High speed cornering of an off-road vehicle poses considerable challenges to the development of an autonomous vehicle due to the non-linear dynamics of the tyre road interface as well as those of the vehicle as a whole during high lateral accelerations. Most driver models are developed for low speed applications using linear control methods under the assumption of linear vehicle dy- namics. The dynamics of a vehicle however become highly non-linear as the lateral acceleration increases, thus rendering these linear models unusable during high speed manoeuvres. In this study, two robust driver models for use in an autonomous vehicle capable of path following at both low and high speeds are presented. Both models make use of the relationship between the yaw acceleration and steering rate to control the yaw angle of the vehicle. The first driver model is derived from the simulation of a full non-linear vehicle model in ADAMS. The Magic Tyre Formula is used to model the relationship between the vehicle's yaw acceleration and steer rate as a function of vehicle speed. The second driver model is a mathematical model which incorporates a form of sliding control. The model includes the lateral tyre dynamics as modelled by the Pacejka '89 tyre model. Both driver models are coupled with a gain scheduling proportional derivative controller to reduce the cross-track error. The two driver models were implemented on a Land Rover Defender and experimentally validated by performing a double lane change manoeuvre at speeds up to 80km/h. The vehicle remained stable even though the lateral accelerations experienced were 80% of the vehicle limits. The result is a robust controller capable of path following at various speeds and at high lateral accelerations. Copyright / Dissertation (MEng)--University of Pretoria, 2011. / Mechanical and Aeronautical Engineering / Unrestricted

This thesis explores the use of active inductors as a compact alternative to the bulky passive spiral structures in high-speed I/O circuits. A newly proposed PMOS-based topology is introduced and used in active-inductor terminations. The 1st prototype design fabricated in a 90-nm CMOS process consists of an output driver using active-inductor terminations to provide channel equalization and output impedance matching. From measurement results, the use of active inductors in the termination, as compared to when the active inductor is disabled, increases the vertical eye opening in the receiver side by a factor of two and reduces the jitterp-p by 30% of the transmitted 10 Gb/s (2³¹-1) pseudo-random binary sequence pattern, over a 6-inch FR4 channel. An output impedance matching with S₂₂ less than -10 dB over a bandwidth of 20 GHz is achieved. The pair of active-inductor terminations occupies 17×25 µm² and has a low overhead power consumption of 0.8 mW. In the 2nd prototype design, a 4-stage output buffer with active-inductor loads is designed and implemented in a 65-nm CMOS process. Simulation results verify that when operating at 31.25 Gb/s, the output eye of the active-inductor load buffer compares favorably with that of the passive-inductor load buffer. For a similar eye-height and 78% less timing jitter the active-inductor load design’s speed (31.25 Gb/s) is 25% faster than the passive-resistor load design (25 Gb/s). The active-inductor load output buffer achieves comparable performance in terms of speed, power, and output swing with other reported designs using passive inductors. Its total area is 135×30 µm² (including three differential active inductors) which is comparable to the size of a single passive spiral inductor having a 0.5~1 nH inductance. / Applied Science, Faculty of / Electrical and Computer Engineering, Department of / Graduate

