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ENGLISH ABSTRACT: Utilising future radio interferometer arrays, such as the Square Kilometre Array (SKA), to their full potential will require calibrating for various direction- dependent effects, including the radiation pattern (or primary beam in the parlance of radio astronomers) of each of the antennas in such an array. This requires an accurate characterisation of the radiation patterns at the time of observation, as changing operating conditions may cause substantial variation in these patterns. Furthermore, fundamental imaging limits, as well as practical time constraints, limit the amount of measurement data that can be used to perform such characterisation. Herein three techniques are presented which aim to address this requirement by providing pattern models that use the least amount of measurement data for an accurate characterisation of the radiation pattern. These methods are demonstrated through application to the MeerKAT Offset Gregorian (OG) dual-reflector antenna. The first technique is based on a novel application of the Jaco bi-Bessel series in which the expansion coefficients are solved directly from the secondary pattern. Improving the efficiency of this model in the desired application leads to the development of a different set of basis functions, as well as two constrained solution approaches which reduce the number of pattern measurements required to yield an accurate and unique solution. The second approach extends the application of the recently proposed Characteristic Basis Function Patterns (CBFPs) to compensate for non-linear pattern variations resulting from mechanical deformations in a reflector antenna system. The superior modelling capabilities of these numerical basis functions, which contain most of the pattern features of the given antenna design in a single term, over that of analytic basis functions are demonstrated. The final method focusses on an antenna employing a Phased Array Feed (PAF) in which multiple beam patterns are created through th e use of a beam-former. Calibration of such systems poses a difficult problem as the radiation pattern shape is susceptible to gain variations. Here we propose a solution which is based on using a Linearly Constrained Minimum Varia nce (LCMV) beamformer to conform the realised beam pattern to a physics-based analytic function. Results show that the LCMV beamformer successful ly produces circularly symmetric beams that are accurately characterised with a single-term analytic function over a wide FoV.

AFRIKAANSE OPSOMMING: Die volle benutting van toekomstige radio interferometersamestellings, soos die Square Kilometre Array (SKA), benodig die kalibrering van verskeie rigting-afhanklike effekte, insluitend die stralingspatroon (bekend as die primêre bundel onder radio astronome) van elke antenne in só ’n samestelling. Hierdie benodig ’n akkurate karakterisering van die stralingspatrone op die waarnemingstydstip, aangesien veranderende bedryfskarakteristieke ’n beduidende afwyking in hierdie patrone veroorsaak. Verder,…

Advisors/Committee Members: Davidson, D. B., Maaskant, R., Ivashina, M. V., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

▼ Electronic patterns found on Pb quantum islands can serve as a template to grow nanoclusters spontaneously. Nanoclusters of different materials display various growth behaviors. Compared to Pb adatoms, Ag nanoclusters can be fabricated in a perfectly ordered form. In the work, using density-functional theory, we demonstrate that how the interaction between adatom and substrate affects the atomic motion on the Pb quantum islands of electronic origin. Advisors/Committee Members: Feng-Chuan Chuang (chair), Ya-Ping Chiu (committee member), Yi-Chun Chen (chair).

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The present study focuses on the design, development and characterization of RF-MEMS capacitive shunt switches. The study is inspired due to the exceptional performance of electrostatic RF MEMS switches over the contemporary state-of-art solid-state devices and their potential applications in communications field. For higher frequency bands, capacitive type switches are preferred over the ohmic type switches. This work is initiated due to the limitations of well-known MEMS capacitive switches, such as high actuation voltage, low capacitance ratio, low isolation, high insertion loss, etc. To obviate all these problems, a capacitive switch based on micro-torsion actuator configuration known as quotSYMMETRIC TOGGLE SWITCHquot is optimized to achieve low actuation voltages with high RF performance. Low actuation voltage is achieved by optimizing the mechanical parameters of the torsion actuator and RF performance enhancement is done by incorporating floating metal layer design and high-k dielectric materials as a dielectric layer. CoventorWare and HFSS (High Frequency Structure Simulator) are used for mechanical and electrical optimization of STS. The fabrication is based on surface micromachining techniques, standard IC processing steps and metal electroplating. The main features of the fabricated capacitive STS having SiO2 as a dielectric layer are: the actuation voltage between 5 - 15 newlineVolts, Isolation _ 20 dB and Insertion loss _ 0.7 dB in X (8 GHz - 12 GHz) and Ku (12 GHz - 17 GHz) bands. The measured capacitance ratio is 48 and 77. Fabricated switches have successfully completed more than one million switching cycles without switching failure. The optimized STS using HfO2 as a dielectric layer have been designed and fabricated and capacitance ratio increases to almost 10 times, with actuation voltages still between 5 - 15 Volts. Also, SPDT based on SiO2 and HfO2 dielectrics are designed and fabricated. Better RF performance and high capacitance ratio is achieved with almost 50% size reduction by using high-k dielectric

Appendices p.127-132, References given chapter wise

Advisors/Committee Members: Dinesh Kumar, Rangra, K J.

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Solid state gas sensors have proved to be very promising for monitoring the emission of air pollutant and toxic gases because they are a low cost element. Zinc oxide (ZnO) is II-VI compound semiconductor with a wide direct band gap of 3.37eV and a hexagonal structure. ZnO is often used in photovoltaic, gas sensor application, varistors, surface acoustic wave devices, electric transducers, piezoelectric materials and room temperature ultraviolet lasing. The objectives of this project are to study the structural, electrical and gas sensing properties of undoped ZnO thick films, to study the relationship of doping with structural, electrical and gas sensing properties of doped ZnO films with Cr2O3, Nb2O5, Al and Cu as a dopant. The experimental work included preparation of thick films on alumina substrate by screen printing technique and their characterization. The structural characterization was performed by XRD, SEM and EDAX technique to determine the variation of microstructure, crystallite size, orientation and chemical composition of the undoped and doped ZnO thick films. Electrical characterization was based on measurement of resistance of the films by half bridge method at different operating temperatures. From measured resistance values, the resistivity, activation energy and TCR were determined. Gas sensing properties of the films were studied in static gas sensing system by exposing the films to the different gases as CO2, H2S, NH3, Ethanol, LPG and NO2 at different operating temperatures. The optimum operating temperature, sensitivity, selectivity, response and recovery time and the active region of detected gas were determined. Results showed that the doping alters the orientation of microstructure, grain size, composition, electrical and gas sensing characteristics of the films. From XRD pattern, different phases and preferred orientation were observed and grain size was determined.

Abstract includes, References are given chapter wise, Research Publication p.257-259

Advisors/Committee Members: Borse, R Y.

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Thesis (PhD (Electrical and Electronic Engineering)) – University of Stellenbosch, 2011.

ENGLISH ABSTRACT: The use of the quadrature mixing topology has been severely limited in the past due to its sensitivity towards mismatches between its signal paths. In recent years, researchers have suggested that digital techniques can be used to compensate for the impairments in the analogue quadrature mixing front-end. Most authors, however, focus on the modelling and compensation of frequency-independent imbalances, reasoning that this approach is sufficient for narrow band signal operation. This common assumption is, however, becoming increasing less applicable as the use of wider bandwidth signals and multi-channel systems becomes more prevalent. In this dissertation, baseband equivalent distortion models are derived, which model frequency-independent, as well as frequency-dependent contributions towards the imbalances of the front-end. Both lowpass and bandpass imbalances are modelled, which extends current modelling approaches found in literature. The resulting baseband models are shown to be capable of explaining the imbalance characteristics observed in practical quadrature mixing front ends, where existing models fail to do so. The developed imbalance models is then used to develop novel frequency-dependent imbalance extraction and compensation techniques, which directly extract the exact quadrature imbalances of the front end, using simple test tones. The imbalance extraction and compensation procedures are implemented in the digital baseband domain of the transceiver and do not require high computational complexity. The performance of these techniques are subsequently verified through simulations and a practical hardware implementation, yielding significant improvement in the image rejection capabilities of the quadrature mixing transceiver. Finally, a novel, blind imbalance compensation technique is developed. This technique is aimed at extracting frequency-independent I/Q imbalances in systems employing digital modulation schemes. No test tones are employed and the imbalances of the modulator and demodulator are extracted from the second order statistics of the received signal. Simulations are presented to investigate the performance of these techniques under various operating conditions.

