Design of a dedicated IFT microcontroller
- Authors: Himunzowa, Grayson
- Date: 2018
- Subjects: Feedback control systems , Automatic control , Engineering design -- Data processing
- Language: English
- Type: Thesis , Doctoral , DPhil
- Identifier: http://hdl.handle.net/10948/30017 , vital:30809
- Description: The design of a Dedicated IFT Microcontroller originated from the successful implementation of the Iterative Feedback Tuning (IFT) technique into the Digital Signal Processor microcontroller (DSP56F807C) at the University of Cape Town in 2006. However, implementation of the IFT technique on a general-purpose microcontroller is neither optimal, nor a cost-effective exercise, as most of the microcontroller peripherals remain unused, and drain energy for doing nothing. In addition, microcontrollers and DSPs are software-driven devices whose nature is sequential in executing algorithms, and hence have a significant effect on the bandwidth of the closed-loop control. To mitigate the said problem, the design of a Dedicated IFT Microcontroller is proposed in this thesis. To accomplish this goal, the preliminary task was to explore the IFT theory and its applications, followed by a review of the literature on FPGA design methodology for industrial control systems, Microcontroller design principles, and FPGA theory and trends. Furthermore, a survey of electronic design automation (EDA) tools and other application software was also conducted. After the literature review, the IFT was investigated exhaustively by applying it to three types of plants, namely: a DC motor, an oscillatory plant, and an unstable plant. Each of these plants were tested using three types of initial controllers, namely heavilydamped, critically damped and under-damped initial controllers. The plants were also tested by varying the amplitude of the reference signal, followed by using a single-step signal of constant amplitude of one volt. The intention of exploring all of these possibilities was meant to firmly expose the IFT boundaries of applicability, so that the final product would not be vulnerable to unnecessary post-production discoveries. The design methodology adopted in this research was a popular hierarchical and modular top-down procedure, which is an array of abstraction levels that are detailed as: system level, behavioural level, Register-Transfer Level (RTL) and Gate level. At system level, the Dedicated IFT Microcontroller was defined. Thereafter, at behavioural level, the design was simulated using VHDL, created by porting the LabView IFT code to the Xilinx EDA tool. At the RTL, the synthesisable VHDL code utilising fixed-point number representation was written. The compiled bit file was downloaded onto National Instruments (NI) Digital Electronics FPGA Board featuring iii the Spartan 3 series FPGA. This was tested, using a method known as simulation in the hardware. The key contribution of this thesis is the experimental validation of the IFT technique on FPGA hardware as it has never been published before, the work described in chapter four and five. The other contribution is the analysis of 1DOF IFT technique in terms of limitations of applicability for correct implementation, which is the main work of chapter three. This work could be used to explore other computational methods, like the use of floating-point number representation for high resolution and accuracy in numerical computations. Another avenue that could be exploited is Xilinx's recent Vivado methodology, which has the capacity for traditional programming languages like C or C++, as these have in-built floating-point number capability. Finally, out of this work, two papers have already been published by Springer and IEEE Xplore Publishers, and a journal paper has also been written for publication in the Control Systems Technology journal.
- Full Text:
- Date Issued: 2018
- Authors: Himunzowa, Grayson
- Date: 2018
- Subjects: Feedback control systems , Automatic control , Engineering design -- Data processing
- Language: English
- Type: Thesis , Doctoral , DPhil
- Identifier: http://hdl.handle.net/10948/30017 , vital:30809
- Description: The design of a Dedicated IFT Microcontroller originated from the successful implementation of the Iterative Feedback Tuning (IFT) technique into the Digital Signal Processor microcontroller (DSP56F807C) at the University of Cape Town in 2006. However, implementation of the IFT technique on a general-purpose microcontroller is neither optimal, nor a cost-effective exercise, as most of the microcontroller peripherals remain unused, and drain energy for doing nothing. In addition, microcontrollers and DSPs are software-driven devices whose nature is sequential in executing algorithms, and hence have a significant effect on the bandwidth of the closed-loop control. To mitigate the said problem, the design of a Dedicated IFT Microcontroller is proposed in this thesis. To accomplish this goal, the preliminary task was to explore the IFT theory and its applications, followed by a review of the literature on FPGA design methodology for industrial control systems, Microcontroller design principles, and FPGA theory and trends. Furthermore, a survey of electronic design automation (EDA) tools and other application software was also conducted. After the literature review, the IFT was investigated exhaustively by applying it to three types of plants, namely: a DC motor, an oscillatory plant, and an unstable plant. Each of these plants were tested using three types of initial controllers, namely heavilydamped, critically damped and under-damped initial controllers. The plants were also tested by varying the amplitude of the reference signal, followed by using a single-step signal of constant amplitude of one volt. The intention of exploring all of these possibilities was meant to firmly expose the IFT boundaries of applicability, so that the final product would not be vulnerable to unnecessary post-production discoveries. The design methodology adopted in this research was a popular hierarchical and modular top-down procedure, which is an array of abstraction levels that are detailed as: system level, behavioural level, Register-Transfer Level (RTL) and Gate level. At system level, the Dedicated IFT Microcontroller was defined. Thereafter, at behavioural level, the design was simulated using VHDL, created by porting the LabView IFT code to the Xilinx EDA tool. At the RTL, the synthesisable VHDL code utilising fixed-point number representation was written. The compiled bit file was downloaded onto National Instruments (NI) Digital Electronics FPGA Board featuring iii the Spartan 3 series FPGA. This was tested, using a method known as simulation in the hardware. The key contribution of this thesis is the experimental validation of the IFT technique on FPGA hardware as it has never been published before, the work described in chapter four and five. The other contribution is the analysis of 1DOF IFT technique in terms of limitations of applicability for correct implementation, which is the main work of chapter three. This work could be used to explore other computational methods, like the use of floating-point number representation for high resolution and accuracy in numerical computations. Another avenue that could be exploited is Xilinx's recent Vivado methodology, which has the capacity for traditional programming languages like C or C++, as these have in-built floating-point number capability. Finally, out of this work, two papers have already been published by Springer and IEEE Xplore Publishers, and a journal paper has also been written for publication in the Control Systems Technology journal.