Hot strip mills (HSM) are used to roll cast slabs down from their initial size to plate or sheet, which is then used to manufacture a wide variety of goods for many industrial markets. The working rolls that contact and deform the strip are arguably the primary element of the hot strip mills. The work rolls must have sufficient strength to apply the mechanical force to the strip, while still resisting the wear and thermal stresses inherent to the process. The history of the development of these work rolls spans more than a hundred years. The more recent advancement in work roll technology was the development of High Speed Steel (HSS) work rolls during the 1990's. The HSS rolls utilise a variety of carbide forming elements to improve the wear resistance. The South African Roll Company (SARCO) is an established roll producer and the only one in South Africa with a well-established international client base. SARCO is currently developing a range of high quality HSS rolls and has developed an initial HSS grade, which has shown competitive performance and durability in service compared to established HSS alloys from other roll manufacturers. Although the initial trials show great promise, significant potential for development and associated improvements are available. It has been documented that an additional annealing treatment prior to the regular heat treatment will refine the microstructure of HSS rolls, which should improve mechanical properties and performance. However, although pre-annealing has been documented, the degree of mechanical property improvement associated with the pre-annealing has not been studied and the annealing step does not appear to be commonly applied by roll producers. The first aim of this research project was to investigate the properties of the HSS material currently produced by SARCO to elucidate the source of the combination of high wear resistance and durability. The roll material identified for characterisation consisted of four sets of samples. These were subjected to intensive characterisation, which included chemical analysis, ferrite scope measurements, metallography, hardness testing, Scanning Electron Microscopy (SEM) analysis, X-Ray Diffraction (XRD) analysis and Simultaneous Thermal Analysis (STA). The good combination of performance and durability appears to be the product of the Ni additions, W:Mo ratio, high carbon content, high austenitising temperatures and balanced carbide-former additions. The second objective was to investigate the effect of annealing prior to the typical solution, "soft" quench and tempering heat treatment, on the structure and mechanical properties of the HSS material used for the outer shell of mill rolls. As-cast material was used for the analysis, which was subjected to similar intensive characterisation. High Chromium (HC) used in roll material appears to be more sensitive to both temperature and time variations in heat treatment than HSS. No grain refinement of the HSS material was achieved by the pre-annealing. Higher peak hardness and more gradual reduction in hardness beyond the peak was not found under simulated conditions, indicating that a desired increase in hardness will not be achieved in practice. It was evident that the industrial heat treatment condition cannot be sufficiently simulated by shorter time laboratory tests. The effects of pre-annealing should be researched on lower alloy bainitic HSS material if feasible and the improved wear resistance and toughness benefits of pre-annealing could be quantified by performing industrial trials and fracture toughness testing respectively. / Dissertation (MEng)--University of Pretoria, 2017. / Materials Science and Metallurgical Engineering / MEng / Unrestricted

Görtler vortices develop in boundary layer flows over concave surfaces due to the imbalance between centrifugal forces and the wall-normal pressure gradient. These vortices can be efficient precursors to transition in boundary layers exposed to free-stream disturbance or surface non-uniformities, because they can alter the mean flow causing the laminar flow to breakdown into turbulence. In this thesis, a control technique aimed at reducing the energy associated with Görtler vortices that develop in supersonic boundary layers is introduced and tested. The control algorithm is based on distributed blowing and suction, with sensors placed either in the flow or at the wall. The result show that there is a dependence between the efficiency of the control algorithm and the spanwise separation of the vortices, that is the energy reduction is more significant for larger spanwise separations. The efficiency of the control algorithm seems to be insensitive to the variation of the Mach number.

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High-speed planing craft operating in waves are subject to frequent water impact, or slamming, as a portion or whole of the craft exits the water and re-enters at high velocity. The global load induced by slamming can cause fatigue-related damages to structures. The local slamming can cause local damage to structures and its induced acceleration can cause damage to equipment and personnel aboard. Therefore the slamming loads in high-speed craft are critical design loads. Nowadays, due to the increasing use of composite materials in high-speed craft, the interaction between the hydrodynamic loading and structural response, or hydroelasticity, must be considered. In this work, a flexible V-shaped wedge, which vertically enters the calm water with an impact velocity, was examined experimentally and numerically to characterize the slamming of a representative cross-section of high-speed craft. Physical quantities of interest include rigid-body kinematic motions, spray root propagation, hydrodynamic loading, and structural response. In the experimental work, with varied impact velocity and flexural rigidity of the wedge bottom plate, a wide range of hydroelasticity factors were investigated. The intersection between the bottom plate and side plate is called chine. The phases before and after the spray root reached the chine are called chine-unwetted and chine-wetted phase, respectively. It was found that the maximum deflection and strain occur in the chine-unwetted phase while a structural vibration with rapidly decaying magnitude is observed in the chine-wetted phase. Furthermore, the kinematic effect of hydroelasticity changes the spray root propagation and hence the pressure, while the inertial effect elongates the natural period of the plate. Inspired by the experimental work, a computational framework was proposed to focus on the chine-unwetted phase. Several hydroelastic models can be obtained from this framework. The hydroelastic models were validated to show reasonable agreement with experiments. Various parameters were studied through the computational framework. The hydroelasticity factor was modified to account for the mass and boundary conditions. It was found that the nondimensional rigid-body kinematic motions and maximum deflection showed little dependence on the hydroelasticity factor. Hydroelastic effects increased the time it takes for the peak maximum deflection to be reached for small values of the hydroelasticity factor. Hydroelastic effects also have little influence on the magnitude of the maximum deflection. These discoveries further the understanding of hydroelastic slamming and show the potential to guide the structural optimization and design of high-speed craft. / Doctor of Philosophy / High-speed planing craft operating in waves are prone to frequent water impact, or slamming, as a portion or whole of the craft exits the water and re-enters at high velocity. The slamming loads in high-speed craft are critical design loads as the slamming can cause damage to the structures and equipment as well as injure personnel aboard. Nowadays, due to the increasing use of composite materials in high-speed craft, the interaction between the hydrodynamic loading and structural response, or hydroelasticity, must be considered. In this work, a flexible V-shaped wedge entering water is studied experimentally and computationally to characterize the slamming of a representative cross-section of high-speed craft. The contact point between the water surface and the wedge bottom is called the spray root. It was found that the hydrodynamic loading and structural response interact with each other through the spray root. The maximum deflection and strain occur when the wedge bottom is partially submerged while a structural vibration with rapidly decaying magnitude is observed when the wedge bottom is fully submerged. Using the hydroelasticity factor proposed by other researchers, the extent of fluid-structure interaction was quantified. Hydroelastic effects manifest themselves when the hydroelasticity factor is small These discoveries further the understanding of hydroelastic slamming and show the potential to guide the structural optimization and design of high-speed craft.