AFRIKAANSE OPSOMMING: Die gebruik van die haaksfasige mengtopologie word geweldig beperk deur die sensitiwiteit vir wanbalanse wat mag bestaan tussen die twee analoog seinpaaie. In die afgelope paar jaar het navorsers digitale metodes begin voorstel om te kompenseer vir hierdie wanbalanse in die analooggebied. Meeste navorsers fokus egter op frekwensie-onafhanklike wanbalanse. Hulle staaf hierdie aanslag deur te redineer dat dit ’n aanvaarbare aaname is vir ’n nouband stelsel. Hierdie algemene aanvaarding is egter besig om minder akkuraat te raak, namate wyeband- en multikanaalstelses aan die orde van die dag raak. In hierdie tesis word basisband-ekwiwalente wanbelansmodelle afgelei wat poog…

Advisors/Committee Members: Van Rooyen, G-J., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: This thesis describes the design and construction of a two-element digital correlation interferometer operating at 1.42 GHz. This instrument consists of two 92cm off set-parabolic reflectors arranged in an east-west baseline, with a maximum length of 24m. The reflectors are out-fi tted with helical beam antennas as primary feeds, and are further equipped with low-noise front-ends. A wideband dual-conversion superheterodyne receiver processes the astronomical signals before digitisation. The receiver is implemented as far as possible using a ffordable off -the-shelf technologies. The cross-correlation between the two antenna signals is measured using a 256MHz bandwidth digital FX correlator, and is implemented on a Reconfi gurable Open Architecture for Computing Hardware (ROACH) board. The preliminary observations made with this interferometer, suggests that it is possible to detect the sun, and some other much weaker sources such as Taurus A. The design of an interferometer in general is presented, from the formulation of the underlying instrumental requirements, to making meridian drift scan observations. The interferometer developed may serve as a demonstrator for other engineering students to gain a working knowledge of radio interferometry, which should prove invaluable when addressing the challenges the Square Kilometre Array (SKA) is faced with.

AFRIKAANSE OPSOMMING: In hierdie tesis word die ontwerp en konstruksie van 'n twee-element digitale korrelasie interferometer wat by 1.42 GHz ontvang beskryf. Die instrument bestaan uit twee 92 cm afsetparaboliese re ektorantennas met 'n oos-wes basislyn, met maksimum lengte 24 m. Heliese antennas word gebruik as primêre voer vir die reflektors, en verder maak die voorent gebruik van laeruis versterkers . Die wyeband superheterodineontvanger verwerk die astronomiese seine in twee stappe voordat dit digitaliseer word. Bekostigbare kommersiëele komponente word gebruik in die vervaardiging van die ontvanger. Die kruiskorrelasie tussen die twee antenna seine word digitaal gemeet deur 'n FX korreleerder met 'n 256MHz bandwydte op 'n ROACH bord. Die resultate toon aan dat dit moontlik is om die son waar te neem, sowel as sommige ander swakker bronne, soos Taurus A. Al die kwessies insluitende die instrumentale vereistes betrokke by die ontwerp van 'n interferometer word bespreek. Verder word die gebruik van interferometers om meridiaan meetings te doen bespreek. Die interferometer dien as 'n praktiese demonstrasie van radio interferometrie vir ingenieurstudente. Hierdie demonstrasie is voordelig vir studente om die uitdagings van die SKA te bestudeer.

Advisors/Committee Members: Davidson, D. B., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

▼ ENGLISH ABSTRACT: This work focussed on a local multiple chamber falling film evaporator (FFE). The FFE is currently under operator control and experiencing large amounts of lost production time due to excessive fouling. Furthermore, the product milk dry mass fraction (WP) is constantly off specification, negatively influencing product quality, while the first effect temperature (TE1) runs higher than the recommended 70°C (this is a main cause of fouling). A two month period of historical data were received with the aim to develop a controller that could outperform the operators by keeping both control variables, WP and TE1, at desired set points while also increasing throughput and maintaining product quality. Access to the local plant was not possible and as such available process data were cleaned and used to identify two data based models, transfer function and autoregressive with exogenous inputs (ARX) models, as well as a semi-empirical-model. The ARX model proved inadequate to predict TE1 trends, with an average TE1 correlation to historical data of 0.36, compared to 0.59 and 0.74 for the transfer function and semi-empirical-models respectively. Product dry mass correlations were similar between the models with the average correlations of 0.47, 0.53 and 0.51 for the semi-empirical, transfer function and ARX models respectively. Although the semi-empirical showed the lowest WP correlation, it was offset by the TE1 prediction advantage. Therefore, the semi-empirical model was selected for controller development and comparisons. The success of the semi-empirical model was in accordance with previous research [1] [2] [3], yet other studies have concluded that ARX modelling was more suited to FFE modelling [4]. Three controllers were developed, namely: a proportional and integral (PI) controller as base case, a linear quadratic regulator (LQR) as an optimal state space alternative and finally, to make full use of process knowledge, a predictive fuzzy logic controller (PFC). The PI controller was able to offer zero offset set point tracking, but could not adequately reject a feed dry mass (WF) disturbance (as proposed and reported by Winchester [5]). The LQR was combined with a Kalman estimator and used pre-delay states. In order to offer increased disturbance rejection, the feedback gains of the disturbance states were tuned individually. The altered LQR and PFC solutions proved to adequately reject all modelled disturbances and outperform a cascade controller designed by Bakker [6]. The maximum deviation in WP was a fractional increase of 0.007 for LQR and 0.005 for FPC, compared to 0.012 for PI and 0.0075 for the cascade controller [6] (WF disturbance fractional increase of 0.01). All the designed controllers managed to reduce the standard deviation of operator controlled WP and TE1 by at least 700% and 450%, respectively. The same level of reduction was seen for maximum control variable deviations (370%), the integral of the absolute error (300%) and the mean squared error (900%).… Advisors/Committee Members: Steyn, W. H., Auret, L., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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Thesis (MScEng (Electrical and Electronic Engineering)) – University of Stellenbosch, 2011.

ENGLISH ABSTRACT: This thesis presents work completed on the design of control and vision components for use in a monocular vision-based human-following robot. The use of vision in a controller feedback loop is referred to as vision-based or visual servo control. Typically, visual servo techniques can be categorised into imagebased visual servoing and position-based visual servoing. This thesis discusses each of these approaches, and argues that a position-based visual servo control approach is more suited to human following. A position-based visual servo strategy consists of three distinct phases: target recognition, target pose estimation and controller calculations. The thesis discusses approaches to each of these phases in detail, and presents a complete, functioning system combining these approaches for the purposes of human following. Traditional approaches to human following typically involve a controller that causes platforms to navigate directly towards targets, but this work argues that better following performance can be obtained through the use of a controller that incorporates target orientation information. Although a purely direction-based controller, aiming to minimise both orientation and translation errors, suffers from various limitations, this thesis shows that a hybrid, gain-scheduling combination of two traditional controllers offers better targetfollowing performance than its components. In the case of human following the inclusion of target orientation information requires that a definition and means of estimating a human’s orientation be available. This work presents a human orientation measure and experimental results to show that it is suitable for the purposes of wheeled platform control. Results of human following using the proposed hybrid, gain-scheduling controller incorporating this measure are presented to confirm this.

AFRIKAANSE OPSOMMING: Die ontwerp van ’n visiestelsel en beheer-komponente van ’n enkel-kamera robot vir die volging van mense word hier aangebied. Die gebruik van visuele terugvoer in die beheerlus word visie-gebaseerde of visuele servobeheer genoem. Visuele servobeheer tegnieke kan tipies onderskei word tussen beeld-gebaseerde servobeheer en posisie-gebaseerde visuele servobeheer. Altwee benaderings word hier bespreek. Die posisie-gebaseerde benadering word aanbeveel vir die volging van mense. Die posisie-gebaseerde servobeheertegniek bestaan uit drie duidelike fases: teiken herkenning, teiken oriëntasie bepaling en die beheerder berekeninge. Benaderings tot elk van hierdie fases word hier in detail bespreek. Dan word ’n volledige funksionele stelsel aangebied wat hierdie fases saamvoeg sodat mense gevolg kan word. Meer tradisionele benaderings tot die volging van mense gebruik tipies ’n beheerder wat die platvorm direk laat navigeer na die teikens, maar hier word geargumenteer dat beter werkverrigting verkry kan word deur ’n…

Advisors/Committee Members: Engelbrecht, J. A. A., Brink, W. H., Schreve, K., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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Thesis (MScEng (Electrical and Electronic Engineering)) – University of Stellenbosch, 2011.

ENGLISH ABSTRACT: The objective of the thesis is the development of a phase noise measuring system that makes use of crosscorrelation and averaging to measure below the system hardware noise floor. Various phase noise measurement techniques are considered after which the phase demodulation method is chosen to be implemented. The full development cycle of the hardware is discussed, as well as the post processing that is performed on the measured phase noise.