- Full Text:
- Date Issued: 2018
Design of a low-cost autonomous guided cart for material handling
- Authors: Cawood, Gareth James
- Date: 2015
- Subjects: Automobiles -- Design and construction , Automobiles -- Automatic control , Vehicles -- Automatic control
- Language: English
- Type: Thesis , Masters , MEngineering
- Identifier: vital:9655
- Description: This dissertation covers the design and manufacture of an autonomous guided cart (AGC) for use in the material handling industry. General Motors South Africa (GMSA) requires a low-cost AGC for use in their Struandale plant. A budget of R35 000 per unit was proposed. The researcher, in collaboration with staff at GM, compiled a list of engineering requirements for the AGC. After research into the unique problems of the project, an examination of a previous design attempt by staff of GM Thailand, the researcher developed a new design, the subject of this report. Different solutions for each design problem were investigated before the design was finalised. A three-wheeled vehicle was designed making use of two motors in a differential-drive setup to control motion. Navigation is via a line-following mechanism, using an induction sensor-array in conjunction with a pre-laid metallic strip. To aid the design, the system was modelled to understand the different control elements at play. The researcher developed software for several aspects of the design: for the PLC controlling the system and motors; for a microcontroller that communicates with the PLC and a wireless module; for a computer server that communicates with a second wireless device, receiving information from the PLC; and a web interface to view this information. These form the SCADA integration of the project. The final product meets the GMSA specifications. It is a robot capable of towing a trolley of mass not exceeding 350 kg. While the robot is able to navigate a pre-laid route, it cannot reliably stop at marked locations. It is possible to monitor the system via a web-interface. The robot is capable of operating for an entire 8-hour shift before the batteries need to be recharged. The total cost of the prototype was R26 340.
- Full Text:
- Date Issued: 2015
- Authors: Cawood, Gareth James
- Date: 2015
- Subjects: Automobiles -- Design and construction , Automobiles -- Automatic control , Vehicles -- Automatic control
- Language: English
- Type: Thesis , Masters , MEngineering
- Identifier: vital:9655
- Description: This dissertation covers the design and manufacture of an autonomous guided cart (AGC) for use in the material handling industry. General Motors South Africa (GMSA) requires a low-cost AGC for use in their Struandale plant. A budget of R35 000 per unit was proposed. The researcher, in collaboration with staff at GM, compiled a list of engineering requirements for the AGC. After research into the unique problems of the project, an examination of a previous design attempt by staff of GM Thailand, the researcher developed a new design, the subject of this report. Different solutions for each design problem were investigated before the design was finalised. A three-wheeled vehicle was designed making use of two motors in a differential-drive setup to control motion. Navigation is via a line-following mechanism, using an induction sensor-array in conjunction with a pre-laid metallic strip. To aid the design, the system was modelled to understand the different control elements at play. The researcher developed software for several aspects of the design: for the PLC controlling the system and motors; for a microcontroller that communicates with the PLC and a wireless module; for a computer server that communicates with a second wireless device, receiving information from the PLC; and a web interface to view this information. These form the SCADA integration of the project. The final product meets the GMSA specifications. It is a robot capable of towing a trolley of mass not exceeding 350 kg. While the robot is able to navigate a pre-laid route, it cannot reliably stop at marked locations. It is possible to monitor the system via a web-interface. The robot is capable of operating for an entire 8-hour shift before the batteries need to be recharged. The total cost of the prototype was R26 340.
- Full Text:
- Date Issued: 2015
Designing accessible portals in South Africa: a case study
- Authors: Meyer, Shaun
- Date: 2008
- Subjects: Web portals -- South Africa -- Port Elizabeth , Web site development -- South Africa -- Port Elizabeth , Internet programming , Web sites -- Design
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9782 , http://hdl.handle.net/10948/770 , Web portals -- South Africa -- Port Elizabeth , Web site development -- South Africa -- Port Elizabeth , Internet programming , Web sites -- Design
- Description: Web portals are considered “gateways” to the World Wide Web. These portals are becoming very popular entry points to the Web by offering important services such as email, news, weather reports, course notes and general information. In addition, some portal sites allow users the option of customising the site according to their personal interests. However, disabled and elderly people encounter many accessibility and usability barriers while accessing web portals. A preliminary review of a university portal was conducted to identify some of these accessibility problems. This treatise presents an overview of the processes to be followed when conducting an accessibility and usability evaluation. In addition, it mentions some guidelines to be considered when specifically designing portals for use by many different users from varying backgrounds.
- Full Text:
- Date Issued: 2008
- Authors: Meyer, Shaun
- Date: 2008
- Subjects: Web portals -- South Africa -- Port Elizabeth , Web site development -- South Africa -- Port Elizabeth , Internet programming , Web sites -- Design
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9782 , http://hdl.handle.net/10948/770 , Web portals -- South Africa -- Port Elizabeth , Web site development -- South Africa -- Port Elizabeth , Internet programming , Web sites -- Design
- Description: Web portals are considered “gateways” to the World Wide Web. These portals are becoming very popular entry points to the Web by offering important services such as email, news, weather reports, course notes and general information. In addition, some portal sites allow users the option of customising the site according to their personal interests. However, disabled and elderly people encounter many accessibility and usability barriers while accessing web portals. A preliminary review of a university portal was conducted to identify some of these accessibility problems. This treatise presents an overview of the processes to be followed when conducting an accessibility and usability evaluation. In addition, it mentions some guidelines to be considered when specifically designing portals for use by many different users from varying backgrounds.
- Full Text:
- Date Issued: 2008
Develoment of a navigation system for an autonomous guided vehicle using android technology
- Authors: Snyman, Christo Johannes
- Subjects: Automated guided vehicle systems , Global Positioning System
- Language: English
- Type: Thesis , Masters , MEngineering (Mechatronics)
- Identifier: vital:9660 , http://hdl.handle.net/10948/d1020917
- Description: Modern cell phone hardware, due to its integrated peripherals, provides a low cost intelligent controller for use in the navigation of an Automated Guided Vehicle (AGV). Most commercial AGV’s use proprietary hardware which is expensive to replace and also difficult to maintain. Using industrial hardware components combined with Android mobile platforms could provide a low-cost alternative. This would be easier to maintain, using existing in-house factory maintenance knowledge. A prototype AGV was designed and developed based on an integrated system between an industrial Programmable Logic Controller (PLC) and an Android operating system mobile platform. This system utilises the mobile platforms integrated Global Position System (GPS) or video camera as tools for navigation. Experimental tests were performed to determine whether the prototype can navigate a predefined course by making use of GPS and camera line following algorithms. The accuracy of the line following algorithm was influenced by the speed at which the research AGV moved. Mounting the Android camera higher above the ground improved the vision and therefore accuracy of the algorithm. The GPS algorithm successfully navigated to various waypoints. The accuracy of the implemented GPS unit on the Android device is its limitation. The research unit was only capable of reaching a waypoint consistently within a three-metre radius.