An experimental investigation was conducted to better understand the aerodynamics of magnetically levitated (MagLev) high speed vehicles operating in ground effect. A high speed moving track system was designed and developed to be used in the Virginia Tech Stability wind tunnel. Flowfield surveys confirmed the system was providing proper flow simulation. Aerodynamic tests were conducted on two vehicle geometries, Mag950 and Magl002. Tests included force and moment measurements, surface pressure measurements, vehicle wake flowfield survey, and flow visualization using tufts. The results showed a higher drag coefficient when the vehicle is operating InGround- Effect (IGE) versus Out-of-Ground-Effect (OGE), with the Magl002 displaying a slightly less drag than the Mag950 vehicle geometry. The experimental values showed higher drag compared with the available computational results by Grumman. The brief chart below shows the summary of force and moment results. Contrary to expectation, higher positive lift was observed with the vehicles operating IOE. The computational results also showed a positive lift at IGE versus OGE. The hot-wire wake data and tuft photos gave results consistent with Grumman's computational calculations. Overall, the Mag 1 002 vehicle geometry seems to be a better candidate for further development. / Master of Science

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Swedish transport administration initiated this Master Thesis project and the aim was to compare regulations for the design of high-speed railways from three European countries: France, Germany and Spain. The reason why this is of interest for the Swedish transport administration is the design of the first Swedish high-speed railway, called Ostlänken. Therefore, a literature study of the regulations and other literature regarding high-speed railway has been carried out. A basic description of railway components, slab track and ballasted tracks is presented. Ballasted embankments usually consist of a trackbed layer (ballast onto subballast), and the ultimate thickness of this layer is discussed, as there are a number of methods available to calculate the appropriate thickness, with a number of different design parameters. These design methods results in different trackbed thickness and choosing the “wrong” method might lead to an overestimation or underestimation of the trackbed layer. Constructing a ballastless railway line means that the ballast is replaced by another material, usually a slab made of reinforced concrete or asphalt, and the rail is cast onto this slab. Countries design their slab using different methods. Germany has constructed high-speed railway lines with a slab track solution, generally slabs with low flexible stiffness. France has until recently constructed their high-speed line ballasted but is now developing a new slab track technique, called NBT (New Ballastless Track) and Spain uses various methods. It is difficult to compare the regulations, however, there are some factors that at least begin to explain the differences between the countries: the frost hazard, the inherent ground quality, purpose with the railway (mixed traffic, solely passenger traffic, etc.), design parameters (life, axle load, etc.). Furthermore, the settlement requirements, soil classification and bearing capacity are factors that varies from country to country, but the origin for this variation is harder to detect.