 Jaguar passenger car diesel engine. These case studies illustrated that: -The proposed sequential DoE strategy offers a coherent framework for the engine mapping process including Screening, Model Building, and Model Validation sequences. Applying the DoE strategy for the GDI engine case study, the number of required engine test points was reduced by 30 – 50 %. - The MDO optimisation frameworks offer an effective approach for the steady state engine calibration, delivering a considerable fuel economy benefits. For instance, the MDO/ATC calibration solution reduced the fuel consumption over NEDC drive cycle for the GDI engine case study (i.e. with single injection strategy) by 7.11%, and for the diesel engine case study by 2.5%, compared to the benchmark solutions. / UK Technology Strategy Board (TSB)