- Full Text:
- Authors: Snyman, Christo Johannes
- Subjects: Automated guided vehicle systems , Global Positioning System
- Language: English
- Type: Thesis , Masters , MEngineering (Mechatronics)
- Identifier: vital:9660 , http://hdl.handle.net/10948/d1020917
- Description: Modern cell phone hardware, due to its integrated peripherals, provides a low cost intelligent controller for use in the navigation of an Automated Guided Vehicle (AGV). Most commercial AGV’s use proprietary hardware which is expensive to replace and also difficult to maintain. Using industrial hardware components combined with Android mobile platforms could provide a low-cost alternative. This would be easier to maintain, using existing in-house factory maintenance knowledge. A prototype AGV was designed and developed based on an integrated system between an industrial Programmable Logic Controller (PLC) and an Android operating system mobile platform. This system utilises the mobile platforms integrated Global Position System (GPS) or video camera as tools for navigation. Experimental tests were performed to determine whether the prototype can navigate a predefined course by making use of GPS and camera line following algorithms. The accuracy of the line following algorithm was influenced by the speed at which the research AGV moved. Mounting the Android camera higher above the ground improved the vision and therefore accuracy of the algorithm. The GPS algorithm successfully navigated to various waypoints. The accuracy of the implemented GPS unit on the Android device is its limitation. The research unit was only capable of reaching a waypoint consistently within a three-metre radius.
- Full Text:
Developing an e-health framework through electronic healthcare readiness assessment
- Authors: Coleman, Alfred
- Date: 2010
- Subjects: Health -- Computer network resources , Medical care -- South Africa -- Computer network resources , Public health -- South Africa -- Computer network resources , Internet in medicine -- South Africa , Medical informatics -- South Africa , Telecommunication in medicine -- South Africa
- Language: English
- Type: Thesis , Doctoral , DPhil
- Identifier: vital:9729 , http://hdl.handle.net/10948/1519 , Health -- Computer network resources , Medical care -- South Africa -- Computer network resources , Public health -- South Africa -- Computer network resources , Internet in medicine -- South Africa , Medical informatics -- South Africa , Telecommunication in medicine -- South Africa
- Description: The major socio-economic development challenges facing most African countries include economic diversification, poverty, unemployment, diseases and the unsustainable use of natural resources. The challenge of quality healthcare provisioning is compounded by the HIV/AIDS pandemic in Sub Saharan Africa. However, there is a great potential in using electronic healthcare (e-health) as one of the supportive systems within the healthcare sector to address these pressing challenges facing healthcare systems in developing countries, including solving inequalities in healthcare delivery between rural and urban hospitals/clinics. The purpose of this study was to compile a Provincial E-health Framework (PEHF) based on the feedback from electronic healthcare readiness assessments conducted in selected rural and urban hospitals/clinics in the North West Province in South Africa. The e-healthcare readiness assessment was conducted in the light of effective use of ICT in patient healthcare record system, consultation among healthcare professionals, prescription of medication, referral of patients and training of healthcare professionals in ICT usage. The study was divided into two phases which were phases 1 and 2 and a qualitative design supported by a case study approach was used. Data were collected using different techniques to enhance triangulation of data. The techniques included group interviews, qualitative questionnaires, photographs, document analysis and expert opinions. The outcome of the assessment led to the compilation of the PEHF which was based on Service Oriented Architecture (SOA). SOA was chosen to integrate the hospitals/clinics‟ ICT infrastructure yet allowing each hospital/clinic the autonomy to control its own ICT environment. To assist hospitals/clinics integrate their ICT resources, this research study proposed an Infrastructure Network Architecture which clustered hospitals/clinics to share common ICT infrastructure instead of duplicating these resources. Furthermore, processes of the e-health services (e-patient health IV record system, e-consultation system, e-prescription system, e-referral system and e-training system) were provided to assist in the implementation of the PEHF. Finally, a set of guidelines were provided by the research study to aid the implementation of the PEHF.
- Full Text:
- Date Issued: 2010
- Authors: Coleman, Alfred
- Date: 2010
- Subjects: Health -- Computer network resources , Medical care -- South Africa -- Computer network resources , Public health -- South Africa -- Computer network resources , Internet in medicine -- South Africa , Medical informatics -- South Africa , Telecommunication in medicine -- South Africa
- Language: English
- Type: Thesis , Doctoral , DPhil
- Identifier: vital:9729 , http://hdl.handle.net/10948/1519 , Health -- Computer network resources , Medical care -- South Africa -- Computer network resources , Public health -- South Africa -- Computer network resources , Internet in medicine -- South Africa , Medical informatics -- South Africa , Telecommunication in medicine -- South Africa
- Description: The major socio-economic development challenges facing most African countries include economic diversification, poverty, unemployment, diseases and the unsustainable use of natural resources. The challenge of quality healthcare provisioning is compounded by the HIV/AIDS pandemic in Sub Saharan Africa. However, there is a great potential in using electronic healthcare (e-health) as one of the supportive systems within the healthcare sector to address these pressing challenges facing healthcare systems in developing countries, including solving inequalities in healthcare delivery between rural and urban hospitals/clinics. The purpose of this study was to compile a Provincial E-health Framework (PEHF) based on the feedback from electronic healthcare readiness assessments conducted in selected rural and urban hospitals/clinics in the North West Province in South Africa. The e-healthcare readiness assessment was conducted in the light of effective use of ICT in patient healthcare record system, consultation among healthcare professionals, prescription of medication, referral of patients and training of healthcare professionals in ICT usage. The study was divided into two phases which were phases 1 and 2 and a qualitative design supported by a case study approach was used. Data were collected using different techniques to enhance triangulation of data. The techniques included group interviews, qualitative questionnaires, photographs, document analysis and expert opinions. The outcome of the assessment led to the compilation of the PEHF which was based on Service Oriented Architecture (SOA). SOA was chosen to integrate the hospitals/clinics‟ ICT infrastructure yet allowing each hospital/clinic the autonomy to control its own ICT environment. To assist hospitals/clinics integrate their ICT resources, this research study proposed an Infrastructure Network Architecture which clustered hospitals/clinics to share common ICT infrastructure instead of duplicating these resources. Furthermore, processes of the e-health services (e-patient health IV record system, e-consultation system, e-prescription system, e-referral system and e-training system) were provided to assist in the implementation of the PEHF. Finally, a set of guidelines were provided by the research study to aid the implementation of the PEHF.