AFRIKAANSE OPSOMMING: Die doel van hierdie tesis is die ontwikkeling van ’n faseruis meetstelsel wat gebruik maak van kruiskorrelasie en vergemiddeling om onder die ruisvloer van die meetstelsel se hardeware te meet. Verskeie faseruis meettegnieke word ondersoek en die fase demodulasie metode word gekies om geïmplementeer te word. Die volle ontwikkelingsiklus van die hardeware word bespreek, sowel as die naverwerking wat toegepas is op die gemete faseruis.

Advisors/Committee Members: De Swardt, J. B., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: The class-D audio power amplifier has found widespread use in both the consumer and professional audio industry for one reason: efficiency. A higher efficiency leads to a smaller and cheaper design, and in the case of mobile devices, a longer battery life. Unfortunately, the basic class-D amplifier has some serious drawbacks. These include high distortion levels, a load dependent frequency response and the potential to radiate EMI. Except for EMI, the aforementioned issues can be mitigated by the proper implementation of global negative feedback. Negative feedback also has the potential to indirectly reduce EMI, since the timing requirements of the output devices can be relaxed. This thesis discusses the design of a clocked analogue controlled pulse-width modulated class-D audio amplifier with global negative feedback. The analogue control loop is converted to the z-domain by modelling the PWM comparator as a sampling operation. A method is implemented that improves clip recovery and ensures stability during over-modulation. Loop gain is shaped to provide a high gain across the audio band, and ripple compensation is implemented to minimize the negative effect of ripple feedback. Experimental results are presented.

AFRIKAANSE OPSOMMING: Die klas-D klankversterker geniet wydverspreide gebruik in beide die verbruiker en professionele oudio industrie vir een rede: benuttingsgraad. ’n Hoër benuttingsgraad lei tot ’n kleiner en goedkoper ontwerp, en in die geval van draagbare toestelle, tot langer batterylewe. Ongelukkig het die basiese klas-D klankversterker ernstige tekortkominge, naamlik hoë distorsievlakke, ’n lasafhanklike frekwensierespons en die vermoë om EMI te genereer. Behalwe vir EMI kan hierdie kwessies deur die korrekte toepassing van globale negatiewe terugvoer aangespreek word. Negatiewe terugvoer het ook die potensiaal om EMI indirek te verminder, aangesien die tydvereistes van die skakel stadium verlaag kan word. Hierdie tesis bespreek die ontwerp van ’n geklokte analoog-beheerde pulswydte-modulerende klas-D klankversterker met globale negatiewe terugvoer. Die analoogbeheerlus word omgeskakel na die z-vlak deur die PWM vlakvergelyker as ’n monster operasie te modelleer. ’n Metode word geïmplementeer wat die stabiliteit van die lus verseker tydens oormodulasie. Die lusaanwins word gevorm om ’n hoë aanwins in die oudioband te verseker en riffelkompensasie word geïmplementeer om die negatiewe effek van terugvoerriffel teen te werk. Eksperimentele resultate word voorgelê.

Advisors/Committee Members: Mouton, H. du T., Putzeys, B., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering.

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ENGLISH ABSTRACT: Power utilities are expected to keep the cost of electricity as low as possible. They are also expected to be environmentally friendly and, amongst other things, not to produce unacceptable audible noise. When the electric field on a conductor is high enough corona is produced and this is accompanied by audible noise. Air pressure, which is directly related to altitude, has an effect on the voltage at which corona will start. It is more difficult to ionise the air at sea level (high air pressure) than at high altitude (low air pressure). Altitude does not only affect the corona inception voltage, but also the intensity of the audible noise. A thorough scan of literature revealed that there is very little evidence of prior research work on the effect of air density on corona under fair weather (dry) conditions. In South Africa, transmission lines are built at altitudes higher than 1800 m above sea level. The cost of a 400 kV line is in the region of R2M per km. It is important to predict the noise levels under a proposed line accurately, before it is energised. This research indicated that the altitude correction for conductor corona audible noise, under dry conditions, might be steeper than the general accepted correction of 1 dB/300m. This correction, however, appears to be valid for heavy rain conditions. Under heavy rain conditions the corona is mainly determined by the water droplets, whereas under dry conditions the condition of the conductor plays the biggest role. The air density therefore has a bigger effect on the corona performance under dry conditions. The implication of a steeper altitude correction for dry conditions is that too low noise levels will be predicted for a higher altitude, which could lead to complaints. On the other hand, predictions for lower altitudes will be too conservative.

AFRIKAANSE OPSOMMING: Daar word van kragvoorsieners verwag om die koste van elektrisiteit so laag as moontlik te hou. Hulle is verder onder druk om omgewingsvriendelik te wees en om onder andere nie onaanvaarbare hoorbare geraas te veroorsaak nie. Wanneer die elektriese veld op ‘n geleier hoog genoeg is, kan korona ontstaan wat dan hoorbare geraas veroorsaak. Die lugdruk, en daarom die hoogte bo seevlak, beïnvloed die spanning waarby ‘n geleier in korona sal gaan. Dit is moeiliker om die lug te ioniseer by seevlak (hoë lugdruk) as hoog bo seevlak (lae lugdruk). Die hoogte bo seevlak beïnvloed daarom nie net die spanning waarby korona sal begin nie maar ook die intensiteit van die hoorbare geraas. Dit wil voorkom of die effek van hoogte bo seevlak, op hoorbare geraas, a.g.v. geleier korona tot op datum baie skraps nagevors is. Baie min kon in die literatuur gevind word op die effek onder droë toestande. In Suid-Afrika is dit nodig om transmissielyne op hoogtes van 1800 m en hoër te bou. So ‘n lyn (400 kV) kos in die omgewing van R2M per km. Dit is daarom van uiterste belang om die geraasvlakke wat ‘n beplande lyn sal veroorsaak, akkuraat te bepaal, voordat so ‘n…

Advisors/Committee Members: Reader, H. C., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: This thesis presents the design and implementation of an autonomous navigational system and the automation of a practical demonstrator vehicle. It validates the proposed navigation architecture using simple functional navigational modules on the said vehicle. The proposed navigation architecture is a hierarchical structure, with a mission planner at the top, followed by the route planner, the path planner and a vehicle controller with the vehicle hardware at the base. A vehicle state estimator and mapping module runs in parallel to provide feedback data. The controls of an all terrain vehicle are electrically actuated and equipped with feedback sensors to form a complete drive-by-wire solution. A steering controller and velocity control state machine are designed and implemented on an existing on-board controller that includes a six degrees-of-freedom kinematic state estimator. A lidar scanner detects obstacles. The lidar data is mapped in real time to a local three-dimensional occupancy grid using a Bayesian update process. Each lidar beam is projected within the occupancy grid and the occupancy state of a ected cells is updated. A lidar simulation environment is created to test the mapping module before practical implementation. For planning purposes, the three-dimensional occupancy grid is converted to a two-dimensional drivability map. The path planner is an adapted rapidly exploring random tree (RRT) planner, that assumes Dubins car kinematics for the vehicle. The path planner optimises a cost function based on path length and a risk factor that is derived from the drivability map. A simple mission planner that accepts user-de ned waypoints as objectives is implemented. Practical tests veri ed the potential of the navigational structure implemented in this thesis.

AFRIKAANSE OPSOMMING: In hierdie tesis word die ontwerp en implementering van 'n outonome navigasiestelsel weergegee, asook die outomatisering van 'n praktiese demonstrasievoertuig. Dit regverdig die voorgestelde navigasie-argitektuur op die bogenoemde voertuig deur gebruik te maak van eenvoudige, funksionele navigasie-modules. Die voorgestelde navigasie-argitektuur is 'n hi erargiese struktuur, met die missie-beplanner aan die bo-punt, gevolg deur die roetebeplanner, die padbeplanner en voertuigbeheerder, met die voertuighardeware as basisvlak. 'n Voertuigtoestandsafskatter en karteringsmodule loop in parallel om terugvoer te voorsien. Die kontroles van 'n vierwiel-motor ets is elektries geaktueer en met terugvoersensors toegerus om volledig rekenaarbeheerd te wees. 'n Stuur-beheerder en 'n snelheid-toestandmasjien is ontwerp en ge mplementeer op 'n bestaande aanboordverwerker wat 'n kinematiese toestandsafskatter in ses grade van vryheid insluit. 'n Lidar-skandeerder registreer hindernisse. Die lidar-data word in re ele tyd na 'n lokale drie-dimensionele besettingsrooster geprojekteer deur middel van 'n Bayesiese opdateringsproses. Elke lidar-straal word in die besettingsrooster geprojekteer…

Advisors/Committee Members: Jones, T., Stellenbosch University. Faculty OF Engineering. Dept. of Electrical and Electronic Engineering.