- Full Text:
- Date Issued: 2010
Developing end-user requirements for the design of an eProcurement portal
- Authors: Du Preez, Pedro Gordon
- Date: 2017
- Subjects: End-user computing , Government purchasing -- South Africa Business information services Management information systems Business logistics -- South Africa
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: http://hdl.handle.net/10948/33272 , vital:32628
- Description: During the 2015 South African budget speech, the country was made aware of the proposed changes to be introduced to the tendering process. These changes were to be implemented from 1 April 2015 and were to span over two years. The changes were to facilitate the transition of the tendering process from a paper- based system to a completely digital process, where the majority of the processes will take place on an eProcurement portal (www.etenders.gov.za). This means that businesses will be obligated to use the portal, in order to access tender opportunities and ultimately, to submit tenders on this portal, with the phasing out of all paper-based tender processes. If the portal is to succeed it has to be well adopted by its users. If the portal is not adopted or is used incorrectly, businesses might struggle to access tender opportunities for their business. This research searches to address this problem by helping the users of this portal to gain efficient and effective access to tendering opportunities, through finding and developing user requirements for successful adoption from a user experience perspective. The primary objective of this research is to develop end-user requirements for the design of an eProcurement portal. To achieve this, a general understanding of the legal policies in place for tendering is necessary, as well as a first-hand experience of the users. Case study research methodology and a mixed method approach are used to gather both qualitative and quantitative data. The case study is conducted in the Eastern Cape and directed at business within the construction sector that do tender, as this research is only focusing on the end user and their roles within the tendering process and not on the government internal tendering processes. The outcome of this research is to offer a list of user requirements that can be used within the design of the eProcurement portal that will function as valuable material towards the adoption and effectiveness of the eProcurement portal.
- Full Text:
- Date Issued: 2017
- Authors: Du Preez, Pedro Gordon
- Date: 2017
- Subjects: End-user computing , Government purchasing -- South Africa Business information services Management information systems Business logistics -- South Africa
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: http://hdl.handle.net/10948/33272 , vital:32628
- Description: During the 2015 South African budget speech, the country was made aware of the proposed changes to be introduced to the tendering process. These changes were to be implemented from 1 April 2015 and were to span over two years. The changes were to facilitate the transition of the tendering process from a paper- based system to a completely digital process, where the majority of the processes will take place on an eProcurement portal (www.etenders.gov.za). This means that businesses will be obligated to use the portal, in order to access tender opportunities and ultimately, to submit tenders on this portal, with the phasing out of all paper-based tender processes. If the portal is to succeed it has to be well adopted by its users. If the portal is not adopted or is used incorrectly, businesses might struggle to access tender opportunities for their business. This research searches to address this problem by helping the users of this portal to gain efficient and effective access to tendering opportunities, through finding and developing user requirements for successful adoption from a user experience perspective. The primary objective of this research is to develop end-user requirements for the design of an eProcurement portal. To achieve this, a general understanding of the legal policies in place for tendering is necessary, as well as a first-hand experience of the users. Case study research methodology and a mixed method approach are used to gather both qualitative and quantitative data. The case study is conducted in the Eastern Cape and directed at business within the construction sector that do tender, as this research is only focusing on the end user and their roles within the tendering process and not on the government internal tendering processes. The outcome of this research is to offer a list of user requirements that can be used within the design of the eProcurement portal that will function as valuable material towards the adoption and effectiveness of the eProcurement portal.
- Full Text:
- Date Issued: 2017
Development and analysis of a friction stir spot welding process for aluminium
- Authors: Stephen, Michael George
- Date: 2005
- Subjects: Friction welding , Electric welding , Aluminum alloys -- Welding
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9631 , http://hdl.handle.net/10948/1351 , Friction welding , Electric welding , Aluminum alloys -- Welding
- Description: Friction Stir Spot Welding (FSSW) has been developed from the conventional Friction Stir Welding (FSW) process, developed at The Welding Institute (TWI). FSSWs have been done without the keyhole being eliminated. Elimination of the keyhole would result in the process being more commercially viable. This dissertation focuses on an attempt of eliminating the keyhole using a retractable pin tool as well as a comparison of the weld integrity of a FSSW to that of a conventional Resistance Spot Weld (RSW). Welds were conducted on aluminium alloy 6063 T4. Comparisons between different weld procedures were done. Further analysis of the weld integrity between FSSW and RSW were conducted, comparing tensile strengths, microstructure and hardness. For the above welding procedure to take place, the current retractable pin tool, patented by PE Technikon, was redesigned. Problems associated during the welding process and the results obtained are documented. Reasons for the keyhole not being eliminated as well as recommendations for future work in the attempt to remove the keyhole are discussed.
- Full Text:
- Date Issued: 2005
- Authors: Stephen, Michael George
- Date: 2005
- Subjects: Friction welding , Electric welding , Aluminum alloys -- Welding
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9631 , http://hdl.handle.net/10948/1351 , Friction welding , Electric welding , Aluminum alloys -- Welding
- Description: Friction Stir Spot Welding (FSSW) has been developed from the conventional Friction Stir Welding (FSW) process, developed at The Welding Institute (TWI). FSSWs have been done without the keyhole being eliminated. Elimination of the keyhole would result in the process being more commercially viable. This dissertation focuses on an attempt of eliminating the keyhole using a retractable pin tool as well as a comparison of the weld integrity of a FSSW to that of a conventional Resistance Spot Weld (RSW). Welds were conducted on aluminium alloy 6063 T4. Comparisons between different weld procedures were done. Further analysis of the weld integrity between FSSW and RSW were conducted, comparing tensile strengths, microstructure and hardness. For the above welding procedure to take place, the current retractable pin tool, patented by PE Technikon, was redesigned. Problems associated during the welding process and the results obtained are documented. Reasons for the keyhole not being eliminated as well as recommendations for future work in the attempt to remove the keyhole are discussed.
- Full Text:
- Date Issued: 2005
Development of a creep sample retrieval technique and friction weld site repair procedure
- Authors: Wedderburn, Ian Norman
- Date: 2013
- Subjects: Friction welding
- Language: English
- Type: Thesis , Doctoral , DPhil
- Identifier: vital:9635 , http://hdl.handle.net/10948/d1020116
- Description: The remnant life monitoring of creep loaded high temperature and pressure components in power stations is critical to ensuring their safe and cost effective operation as failures can have severe consequences. Effective creep life condition monitoring allows for optimising component life predictions and subsequent plant maintenance decisions. In South Africa many power generation stations have been in operation well beyond their 30 year design service life, as such knowledge of the remnant creep life of high temperature and pressure components, such as steam pipelines, becomes of utmost importance. Techniques for the remnant creep life assessments of critical high temperature and pressure components must therefore be as effective as possible. The common and well accepted in-situ inspection technique for assessing creep damage in steam pipes is by the metallographic replication technique. The technique is however limited to the outer surface of the pipe, without information on damage within the wall. This research will illustrate a means of obtaining a sample for creep life analysis with depth through the wall of a pipe, as wells as an alternative technique for the repair of the sample retrieval site. A sample retrieval technique was developed that would retrieve a small diameter cylindrical sample from a cored blind hole for creep analysis by visual creep void assessment or by the small punch creep test. The small punch creep test requires only a small diameter thin disc of material for testing for which its results are comparable with conventional uniaxial creep testing which requires a much larger sample of material. The smaller sample requirement of the small punch creep test therefore allows for a vastly reduced invasive sample retrieval operation and consequently smaller repair size area. Also the fact that the sample is retrieved from a blind hole is advantageous since the pipe wall is not penetrated which would require full plant shutdown. A friction welding technique was identified as an alternative to traditional arc fusion welding for the repair of the sample retrieval site, this technique being the Friction Hydro Pillar Processing technique. Friction Hydro Pillar Processing is a solid-state welding technique and as such has a number of inherent benefits over arc fusion welding as the weld is performed below the melting temperature of the material. From a process point of view Friction Hydro Pillar Processing is ideally suited for automation, has virtually no fumes generated, minimal distortion is experienced and no spatter has to be removed afterwards. The technique has yet to see industrial application and as such development of suitable process parameters was undertaken. Finally, to apply the sample retrieval and repair operations in-situ to a steam pipe in a power plant suitable equipment was developed. Existing friction welding equipment is generally bulky workshop based equipment and is unsuitable for on-site work due to its size and weight. Therefore development of dedicated equipment was required to enable Friction Hydro Pillar Processing to be applied to steam pipes within a power plant environment.
- Full Text:
- Date Issued: 2013
- Authors: Wedderburn, Ian Norman
- Date: 2013
- Subjects: Friction welding
- Language: English
- Type: Thesis , Doctoral , DPhil
- Identifier: vital:9635 , http://hdl.handle.net/10948/d1020116
- Description: The remnant life monitoring of creep loaded high temperature and pressure components in power stations is critical to ensuring their safe and cost effective operation as failures can have severe consequences. Effective creep life condition monitoring allows for optimising component life predictions and subsequent plant maintenance decisions. In South Africa many power generation stations have been in operation well beyond their 30 year design service life, as such knowledge of the remnant creep life of high temperature and pressure components, such as steam pipelines, becomes of utmost importance. Techniques for the remnant creep life assessments of critical high temperature and pressure components must therefore be as effective as possible. The common and well accepted in-situ inspection technique for assessing creep damage in steam pipes is by the metallographic replication technique. The technique is however limited to the outer surface of the pipe, without information on damage within the wall. This research will illustrate a means of obtaining a sample for creep life analysis with depth through the wall of a pipe, as wells as an alternative technique for the repair of the sample retrieval site. A sample retrieval technique was developed that would retrieve a small diameter cylindrical sample from a cored blind hole for creep analysis by visual creep void assessment or by the small punch creep test. The small punch creep test requires only a small diameter thin disc of material for testing for which its results are comparable with conventional uniaxial creep testing which requires a much larger sample of material. The smaller sample requirement of the small punch creep test therefore allows for a vastly reduced invasive sample retrieval operation and consequently smaller repair size area. Also the fact that the sample is retrieved from a blind hole is advantageous since the pipe wall is not penetrated which would require full plant shutdown. A friction welding technique was identified as an alternative to traditional arc fusion welding for the repair of the sample retrieval site, this technique being the Friction Hydro Pillar Processing technique. Friction Hydro Pillar Processing is a solid-state welding technique and as such has a number of inherent benefits over arc fusion welding as the weld is performed below the melting temperature of the material. From a process point of view Friction Hydro Pillar Processing is ideally suited for automation, has virtually no fumes generated, minimal distortion is experienced and no spatter has to be removed afterwards. The technique has yet to see industrial application and as such development of suitable process parameters was undertaken. Finally, to apply the sample retrieval and repair operations in-situ to a steam pipe in a power plant suitable equipment was developed. Existing friction welding equipment is generally bulky workshop based equipment and is unsuitable for on-site work due to its size and weight. Therefore development of dedicated equipment was required to enable Friction Hydro Pillar Processing to be applied to steam pipes within a power plant environment.
- Full Text:
- Date Issued: 2013
Development of a mechatronic transmission control system for the drivetrain of the K71 project
- Authors: Nortemann, Alexander
- Date: 2014
- Subjects: Motor vehicles -- Transmission devices , Automobiles -- Power trains , Automobile driving -- Shifting gear
- Language: English
- Type: Thesis , Masters , MEngineering (Mechatronics)
- Identifier: vital:9659
- Description: The tractive force has to be interrupted during a gear-shifting operation in a manual vehicle transmission, leading into a decrease of speed while changing gears during the acceleration process. Therefore in a racing application, the shifting time has to be as short as possible so that the required performance of a racing car can be achieved. The following dissertation describes the development of a transmission control system to enable gear changes within a manual gearbox, which was designed for the Formula Student racing series. Various solutions were developed on the basis of reviewed literature, technical data of components and experiences of Formula Student teams. Following this, a comparison of the concepts by means of a utility analysis identified the pneumatic actuation of selector forks to be the most suitable concept. This was mainly due to the expected shifting time, the weight, and its advantageous energy supply requirement. After the selection of the actuators and the position sensors, the system was implemented into the drivetrain to check the tment and the technical feasibility. To draw conclusions regarding the shifting time and to prove the functionality of the system, an open test bench was constructed. Additionally, the hardware and software had to be developed to enable the test run. After the manufacturing and assembling of the test bench, the optimal settings for the test run were determined. By comparing the achieved shifting time of alternative solutions, an improvement in the driving performance of a Formula Student race car is probable.
- Full Text:
- Date Issued: 2014
- Authors: Nortemann, Alexander
- Date: 2014
- Subjects: Motor vehicles -- Transmission devices , Automobiles -- Power trains , Automobile driving -- Shifting gear
- Language: English
- Type: Thesis , Masters , MEngineering (Mechatronics)
- Identifier: vital:9659
- Description: The tractive force has to be interrupted during a gear-shifting operation in a manual vehicle transmission, leading into a decrease of speed while changing gears during the acceleration process. Therefore in a racing application, the shifting time has to be as short as possible so that the required performance of a racing car can be achieved. The following dissertation describes the development of a transmission control system to enable gear changes within a manual gearbox, which was designed for the Formula Student racing series. Various solutions were developed on the basis of reviewed literature, technical data of components and experiences of Formula Student teams. Following this, a comparison of the concepts by means of a utility analysis identified the pneumatic actuation of selector forks to be the most suitable concept. This was mainly due to the expected shifting time, the weight, and its advantageous energy supply requirement. After the selection of the actuators and the position sensors, the system was implemented into the drivetrain to check the tment and the technical feasibility. To draw conclusions regarding the shifting time and to prove the functionality of the system, an open test bench was constructed. Additionally, the hardware and software had to be developed to enable the test run. After the manufacturing and assembling of the test bench, the optimal settings for the test run were determined. By comparing the achieved shifting time of alternative solutions, an improvement in the driving performance of a Formula Student race car is probable.