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ENGLISH ABSTRACT: Radar Cross Section (RCS) is an important parameter in radar engineering. Often, electrically large structures are of interest in RCS analysis due to the high operating frequencies of radar systems. Simulation of these problems can be more e cient than measurement due to the cost associated with measurement. The Method of Moments/Physical Optics (MoM/PO) hybrid method combines the advantages of the MoM and PO, making it suited to solving electrically large problems that may contain some small complex detail. The requirement for high meshing resolution when analysing some electromagnetic problems, however, signi cantly increases memory requirements. As a result, the hybrid MoM/PO becomes computationally expensive for electrically large problems. In this work, a linear phase term is introduced into the RWG basis function formulation of the MoM/PO hybrid. The addition of the linear phase term allows the use of large triangular mesh elements in the PO region, resulting in the analysis of electrically large problems. The bene t of this formulation is that it allows a reduction in computational cost whilst maintaining the accuracy of the hybrid MoM/PO. This improved hybrid is tested on various planar test cases and results show that it attains the same level of accuracy as the original MoM/PO hybrid.

AFRIKAANSE OPSOMMING: Radardeursnit is 'n belangrike parameter in radaringenieurswese. As gevolg van die hoë frekwensies wat deur baie radarstelsels gebruik word, is elektriesgroot probleme dikwels van belang in die berekening van die radardeursnit van teikens. Die modellering en berekening van die radardeursnit van teikens kan meer kostedoeltre end as metings wees, as gevolg van die beduidende koste van radardeursnitmetings. Die hibriede Moment-Metode/Fisiese-Optika tegniek kombineer die voordele van die twee tegnieke, wat dit geskik maak vir elektries-groot probleme met klein, komplekse detail. Indien die gewone benadering egter gevolg word om 'n hoë resolusie faset-model te gebruik, bly dit berekeningsintensief met groot rekenaar geheuevereistes vir elektries-groot probleme. In hierdie studie word 'n lineêre fase term ingesluit in die formulering van die Rao-Wilton-Glisson (RWG) basisfunksies vorm van die hibriede Moment-Metode/Fisiese-Optika tegniek. Die toevoeging van die lineêre fase term maak dit moontlik om groot driehoekfasette in die Fisiese-Optika gebied te gebruik, wat beteken dat elektries-groot probleme makliker opgelos kan word. Die voordeel van hierdie nuwe formulering is dat die berekeningslas en -tyd verminder word terwyl die akkuraatheid van die oorspronklike hibriede Moment-Metode/Fisiese-Optika tegniek behou word. Hierdie verbeterde hibriede tegniek word getoets aan die hand van verskeie platvlak toetsgevalle en die resultate dui daarop dat die akkuraatheid vergelykbaar is met die van die oorspronklike hibriede Moment-Metode/Fisiese-Optika tegniek.

Advisors/Committee Members: Davidson, D. B., Smith, J. C., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: In recent years Autonomous Underwater Vehicles (AUVs) have become interesting for harbor mapping and protection. AUVs require a SONAR sensor for observing their surroundings, thus enabling them to perform collision avoidance manoeuvres and scanning their operating environment for intruders or foreign objects, e.g. mines. To perform such actions the SONAR sensor is required to supply very fine range resolution for target imaging, as well as providing information about possible target velocity. Basic SONAR theory is discussed, as well as different approaches to signal design and processing techniques, for achieving the required resolution in range and target velocity. Two of the discussed approaches are selected for processing range and target velocity, respectively. Both approaches are simulated for their validity before being tested by using a custom-built platform. The platform is highly configurable and designed for capacity of testing a variety of SONAR signals and set ups. Furthermore, the platform is built by using off-the-shelf components to minimize development costs. The results of simulations and practical tests are presented. A high correlation between theory and practice is achieved. The knowledge and the platform presented form the stepping stone for further SONAR sensor developments.

AFRIKAANSE OPSOMMING: In die laaste jare het outonome onderwater voertuie (OOV) toenemend belangrik geword vir die kartografie en beskerming van hawens. OOV’s vereis SONAR sensore wat hulle in staat stel, om hulle omgewing waar te neem en sodoende botsing vermydings take te verrig en ook om hul werksomgewing noukeurig te skandeer om indringers of vreemde voorwerpe, bv. myne, op te spoor. Om sulke werk te verrig, word van die SONAR sensor vereis, om baie fyn afstand oplossings vir teiken te verskaf, insluitend die moontlike snelheid van die teiken. Basiese SONAR teorie word bespreek, en dan verskeie benaderings van sein ontwerp en verwerkings tegnieke. Twee van die bespreekte benaderings word gekies om afstand en teiken snelheid onderskeidelik te verwerk. Altwee benaderings word gesimuleer om hul geldigheid vas te stel, voor dat hulle getoets word op ’n pasmaat vervaardigde platform. Die platform is hoogs aanpasbaar en is ontwerp vir sy vermoë om ’n verskeidenheid SONAR seine en verwerkings te hanteer. Verder is die platform vervaardig met standard rakonderdele om ontwikkelingskoste so laag as moontlik te hou. Die uitslae van die simulerings en praktiese toetse word voorgestel. ’n Hoë mate aan korrelasie is bereik tussen teorie en praktyk. Die kennis en die platvorm, wat hier voorgestel word, vorm die eerste trappie vir toekomstige SONAR sensor ontwikkeling.

Advisors/Committee Members: Treurnicht, J., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: The Solid-State Transformer (SST) is presented as an alternative to the traditional Line-Frequency Transformer (LFT) used for voltage-level transformation in distribution grids. The LFT technology is highly matured which results in low costs and high efficiency. The SST however, introduces several advantages compared to the LFT, some of which are input unity power-factor, near perfect output-voltage regulation, frequency variation as well as harmonic filtering. The SST consists of three power-electronic converter stages: The input stage, the isolation stage and the output stage. The input and isolation stages are implemented with a multilevelconverter topology incorporating a converter-stack for each phase. Each stack consists of N converter building blocks, called cells. In this thesis the design and implementation of the main controller is presented. The main controller, together with N cell controllers, is responsible for the control of the cells within the respective stack. Three main controllers are thus implemented within the SST. Each cell consists of an Active Rectifier (AR) and a DC-DC Converter (DC-DC). The SST control design thus starts with the AR control which is subsequently expanded to Cascaded Active-Rectifier (CAR) control. Design is completed with the addition of the DC-DC control. Time domain simulations of the AR- and CAR-control are presented and discussed. Test measurements, verifying functionality of each control design-phase, are presented and discussed.

AFRIKAANSE OPSOMMING: Die Drywingselektroniese Transformator (DET) word voorgestel as ’n alternatief vir die Lyn Frekwensie Transformator (LFT) wat gebruik word vir spannings-vlak tranformasie op distribusie vlak. The LFT tegnologie is ver gevorderd wat ly tot hoë effektiwiteit en lae kostes. The DET bied wel voordele soos intree eenheids arbeid faktor, na aan perfecte uittree-spannings regulasie, frequensie variasie sovel as harmoniese filrteering. Die DET bestaan uit drie drywingselektroniese omsetter stadiums: Die intree-stadium, die isolasie-stadium en die uittree-stadium. The intree- en isolasie-stadiums word geïmplimenteer met ’n multivlak-omsetter topologie wat bestaan uit ’n omsetter-stapel vir elke fase. Elke stapel bestaan uit N omsetter boustene wat selle genoem word. In hierdie tesis word the ontwerp en implementasie van die hoofbeheerder voorgestel. Die hoofbeheerder, tesame met N selbeheerders, is verantwoordelik vir die beheer van elke sel in die spesifieke stapel. In die DET word daar dus drie hoofbeheerders gebruik. Elke sel bestaan uit ’n Aktiewe Gelykrigter (AG) en ’n GS-GS omsetter (GS-GS). Die DET beheerontwerp begin dus met die (AG) beheer wat daarna uitgebrei word na Kaskade Aktiewe Gelykrigter (KAG) beheer. Die beheer ontwerp word voltooi deur die byvoeging van die GSGS beheer. Tyd-gebied simulasies van die AG- en KAG-beheer word voorgelê en bespreek. Toetsmetings wat die funksionaliteit van elke beheer ontwepsfase verifeer, word voorgelê.

Advisors/Committee Members: Mouton, H. du T., Van der Merwe, W. J., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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Thesis (MScEng (Electrical and Electronic Engineering)) – University of Stellenbosch, 2011.