- Full Text:
- Date Issued: 2014
Development of a navigation system for an autonomous guided vehicle using android technology
- Authors: Snyman, Christo Johannes
- Date: 2012
- Subjects: Mechatronics , Engeering
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9654 , http://hdl.handle.net/10948/d1020025
- Full Text:
- Date Issued: 2012
- Authors: Snyman, Christo Johannes
- Date: 2012
- Subjects: Mechatronics , Engeering
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9654 , http://hdl.handle.net/10948/d1020025
- Full Text:
- Date Issued: 2012
Development of a reciprocating aerofoil wind energy harvester
- Authors: Phillips, Russell Leslie
- Date: 2008
- Subjects: Windmills , Wind power , Wind turbines
- Language: English
- Type: Thesis , Doctoral , DTech
- Identifier: vital:9622 , http://hdl.handle.net/10948/899 , Windmills , Wind power , Wind turbines
- Description: Cross flow wind turbines are not unique. The performance of Savonius and Darrieus turbines is well documented. Both share the advantage of being able to accept fluid flow from any direction. The Savonius is drag based and hence has poor power output while the Darrieus is lift based. Due to the fact that the Darrieus has fixed blades the fluid flow through the rotor does not result in optimal lift being generated at all points in the rotation circle. A drawback of the Darrieus system is that it has to operate at a high tip-to wind-speed ratio to obtain reasonable performance with the fixed blades. Deviation from a small optimal range of tip speed ratios results in poor performance. The Darrieus also has poor starting torque. The research conducted in this project focused on overcoming the shortcomings of other turbines and developing an effective cross flow turbine capable of good performance. A number of different concepts were experimented with, however all were based on a symmetrical aerofoil presented to the actual relative airflow at an angle that would produce the highest lift force at all times. The lift force was then utilized to generate movement and to do work on an electrical generator. All concepts contemplated were researched to ascertain their appropriateness for the intended application. During development of the final experimental platform and after lodging of a provisional patent (RSA 2007/00927) it was ascertained that the design shared some similarities with an American patent 5503525 dated 28/4/1994. This patent employed complex electronic sensing and control equipment for control of blade angle. This was thought to be overly complex and costly, particularly for small scale wind energy generation applications and a simpler mechanical solution was sought in the design of the final experimental platform used in this project. The design of the mechanical control system was refined in an attempt to make it simpler, more durable and employ the least number of moving parts. Literature studies and patent searches conducted, suggested that the mechanical control system as developed for the final experimental platform was unique. The enormous variation in the power available from the wind at the different wind speeds likely to be encountered by the device necessitated some means of control. In high wind conditions control of the amount of wind power into the device was deemed to be the preferable means of control. A number of different concepts to achieve this were devised and tested. The final concept employed limited the tail angle deflection and hence the lift produced by the aerofoils. This resulted in a seamless “throttle” control allowing the device to be used in any wind strength by adjusting the control to a position that resulted in the device receiving a suitable amount of power from the wind. The outcome of performance tests conducted indicated that the device has the potential to be developed into a viable wind turbine for both small and large scale applications. The ability to control the power input from the wind to the machine from zero to a maximum is considered to be one of the most beneficial outcomes of this project and together with the quiet operation and low speed, are considered the main advantages of the device over existing wind turbine designs. The possibilities of using the device to compress air for energy storage are exciting avenues that warrant further research.
- Full Text:
- Date Issued: 2008
- Authors: Phillips, Russell Leslie
- Date: 2008
- Subjects: Windmills , Wind power , Wind turbines
- Language: English
- Type: Thesis , Doctoral , DTech
- Identifier: vital:9622 , http://hdl.handle.net/10948/899 , Windmills , Wind power , Wind turbines
- Description: Cross flow wind turbines are not unique. The performance of Savonius and Darrieus turbines is well documented. Both share the advantage of being able to accept fluid flow from any direction. The Savonius is drag based and hence has poor power output while the Darrieus is lift based. Due to the fact that the Darrieus has fixed blades the fluid flow through the rotor does not result in optimal lift being generated at all points in the rotation circle. A drawback of the Darrieus system is that it has to operate at a high tip-to wind-speed ratio to obtain reasonable performance with the fixed blades. Deviation from a small optimal range of tip speed ratios results in poor performance. The Darrieus also has poor starting torque. The research conducted in this project focused on overcoming the shortcomings of other turbines and developing an effective cross flow turbine capable of good performance. A number of different concepts were experimented with, however all were based on a symmetrical aerofoil presented to the actual relative airflow at an angle that would produce the highest lift force at all times. The lift force was then utilized to generate movement and to do work on an electrical generator. All concepts contemplated were researched to ascertain their appropriateness for the intended application. During development of the final experimental platform and after lodging of a provisional patent (RSA 2007/00927) it was ascertained that the design shared some similarities with an American patent 5503525 dated 28/4/1994. This patent employed complex electronic sensing and control equipment for control of blade angle. This was thought to be overly complex and costly, particularly for small scale wind energy generation applications and a simpler mechanical solution was sought in the design of the final experimental platform used in this project. The design of the mechanical control system was refined in an attempt to make it simpler, more durable and employ the least number of moving parts. Literature studies and patent searches conducted, suggested that the mechanical control system as developed for the final experimental platform was unique. The enormous variation in the power available from the wind at the different wind speeds likely to be encountered by the device necessitated some means of control. In high wind conditions control of the amount of wind power into the device was deemed to be the preferable means of control. A number of different concepts to achieve this were devised and tested. The final concept employed limited the tail angle deflection and hence the lift produced by the aerofoils. This resulted in a seamless “throttle” control allowing the device to be used in any wind strength by adjusting the control to a position that resulted in the device receiving a suitable amount of power from the wind. The outcome of performance tests conducted indicated that the device has the potential to be developed into a viable wind turbine for both small and large scale applications. The ability to control the power input from the wind to the machine from zero to a maximum is considered to be one of the most beneficial outcomes of this project and together with the quiet operation and low speed, are considered the main advantages of the device over existing wind turbine designs. The possibilities of using the device to compress air for energy storage are exciting avenues that warrant further research.