ENGLISH ABSTRACT: The Square Kilometre Array (SKA) is an international project to build the world’s largest and most sensitive radio telescope interferometer. It will consist of thousands of antennas distributed over many kilometers, with the hosting country being either South Africa or Australia. Various pathfinders have been initiated to demonstrate the technologies needed to implement the SKA. The astronomy community has defined five Key Science Projects (KSP), which are the drivers for the SKA. The science goals determine the technical requirements needed to design SKA systems. Many years of planning and development are still needed in order to meet to the requirements of such a large and complex project. This thesis aims to present the various SKA pathfinder systems in terms of their application to the SKA key science projects, with main focus that of pulsar observations. In order to achieve this, a thorough overview of basic radio astronomy principles and techniques is presented, followed by a detailed look at the various pathfinders. Throughout the work, aspects of pulsar observations are given particular attention with the goal of designing optimal systems for the SKA.

AFRIKAANSE OPSOMMING: Die Square Kilometre Array (SKA) is ’n internasionale projek om die wêreld se grootste en mees sensitiewe radio teleskoop interferometer te bou. Dit sal bestaan uit duisende antennas versprei oor etlike kilometers, met die gasheer land óf Suid-Afrika óf Australië. Verskeie koersbepalers is geïnisieer om die tegnologie te demonstreer wat benodig is om die SKA te implementeer. Die astronomie gemeenskap het vyf sleutel wetenskap projekte (KSP) gedefinieër wat dien as die drywers vir die SKA. Die wetenskap doelwitte bepaal die tegniese vereistes wat nodig is om SKA stelsels to ontwerp. Talle jare van beplanning en ontwikkeling word steeds benodig om te voldoen aan die vereistes van so ’n groot en komplekse projek. Hierdie tesis het ten doel die aanbieding van verskeie SKA koersbepaler stelsels in terme van hulle aanwending tot die SKA sleutel wetenskap projekte, met hoof fokus op die van pulsar waarnemings. Om dit te behaal, word ’n deeglike oorsig van basiese radio astronomie beginsels en tegnieke aangebied, gevolg deur ’n gedetailleerde kyk na die verskeie koersbepalers. Regdeur die werk word spesifieke aandag gegee aan aspekte van pulsar waarnemings met die doel om optimale stelsels vir die SKA te ontwerp.

Advisors/Committee Members: Meyer, P., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: This thesis presents the study, analysis and design of electronically tunable filters, that can be tuned over a wide frequency range (20-500MHz), for use in a direct sampling receiver. The final design does not have to be a single filter, but may be comprised of a filter bank which enables switching between the filters. The band of interest is too low to use normal transmission lines and lumped elements have to be used. Different topologies that can implement Coupled Resonator filters with lumped elements are investigated. Devices that can be used for tuning are also investigated and varactor diodes are found to be the most suitable tuning devices currently available. Two filters, one at the high-end and one at the low-end of the band, were designed and built, both using varactor diodes. These filters perform well in terms of tuning range, but achieving low losses with current technologies in this band remains difficult.

AFRIKAANSE OPSOMMING: Hierdie tesis meld die studie, analise en ontwerp van elektronies verstelbare filters, wat verstelbaar is oor ’n wye band (20-500MHz), vir gebruik in ’n direk-monster-ontvanger. Die finale ontwerp hoef nie ’n enkele filter te wees nie, maar kan bestaan uit ’n filterbank wat skakeling tussen die filters toelaat. Die betrokke band is te laag vir die gebruik van normale transmissielyne en diskrete komponente moet gebruik word. Verskillende topologieë wat gekoppelde resoneerder filters implementeer met diskrete komponente is ondersoek. Verstelbare komponente word ook ondersoek en varaktor diodes blyk die mees geskikte verstelbare komponent wat huidig beskikbaar is in hierdie band. Twee filters, een aan die hoë kant en een aan die lae kant van die band, is ontwerp en gebou, beide met varaktor diodes. Hierdie filters het wye verstelbare bereik, maar dit is steeds moeilik om verliese te beperk met die huidige tegnologie.

Advisors/Committee Members: Meyer, P., De Villiers, D. I. L., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: The o set Gregorian dual re ector antenna is eminently well suited to a radio telescope antenna application as it o ers a narrow beam width pattern (i.e high gain) and good e ciency. The focus of this work is on the analysis of characteristics of such a Gregorian antenna. The design of the class of re ector antennas is normally based on the use of ray-optics, with this simpli ed approach being able to predict antenna performance based on approximate formulas for example the beam width against aperture size. However for compound antennas such as the Gregorian re ector there are several interdependent parameters that can be varied and this reduces the applicability of the simple ray-optic approach. It was decided that, if a fast enough analysis of a con guration can be found, the technique of design through interactive analysis would be viable. To implement a fast analysis of the main beam performance of such a Gregorian antenna, a solution algorithm has been implemented using a plane wave spectrum approach combined with a custom aperture integration formulation. As this is able to predict the beam performance within about a second on a PC, it is suitable for iterative design. To implement the iterative design in a practical manner a user interface has been generated that allows the user to interactively modify the geometry, see the physical layout, and then nd the antenna pattern. A complete working system has been realised with results comparing well to a reference solution. The limitations of the technique, such as its inaccuracy in predicting the side lobe structure, are also discussed.

AFRIKAANSE OPSOMMING: Die afset Gregoriaanse dubbelweerkaatser antenna is uiters gepas vir radioteleskoop toepassings aangesien dit 'n nou bundelwydte (ho e aanwins) en 'n goeie benuttingsgraad bied. Die fokus van hierdie werk is op die analise van die eienskappe van so 'n Gregoriaanse antenna. Die ontwerp van die klas van weerkaatsantennas is normaalweg gebaseer op straal-optika, waar hierdie vereenvoudigde tegniek, deur benaderde formules, gebruik kan word om antennawerkverrigting af te skat soos bv. die bundelwydte teen stralingsvlakgrootte. Vir saamgestelde antennas soos die Gregoriaanse weerkaatser is daar egter verskeie onafhanklike parameters wat verstel kan word en die toepaslikheid van die eenvoudige straal-optiese benadering verminder. Dit was besluit dat, indien die analise van die kon gurasie vinnig genoeg uitgevoer kon word, die tegniek van ontwerp deur interaktiewe analise werkbaar kan wees. Om 'n vinnige analise van die hoofbundelwerkverrigting van so 'n Gregoriaanse antenna te bewerkstellig, is 'n oplossingsalgoritme gemplementeer wat gebruik maak van 'n platvlakgolfspektrum benadering in kombinasie met 'n doelgemaakte stralingsvlakintegrasieformulering. Aangesien hierdie strategie die hoofbundel binne ongeveer 'n sekonde op 'n persoonlike rekenaar kan voorspel, is dit gepas vir iteratiewe ontwerp. Om die iteratiewe ontwerp op 'n praktiese wyse te…

Advisors/Committee Members: Palmer, K. D., De Villiers, D. I. L., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

▼ ENGLISH ABSTRACT: Modern-day online applications are required to deal with an ever-increasing number of users without decreasing in performance. This implies that the applications should be scalable. Applications hosted on static servers are in exible in terms of scalability. Cloud computing is an alternative to the traditional paradigm of static application hosting and o ers an illusion of in nite compute and storage resources. It is a way of computing whereby computing resources are provided by a large pool of virtualised servers hosted on the Internet. By virtually removing scalability, infrastructure and installation constraints, cloud computing provides a very attractive platform for hosting online applications. This thesis compares the cloud computing infrastructures Google App Engine and AmazonWeb Services for hosting web applications and assesses their scalability performance compared to traditionally hosted servers. After the comparison of the three application hosting solutions, a proof-of-concept software framework for the provisioning and deployment of automatically scaling applications is built on Amazon Web Services which is shown to be best suited for the development of such a framework. Advisors/Committee Members: Van Rooyen, G-J., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: A well-known problem with FM-CW radar systems is the leakage of transmitter power into the receiver which leads to the making of close-in targets, and can severely limit the system dynamic range performance. This thesis considers two solutions to this radar system problem for a low frequency radar operating in the VHF band. The first method to suppress coupling is using separate transmit and receive antennas designed in such a way as to reduce coupling between them. The second is to design a negative feedback loop as part of the radar receiver where the feedback loop adaptively reduces the amount of transmitter leakage through to the receiver. This project details the realisation of these two solutions. A number of antenna designs are modelled in software and simulated to determine their characteristics of which the transmit-to-receive coupling is the key parameter. As no low coupling configuration could be found a simple configuration is chosen and practical measurements are taken. These antennas are then used in the radar system that is to be built. An FM-CW radar system is designed and simulated using software with a negative feedback loop being designed and implemented into the radar simulation. A practical radar system is then made inclusive of the feedback loop. Measurements are then taken to determine the efficacy of the feedback loop.