- Full Text:
- Date Issued: 2008
Development of flexible automotive measurement adaptors for the PQ25 VWSA platform
- Authors: Pretorius, Shaun
- Date: 2009
- Subjects: Automobiles -- Measurement , Optical measurements
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9626 , http://hdl.handle.net/10948/1632 , http://hdl.handle.net/10948/d1011725 , Automobiles -- Measurement , Optical measurements
- Description: The following work describes all knowledge required in the creation of new automotive optical Photogrammetrical adaptors, which allow the user thereof to measure a fully assembled vehicle in its natural position, i.e. on its wheels for the PQ25 platform at Volkswagen of South Africa. The system is the only method available to the manufacturing plant to measure a fully assembled vehicle in this manner. The FlexMess system allows for a quick portable measurement of a vehicle at all stages of Vehicle manufacturing, aligned via the Volkswagen RPS standards. In the first part of the work, the problem of establishing a system capable of measuring the PQ25 platform is achieved by redesigning the PQ24 platform (previous generation Polo) to the new PQ25 vehicle platform. Once the system was redesigned a prototype adaptor system was created. In the second part of the work, the redesigned adaptor system is checked for its accuracy and repeatability. In a statistical analysis of the adaptors ability to measure the reference points needed for alignment of a vehicle, the system is compared to a CMM and verified that the limits fall within the limits of the original FlexMesśs certified accuracy limits. The last part of the work looks at addressing some of the problems of the FlexMess system by creating concepts for an ideal future FlexMess adaptor system.
- Full Text:
- Date Issued: 2009
- Authors: Pretorius, Shaun
- Date: 2009
- Subjects: Automobiles -- Measurement , Optical measurements
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9626 , http://hdl.handle.net/10948/1632 , http://hdl.handle.net/10948/d1011725 , Automobiles -- Measurement , Optical measurements
- Description: The following work describes all knowledge required in the creation of new automotive optical Photogrammetrical adaptors, which allow the user thereof to measure a fully assembled vehicle in its natural position, i.e. on its wheels for the PQ25 platform at Volkswagen of South Africa. The system is the only method available to the manufacturing plant to measure a fully assembled vehicle in this manner. The FlexMess system allows for a quick portable measurement of a vehicle at all stages of Vehicle manufacturing, aligned via the Volkswagen RPS standards. In the first part of the work, the problem of establishing a system capable of measuring the PQ25 platform is achieved by redesigning the PQ24 platform (previous generation Polo) to the new PQ25 vehicle platform. Once the system was redesigned a prototype adaptor system was created. In the second part of the work, the redesigned adaptor system is checked for its accuracy and repeatability. In a statistical analysis of the adaptors ability to measure the reference points needed for alignment of a vehicle, the system is compared to a CMM and verified that the limits fall within the limits of the original FlexMesśs certified accuracy limits. The last part of the work looks at addressing some of the problems of the FlexMess system by creating concepts for an ideal future FlexMess adaptor system.
- Full Text:
- Date Issued: 2009
Development of thick section friction stir welding using a sliding tool shoulder
- Authors: Chetty, Shamalin
- Date: 2013
- Subjects: Friction welding
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9633 , http://hdl.handle.net/10948/d1015081
- Description: Sliding shoulder friction stir welding (SSFSW) is an alternative joining technique to the conventional friction stir welding process. The welding mechanism comprises of a rotating probe and a non-rotating shoulder. The shoulder therefore does not contribute to any heat generation or plastic deformation. When welding thicker section material, the contribution of heat generation from the shoulder becomes less significant and most of the heat and plastic deformation must be generated by the tool probe. For this reason it was decided to develop the process for thick section AA6082-T6. Due to the stationary (non-rotating) shoulder the weld track is smooth and there is no reduction in cross-sectional area. This research is based on the development of a sliding shoulder friction stir welding tool with the ability to create joints of up to 25mm thick on aluminium alloy 6082-T6 plate as well as the associated process development. The sliding shoulder friction stir welding tool was designed, manufactured and tested by initially performing partial penetration welds with various size tool probes and then finally by performing a sliding shoulder friction stir butt weld on 25mm thick plate. As welds were performed and more knowledge gained about the process, design modifications were made. These included varying the clearance between the tool probe and stationary shoulder; the profile of the shoulder which contributes to material flow during the process; and supporting the tool probe to prevent deflection when welding thicker sections at high forge forces. From the sliding shoulder friction stir welds performed, an understanding of material flow during the process was gained when analysing the macro-sections and exit holes of the welds. Typical process forces and torques associated with the process were measured to assist with future head unit and tool designs with regard to sliding shoulder friction stir welding.
- Full Text:
- Date Issued: 2013
- Authors: Chetty, Shamalin
- Date: 2013
- Subjects: Friction welding
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9633 , http://hdl.handle.net/10948/d1015081
- Description: Sliding shoulder friction stir welding (SSFSW) is an alternative joining technique to the conventional friction stir welding process. The welding mechanism comprises of a rotating probe and a non-rotating shoulder. The shoulder therefore does not contribute to any heat generation or plastic deformation. When welding thicker section material, the contribution of heat generation from the shoulder becomes less significant and most of the heat and plastic deformation must be generated by the tool probe. For this reason it was decided to develop the process for thick section AA6082-T6. Due to the stationary (non-rotating) shoulder the weld track is smooth and there is no reduction in cross-sectional area. This research is based on the development of a sliding shoulder friction stir welding tool with the ability to create joints of up to 25mm thick on aluminium alloy 6082-T6 plate as well as the associated process development. The sliding shoulder friction stir welding tool was designed, manufactured and tested by initially performing partial penetration welds with various size tool probes and then finally by performing a sliding shoulder friction stir butt weld on 25mm thick plate. As welds were performed and more knowledge gained about the process, design modifications were made. These included varying the clearance between the tool probe and stationary shoulder; the profile of the shoulder which contributes to material flow during the process; and supporting the tool probe to prevent deflection when welding thicker sections at high forge forces. From the sliding shoulder friction stir welds performed, an understanding of material flow during the process was gained when analysing the macro-sections and exit holes of the welds. Typical process forces and torques associated with the process were measured to assist with future head unit and tool designs with regard to sliding shoulder friction stir welding.