AFRIKAANSE OPSOMMING: ʼn Bekende probleem met FM-CW radar stelsels is die lekkasie van versender krag tot in die ontvanger wat lei tot die maak van nabye teikens en kan die stelsel se dinamiese sendbereik steng beperk. Hierdie tesis oorweeg twee oplossings tot hierdie probleem vir ʼn lae frekwensie radar wat in die VHF band werk. Die eerste metode wat na gekyk word om die koppeling te onderdruk is om die twee antennas van die radar stelsel so te ontwerp sodat die hoeveelheid koppeling tussen hulle verminder is. Die tweede is om ʼn negatiewe terugvoerlus as deel van die ontvanger te ontwerp. Hierdie terugvoerlus sal die versender lekkasie sein aanpassend in die ontvanger verminder. In hierdie projek word die realisering van bogenoemde oplossings uiteengeset. ʼn Paar verskillende antenna ontwerpe word gemodelleer in sagteware en word gesimuleer om hul karakteristieke te bepaal. Die belangrikste van hierdie faktore is die versender na ontvanger koppeling. Sienend dat geen ontwerp met ʼn lae genoeg koppeling gevind kon word nie, is ʼn eenvoudige ontwerp gekies en praktiese metings daarvan geneem. Hierdie antennas word dan gebruik in die radar stelsel wat gebou sal word. ʼn FM-CW radar stelsel word ontwerp en gesimuleer in sagteware. Die negatiewe terugvoerlus word ook ontwerp en geïmplementeer in die radar simulasie. ʼn Praktiese radar stelsel word dan gemaak insluitend die terugvoerlus. Metings word dan geneem om die effektiwiteit daarvan te bepaal.

Advisors/Committee Members: Palmer, K. D., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: In this research the possible utilization of carbon nanomaterials in gas sensing applications are investigated. These materials include the 2-dimensional honeycomb-lattice carbon structure called graphene, and the 1-dimensional structures referred to as carbon nanotubes (CNTs). The extraordinary properties and unique morphology of these nanomaterials, make them excellent candidates for sensory applications. This research thus entails the investigation and development of gas sensors with these carbon nanomaterials. This includes the synthesis of CNTs via a chemical vapour deposition (CVD) technique and the fabrication of resistive thin film sensors with the various materials. The functionalization of carbon nanomaterials is also explored, which delivers promising results for sensing gases at room temperature, especially acetylene (C2H2). Furthermore, a unique method is developed to fabricate ultra thin aluminium microstructures. These metallic electrodes are found to be ideal for nanomaterial integration. An experiment is performed to manufacture an integrated sensor with MWCNTs and following the results, a refinement of the procedure and the investigation of FET-based devices are recommended. The results obtained during this work, indicate that engineered carbon nanostructures, such as CNTs and graphene, can potentially be applied in future sensing technologies.

AFRIKAANSE OPSOMMING: Hierdie navorsing ondersoek die moontlike toepassing van koolstof nano-materiale as gas-sensor tegnologie. Hierdie materiale sluit die 2-dimensionele koolstof struktuur, grafeen, asook die sogenaamde 1-dimensionele koolstof nano-buise in. Die buitengewone eienskappe en unieke morfologie van hierdie nano-materiale, maak hul uitstekende kandidate vir sensor toepassings. Hierdie navorsing ondersoek dus die ontwikkeling van gas-sensors met koolstof nano-materiale, insluitend die sintese van koolstof nano-buise deur middel van ’n chemiese damp-neerslag proses, asook die fabrikasie van resistiewe dun film sensors. Die funksionalisering van koolstof nano-materiale is ook ondersoek en belowende resultate is opgelewer met betrekking tot die deteksie van gasse by kamertemperatuur, veral vir asetileen (C2H2) gas. Verder is ’n unieke metode ontwikkel om ultra dun aluminium mikrostrukture te vervaardig en hierdie metaal elektrodes word as ideaal beskou vir die integrasie van nano-materiale. ’n Eksperiment is uitgevoer om ’n geïntegreerde sensor te vervaardig met multi-wand koolstof nano-buise, waarvan die resultate aandui dat die proses verfyn moet word en dat die moontlike toepassing van veld-effek-transistor toestelle ondersoek moet word. Die resultate wat opgelewer is gedurende hierdie navorsing dui daarop dat ontwikkelde nanostrukture, soos koolstof nano-buise en grafeen, as toekomstige sensor tegnologie geïmplementeer kan word.

Advisors/Committee Members: Perold, W. J., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: As control problems become more and more complex, techniques are required that surpass the capabilities of simple controllers that are linearized about certain parametric set points. Controllers that can operate over a large range of model parameter variations and even controllers that are largely model-independent are becoming more valuable and necessary. In this control application, voltage regulation is done on a direct AC-AC medium voltage regulator, making use of a type of regulated autotransformer configuration. The fifth order system is shown to be prone to oscillations on the input bus. This, together with the control requirement of robustness to load variations, provides a challenging control problem that is rarely addressed in literature. This thesis solves the control problem by means of applying sliding mode control on voltage regulator module level, and supervisory control on system level.

AFRIKAANSE OPSOMMING: Soos die soeke na oplossings vir hedendaagse beheer probleme al hoe meer uitdagend raak, word die behoefte vir model onafhanklike en robuuste beheerders dienooreenkomstig groter. Eenvoudige beheerders wat gelineariseer is om ’n parametriese werkpunt raak ondoeltreffend vir vandag se vereistes vir doeltreffende beheer ongeag van parametriese veranderinge. In hierdie tesis word spanning regulasie toegepas deur ’n direkte WS-na-WS medium spanning reguleerder in te span. Hierdie toestel maak gebruik van ’n tipe van outotransformator opstelling waar die sekondêre wikkelings gereguleer word deur die skakelaksie van die drywingselektroniese regulasie modules. Die vyfde-orde stelsel se intree bus is geneigd om onstabiel te raak, en moet dus aktief gedemp word terwyl die uitreespanning reguleer word. Die vereiste dat die beheer boonop robuus ten opsigte van las veranderings moet wees maak hierdie probleem ’n monster van ’n uitdaging wat skaars in die literatuur aangeraak is. Hierdie tesis los die probleem van robuuste beheer op deur glymodus beheer toe te pas op reguleerder module vlak, en ook deur toesighoudende beheer op stelsel vlak toe te pas.

Advisors/Committee Members: Mouton, H. du T., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: This thesis presents the analysis, design, simulation and practical implementation of a control system to achieve an accurate autonomous landing of a fixed-wing unmanned aerial vehicle in the presence of wind gust atmospheric disturbances. Controllers which incorporate the concept of direct-lift control were designed based on a study of the longitudinal dynamics of the UAV constructed as a testbed. Direct-lift control offers the prospect of an improvement in the precision with which aircraft height and vertical velocity can be controlled by utilising actuators which generate lift directly, instead of the conventional method whereby the moment produced by an actuator results in lift being indirectly generated. Two normal specific acceleration controllers were designed. The first being a conventional moment-based controller, and the second a direct-lift-augmented controller. The moment-based controller makes use of the aircraft’s elevator while the direct-lift augmented controller in addition makes use of the flaps of the aircraft which serve as the direct-lift actuator. Controllers were also designed to regulate the airspeed, altitude, climb rate, and roll angle of the aircraft as well as damp the Dutch roll mode. A guidance controller was implemented to allow for the following of waypoints. A landing procedure and methodology was developed which includes the circuit and landing approach paths and the concept of a glide path offset to calibrate the touchdown point of a landing. All controllers and the landing procedure were tested in a hardware-in-the-loop simulation environment as well as practically in a series of flight tests. Five fully autonomous landings were performed, three of these using the conventional NSA controller, and the final two the direct-lift-augmented NSA controller. The results obtained during the landing flight tests show that the project goal of a landing within five meters along the runway and three meters across the runway was achieved in both normal wind conditions as well as in conditions where wind gusts prevailed. The flight tests also showed that the direct-lift-augmented NSA controller appears to achieve a more accurate landing than the conventional NSA controller, especially in the presence of greater wind disturbances. The direct-lift augmented NSA controller also exhibited less pitch angle rotation during landing.

AFRIKAANSE OPSOMMING: Hierdie tesis verteenwoordig die analise, ontwerp, simulasie en praktiese implementering van ’n beheerstelsel wat ten doel het om ’n akkurate en outonome landing van ’n onbemande vastevlerk vliegtuig in rukwind atmosferiese toestande te bewerkstellig. Gegrond op ’n studie van die longitudinale dinamika van die vliegtuig wat as proeftuig gebruik is, is beheerders ontwerp wat die beginsel van direkte-lig insluit. Direkte-lig beheer hou die potensiaal in om die vliegtuig se hoogte en vertikale snelheid akkuraat te beheer deur gebruik te maak van aktueerders wat lig direk genereer in teenstelling met…

Advisors/Committee Members: Jones, T., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: Markerless mobile Augmented Reality (AR) is currently being limited by the processing power available on smartphones and tablet-like devices, which also limits the research that can be done using these devices. To overcome the problem of limited processing power and the problem of being limited to the device's original hardware, the development of a laptop-based prototype platform was proposed. The use of a laptop was motivated by the processing power it o ers and because it is self-contained, but still allows for expansion. The implemented system consists of a handheld tablet-like display with touch input, attached to a backpack which houses the processing unit of the laptop. The tablet portion of the device is equipped with stereo cameras and inertial sensors to allow for optical inertial hybrid tracking. A basic optical inertial Extended Kalman Filter based tracking system was implemented as proof of the concept. A modular design was implemented that allows for components to be added to or removed from the prototype, thereby allowing for rapid prototyping with various combinations of sensors and cameras. Furthermore, multi-core and parallel processing, on both the GPU and CPU, was used to achieve fast processing with only minimal optimisations. The conceptual design, practical implementation, and testing of the prototype platform are covered in this document, along with recommendations for both continued research and the creation of similar systems.

AFRIKAANSE OPSOMMING: Die veld van merkervrye mobiele Toegevoegde Realiteit (TR) word tans beperk deur die verwerkingsvermo e van slimfone en tablette. Die beperking a ekteer ook die vermo e om navorsing te doen op hierdie toestelle. Nog 'n struikelblok met navorsing op hierdie tipe toestel is dat die hardeware nie verander of aangepas kan word nie. Om die beperkings in verwerkingsvermo e en die hardewarebeperking te oorkom, word daar voorgestel dat 'n mobiele stelsel ontwerp word wat oor genoegsame verwerkingvermo e beskik. Die voorgestelde prototipe-stelsel word gebaseer op 'n kragtige skootrekenaar, omdat dit die nodigde verwerkingvermo e besit en mobiliteit verskaf in 'n selfstandigeeenheid. Die voorgestelde stelsel is ge mplementeer deur 'n handdraagbare aanraakskerm te skep, wat verbind is met die rugsak wat die verwerkingse enheid van die skootrekenaar huisves. Die handdraagbare gedeelte van die skerm is toegerus met stereovisie-kameras en inersiesensors. Hierdie sensors en kameras is dan gebruik om 'n basiese hibriede optiese-inersie uitgebreide Kalman lter-gebaseerde posisievolgingsstelsel te skep, as bewys van die voorgestelde konsep. 'n Modul^ere ontwerp is gebruik, omdat dit toelaat dat komponente maklik vervang of bygevoeg kan word. Die modul^ere ontwerp maak dit moontlik om verskeie sensors spoedig te toets en te vergelyk. Verder is beide die SVE- en GVE-eenhede van die skootrekenaar se parallelle verwerkingsvermo e benut. Sodoende is 'n ho e verwerkingspoed bereik, deur slegs minimale…

Advisors/Committee Members: Van Rooyen, G-J., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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Thesis (MScEng (Electrical and Electronic Engineering)) – University of Stellenbosch, 2011.

This thesis describes the design and implementation of a video compression development board as a standalone embedded system. The board can capture images, encode them and stream out a video to a destination over a wireless link. This project was done to allow users to test and develop video compression encoders that are designed for UAV applications. The board was designed to use an ADSP-BF533 Blackfin DSP from Analog Devices with the purpose of encoding images, which were captured by a camera module and then streamed out a video through a WiFi module. Moreover, an FPGA that has an interface to a logic analyzer, the DSP, the camera and the WiFi module, was added to accommodate other future uses, and to allow for the debugging of the board. The board was tested by loading a H.264 BP/MP encoder from Analog Devices to the DSP, where the DSP was integrated with the camera and the WiFi module. The test was successful and the board was able to encode a 2 MegaPixel picture at about 2 frames per second with a data rate of 186 Kbps. However, as the frame rate was only 2 frames per second, the video was somewhat jerky. It was found that the encoding time is a system limitation and that it has to be improved in order to increase the frame rate. A proposed solution involves dividing the captured picture into smaller segments and encoding each segment in parallel. Thereafter, the segments can be packed and streamed out. Further performance issues about the proposed structure are presented in the thesis.

Advisors/Committee Members: Smit, W., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: A low earth orbit satellite system can be useful in numerous communication applications where physical connections are not possible. Communication time available from any point on earth to the satellite is less than one hour per day. This one hour is fragmented into smaller time slots due to the satellite orbiting. This is not much time to transfer data and there is even less time available to transfer data when there are other external factors affecting the system. It is thus crucial to optimise the satellite communications link so that more data can be transferred per orbit. The goal of this thesis is to improve the performance of a low earth orbit satellite communication channel by varying certain parameters of the system, such as the protocol used, modulation scheme, packet size, transmission power etc. and then to observe how these parameters influence the system. The protocols that were chosen to be implemented are CSMA-CA, CSMA-CA with DSSS technology and Round-Robin Polling. A simulator for each protocol was designed with the Opnet platform, so that specific parameters could be changed and the results observed, in order to optimise the communications link between the satellite and ground stations. The results showed that there is no particular configuration of modulation scheme, packet size, transmission power etc. presenting the best overall solution for LEO satellite communications. It must be considered what the specific LEO satellite application would be used for and the characteristics required by that specific application. A suitable configuration must subsequently be chosen from the set of configurations available to satisfy most of the application requirements.

AFRIKAANSE OPSOMMING: ’n Satelliet met ’n lae wentelbaan kan gebruik word in verskeie kommunikasie toepassings waar fisiese verbindinge nie noodwendig moontlik is nie. Die kommunikasietyd van enige punt van aarde af na die satelliet, is minder as een uur per dag. Hierdie tyd word nog verder verklein omdat die satelliet besig is om, om die aarde te wentel. ’n Uur is glad nie baie tyd om data oor te dra nie en in realiteit is daar nog minder tyd beskikbaar as daar eksterne faktore op die sisteem inwerk. Dus is dit baie belangrik om die satelliet kommunikasiekanaal te optimiseer sodat soveel moontlik data as moontlik oorgedra kan word per omwenteling. Die doel van hierdie tesis is om die deurset van die kommunikasiekanaal van n lae wentelbaan satelliet te optimiseer, deur verskeie parameters te verander soos, protokol wat gebruik word, modulasie skema, pakkie grootte, transmissiekrag ens. en dan waar te neem hoe dit die sisteem beïnvloed. Die protokolle wat geïmplementeer is, is CSMA-CA, CSMA-CA met DSSS tegnologie en Round-Robin Polling. ’n Simulator vir elke protokol was ontwerp in die Opnet simulasie platform, sodat die spesifieke parameters verander kon word om die resultate te bestudeer met die doel om die kommunikasiekanaal tussen die satelliet en grond stasies optimaal te benut. Die…

Advisors/Committee Members: Wolhuter, R., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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ENGLISH ABSTRACT: An investigation of the functional similarities and di erences between a combline lter and an evanescent-mode waveguide lter is presented. The design theory of the two types of lters is outlined. Two lters are designed to operate at a centre frequency of 2 GHz with a 5% bandwidth using similar waveguide dimensions, but using the two di erent design theories. The bandpass characteristics of the two lters are then compared over the primary passband and over a broad range of frequencies to observe the stopband characteristics. It is shown that a combline lter with a large groundplane spacing behaves like an evanescent-mode waveguide lter but a di erence in bandwidth exists between the two. Di erent aspects related to the manufacture of coaxial cavity lters are addressed with speci c emphasis on cost reduction. The considerations to be made when choosing the right materials, manufacturing techniques and surface nishes for microwave coaxial cavity lters so that good performance is obtained while reducing the overall costs associated with manufacturing are discussed. The concept of Design for Manufacture (DFM) is discussed. Three combline lters are designed for reduced manufacturing cost, applying di erent changes in the physical structure to suit the speci c manufacturing technique used. Two of these have the same design speci cations, operating at a centre frequency of 1.3 GHz with a 10% bandwidth but are designed for manufacture using two di erent manufacturing techniques: milling and wire-cutting EDM. The third lter is designed for manufacture using a combination of the milling and wirecutting processes to have a bandwidth of 1.8% with the primary passband centred at 2.125 GHz. Problems encountered in manufacturing are explained, one of which results in the use of waterjet cutting for the manufacture of lters initially supposed to be manufactured using wirecutting EDM. Measurement results for the manufactured lters show a good agreement between the bandwidths of the 3D electomagnetic simulation results. The obtained results also show the e ects of poor surface nishing and of deformations on the resonant frequency and the unloaded Q of the lters.

AFRIKAANSE OPSOMMING: 'n Studie van die funksionele ooreenkomste en verskille tussen kamlyn lters en gol eier-onder-afknip lters word aangebied. Die ontwerpstegnieke van beide tipes lters word aangebied. Twee lters word ontwerp met 'n senterfrekwensie van 2GHz en 'n bandwydte van 5%, met soortgelyke gol eierafmetings maar deur gebruik te maak van die verskillende ontwerpstegnieke. Die gedrag van die twee lters word vergelyk in die deurlaatband sowel as oor 'n wye stopband. Dit word getoon dat 'n kamlyn lter met 'n groot grondvlakspasi ering soos 'n gol eier-onder-afknip lter optree, met 'n verskil in bandwydte. Verskillende aspekte wat verband hou met die vervaardiging van koaksiale lters, met spesi eke klem op koste vermindering, word aangebied. Die oorwegings wat die keuses van materiaal,…

Advisors/Committee Members: Meyer, P., Van der Walt, P. W., De Villiers, D. I. L., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

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Thesis (MScEng (Electrical and Electronic Engineering)) – University of Stellenbosch, 2011.

ENGLISH ABSTRACT: Swarm intelligence research was inspired by biological systems in nature. Working ants and bees has captivated researchers for centuries, with the ant playing a major role in shaping the future of robotic swarm applications. The ants foraging activity can be adapted for different applications of robotic swarm intelligence. Numerous researchers have conducted theoretical analysis and experiments on the ants foraging activities and communication styles. Combining this information with modern reconfigurable computing opens the door to more complex behaviour with improved system dynamics. Reconfigurable computing has numerous applications in swarm intelligence such as true hardware parallel processing, dynamic power save algorithms and dynamic peripheral changes to the CPU core. In this research a brief study is made of swarm intelligence and its applications. The ants' foraging activities were studied in greater detail with the emphasis on a layered control system designed implementation in a robotic agent. The robotic agent’s hardware was designed using a partial self reconfigurable FPGA as the main building element. The hardware was designed with the emphasis on system flexibility for swarm application drawing attention to power reduction and battery life. All of this was packaged into a differential drive chassis designed specifically for this project.

AFRIKAANSE OPSOMMING: Die motivering vir swerm robotika kom van die natuur. Vir eeue fassineer swerm insekte soos bye en miere navorsers. Dit is verstommend hoe ’n groep klein en nietige insekte sulke groot take kan verrig. Die mier speel ‘n belangrike rol en is die sentrale tema van menige publikasies. Die mier se kos-soek aktiwiteit kan aangepas word vir swerm robotika toepassings. Hierdie aktiwiteit vervat verskeie sleutel konsepte wat belangrik is vir robotika toepassings. Deur bv. die mier se aktiwiteite te kombineer met dinamies herkonfigureerbare hardeware, kan meer komplekse gedrag bestudeer word. Die stelsel dinamika verbeter ook, aangesien dit nou moontlik is om sekere take in parallel uit te voer. Deur ’n interne prosesseerder in die herkonfigureerbare hardeware in te sluit, is dit nou vir die stelsel moontlik om homself te verander tydens taak verrigting. Komplekse krag bestuur gedrag is ook moontlik deurdat die prosesseerder die spoed en rand apparaat kan verander soos benodig. ‘n Verdere voordeel is dat die stelsel aanpasbaar is en dus vir verskeie navorsingsprojekte gebruik kan word. In hierdie navorsing word ’n literatuur studie van swerm robotika gemaak en word daar ook na toepassings gekyk. Met die klem op praktiese implementering, word die mier se kos-soek aktiwiteit in detail ondersoek deur gebruik te maak van ’n laag beheerstelsel. In hierdie laag beheerstelsel verteenwoordig elke laag ’n hoër vlak gedrag. Stelsel aanpasbaarheid en lae kragverbruik speel ’n deurslaggewende rol in die ontwerp, en om…

Advisors/Committee Members: Smit, W., University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

▼ ENGLISH ABSTRACT: Several accents of English are spoken in South Africa. Automatic speech recognition (ASR) systems should therefore be able to process the di erent accents of South African English (SAE). In South Africa, however, system development is hampered by the limited availability of speech resources. In this thesis we consider di erent acoustic modelling approaches and system con gurations in order to determine which strategies take best advantage of a limited corpus of the ve accents of SAE for the purpose of ASR. Three acoustic modelling approaches are considered: (i) accent-speci c modelling, in which accents are modelled separately; (ii) accent-independent modelling, in which acoustic training data is pooled across accents; and (iii) multi-accent modelling, which allows selective data sharing between accents. For the latter approach, selective sharing is enabled by extending the decision-tree state clustering process normally used to construct tied-state hidden Markov models (HMMs) by allowing accent-based questions. In a rst set of experiments, we investigate phone and word recognition performance achieved by the three modelling approaches in a con guration where the accent of each test utterance is assumed to be known. Each utterance is therefore presented only to the matching model set. We show that, in terms of best recognition performance, the decision of whether to separate or to pool training data depends on the particular accents in question. Multi-accent acoustic modelling, however, allows this decision to be made automatically in a data-driven manner. When modelling the ve accents of SAE, multi-accent models yield a statistically signi cant improvement of 1.25% absolute in word recognition accuracy over accent-speci c and accentindependent models. In a second set of experiments, we consider the practical scenario where the accent of each test utterance is assumed to be unknown. Each utterance is presented simultaneously to a bank of recognisers, one for each accent, running in parallel. In this setup, accent identi cation is performed implicitly during the speech recognition process. A system employing multi-accent acoustic models in this parallel con guration is shown to achieve slightly improved performance relative to the con guration in which the accents are known. This demonstrates that accent identi cation errors made during the parallel recognition process do not a ect recognition performance. Furthermore, the parallel approach is also shown to outperform an accent-independent system obtained by pooling acoustic and language model training data. In a nal set of experiments, we consider the unsupervised reclassi cation of training set accent labels. Accent labels are assigned by human annotators based on a speaker's mother-tongue or ethnicity. These might not be optimal for modelling purposes. By classifying the accent of each utterance in the training set by using rst-pass acoustic models and then retraining the models, reclassi ed acoustic models… Advisors/Committee Members: Niesler, T. R., Stellenbosch University. Faculty of Engineering. Dept. of Electrical and Electronic Engineering..

▼ The potential of the power line to transport both power and communication signals simultaneously has been realized and practiced for over a century, dating back to the 1900’s. Since the key aspect of power line communications being its expansivity, its implementations were largely as a retrofit technology. This motivation of power line communication is typical for low-, medium-, and high voltage distribution networks. Beyond the “last mile” part, there’s an uprising appeal for intra-building networks currently targeted for home automation (smart homes/buildings) and in-building networking. The optimum use of the existing power line channels has been a focus area for researchers and designers, with the inherent channel hostility proving a serious drawback for high speed data communications. The low-voltage electrical network has unpredictable noise sources, moreover it has two other main disadvantages as a communication channel. The first short coming has to do with the unknown characteristics of the power cable and topology of the network, the second arises from the time-dependent fluctuation of the impedance level of the power line as the loads are switched into and out of the power line network in an unpredictable manner. These factors determine the behaviour of the power line channel when a high frequency signal is impressed on it. This study has shown that the behaviour of indoor power line channels can be captured using a multipath based model even with limited qualitative and/or quantitative knowledge of the network topology. This model is suitable for typical indoor power line channels where knowledge of the topology is near impossible. Some of the feed parameters are obtained through measurements. With sufficient adjustment of control parameters, this model was successfully validated using sample measured channels from the numerous measurements. Through noise measurements, this study has established that impulsive noise is the rifest in the frequency band of interest. The impulsive energy rises well above background noise, which translates to possible data “black outs”. The statistics of the components of this noise are presented. A model of sufficient simplicity is used to facilitate the qualitative description of the background noise through its power spectral density. Two descriptions are provided in terms of the worst and best case scenarios of the background noise occurrences. The model has a good macroscopic capture of the noise power spectral density, with narrow-band interference visible for the worst case noise. Due to the multipath nature of the power line channel, this study also presents the dispersive characteristics of the power line as a communication channel. The power delay profile is used to determine parameters such as first arrival delay, mean excess delay, root mean square delay spread and maximum delay spread. The statistics of these parameters are presented. Also, the coherence bandwidth of power line channels is studied and its relationship with the rms delay spread is developed. It… Advisors/Committee Members: Afullo, Thomas Joachim Odhiambo. (advisor).