- Full Text:
- Date Issued: 2013
Diamond turning of contact lens polymers
- Authors: Liman, Muhammad Mukhtar
- Date: 2017
- Subjects: Diamond turning Contact lenses , Electrostatic lenses Lenses -- Design and construction Neural networks (Computer science)
- Language: English
- Type: Thesis , Masters , MEng
- Identifier: http://hdl.handle.net/10948/19223 , vital:28789
- Description: Contact lens production requires high accuracy and good surface integrity. Surface roughness is generally used to measure the index quality of a turning process. It has been an important response because it has direct influence toward the part performance and the production cost. Hence, choosing optimal cutting parameters will not only improve the quality measure but also the productivity. In this study, an ONSI-56 (Onsifocon A) contact lens buttons were used to investigate the triboelectric phenomena and the effects of turning parameters on surface finish of the lens materials. ONSI-56 specimens are machined by Precitech Nanoform Ultra-grind 250 precision machine and the roughness values of the diamond turned surfaces are measured by Taylor Hopson PGI Profilometer. Electrostatics values were measured using electrostatic voltmeter. An artificial neural network (ANN) and response surface (RS) model were developed to predict surface roughness and electrostatic discharge (ESD) on the turned ONSI-56. In the development of predictive models, turning parameters of cutting speed, feed rate and depth of cut were considered as model variables. The required data for predictive models were obtained by conducting a series of turning test and measuring the surface roughness and ESD data. Good agreement is observed between the predictive models results and the experimental measurements. The ANN and RSM models for ONSI-56 are compared with each other using mean absolute percentage error (MAPE) for accuracy and computational cost.
- Full Text:
- Date Issued: 2017
- Authors: Liman, Muhammad Mukhtar
- Date: 2017
- Subjects: Diamond turning Contact lenses , Electrostatic lenses Lenses -- Design and construction Neural networks (Computer science)
- Language: English
- Type: Thesis , Masters , MEng
- Identifier: http://hdl.handle.net/10948/19223 , vital:28789
- Description: Contact lens production requires high accuracy and good surface integrity. Surface roughness is generally used to measure the index quality of a turning process. It has been an important response because it has direct influence toward the part performance and the production cost. Hence, choosing optimal cutting parameters will not only improve the quality measure but also the productivity. In this study, an ONSI-56 (Onsifocon A) contact lens buttons were used to investigate the triboelectric phenomena and the effects of turning parameters on surface finish of the lens materials. ONSI-56 specimens are machined by Precitech Nanoform Ultra-grind 250 precision machine and the roughness values of the diamond turned surfaces are measured by Taylor Hopson PGI Profilometer. Electrostatics values were measured using electrostatic voltmeter. An artificial neural network (ANN) and response surface (RS) model were developed to predict surface roughness and electrostatic discharge (ESD) on the turned ONSI-56. In the development of predictive models, turning parameters of cutting speed, feed rate and depth of cut were considered as model variables. The required data for predictive models were obtained by conducting a series of turning test and measuring the surface roughness and ESD data. Good agreement is observed between the predictive models results and the experimental measurements. The ANN and RSM models for ONSI-56 are compared with each other using mean absolute percentage error (MAPE) for accuracy and computational cost.
- Full Text:
- Date Issued: 2017
Distributing intelligence in the wireless control of a mobile robot using a personal digital assistant
- Authors: Ophoff, Madri
- Date: 2011
- Subjects: Mobile robots , User interfaces (Computer systems)
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9598 , http://hdl.handle.net/10948/1355 , Mobile robots , User interfaces (Computer systems)
- Description: Personal Digital Assistants (PDAs) have recently become a popular component in mobile robots. This compact processing device with its touch screen, variety of built-in features, wireless technologies and affordability can perform various roles within a robotic system. Applications include low-cost prototype development, rapid prototyping, low-cost humanoid robots, robot control, robot vision systems, algorithm development, human-robot interaction, mobile user interfaces as well as wireless robot communication schemes. Limits on processing power, memory, battery life and screen size impact the usefulness of a PDA in some applications. In addition various implementation strategies exist, each with its own strengths and weaknesses. No comparison of the advantages and disadvantages of the different strategies and resulting architectures exist. This makes it difficult for designers to decide on the best use of a PDA within their mobile robot system. This dissertation examines and compares the available mobile robot architectures. A thorough literature study identifies robot projects using a PDA and examines how the designs incorporate a PDA and what purpose it fulfils within the system it forms part of. The dissertation categorises the architectures according to the role of the PDA within the robot system. The hypothesis is made that using a distributed control system architecture makes optimal use of the rich feature set gained from including a PDA in a robot system’s design and simultaneously overcomes the device’s inherent shortcomings. This architecture is developed into a novel distributed intelligence framework that is supported by a hybrid communications architecture, using two wireless connection schemes. A prototype implementation illustrates the framework and communications architecture in action. Various performance measurements are taken in a test scenario for an office robot. The results indicate that the proposed framework does deliver performance gains and is a viable alternative for future projects in this area.
- Full Text:
- Date Issued: 2011
- Authors: Ophoff, Madri
- Date: 2011
- Subjects: Mobile robots , User interfaces (Computer systems)
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9598 , http://hdl.handle.net/10948/1355 , Mobile robots , User interfaces (Computer systems)
- Description: Personal Digital Assistants (PDAs) have recently become a popular component in mobile robots. This compact processing device with its touch screen, variety of built-in features, wireless technologies and affordability can perform various roles within a robotic system. Applications include low-cost prototype development, rapid prototyping, low-cost humanoid robots, robot control, robot vision systems, algorithm development, human-robot interaction, mobile user interfaces as well as wireless robot communication schemes. Limits on processing power, memory, battery life and screen size impact the usefulness of a PDA in some applications. In addition various implementation strategies exist, each with its own strengths and weaknesses. No comparison of the advantages and disadvantages of the different strategies and resulting architectures exist. This makes it difficult for designers to decide on the best use of a PDA within their mobile robot system. This dissertation examines and compares the available mobile robot architectures. A thorough literature study identifies robot projects using a PDA and examines how the designs incorporate a PDA and what purpose it fulfils within the system it forms part of. The dissertation categorises the architectures according to the role of the PDA within the robot system. The hypothesis is made that using a distributed control system architecture makes optimal use of the rich feature set gained from including a PDA in a robot system’s design and simultaneously overcomes the device’s inherent shortcomings. This architecture is developed into a novel distributed intelligence framework that is supported by a hybrid communications architecture, using two wireless connection schemes. A prototype implementation illustrates the framework and communications architecture in action. Various performance measurements are taken in a test scenario for an office robot. The results indicate that the proposed framework does deliver performance gains and is a viable alternative for future projects in this area.
- Full Text:
- Date Issued: 2011
Drivers and consequences of residents' satisfaction with off-campus student housing in South-South, Nigeria
- Authors: Bella-Omunagbe, Ojo Cyprain
- Date: 2015
- Subjects: Student housing -- Nigeria , Housing -- Resident satisfaction , Residence and education , Universities and colleges -- Nigeria -- Administration
- Language: English
- Type: Thesis , Doctoral , DPhil
- Identifier: vital:9720 , http://hdl.handle.net/10948/d1021198
- Description: The student housing system worldwide and South-South Nigeria in particular has witnessed an unprecedented transformation, such that private off-campus student housing facilities (SHFs) are now the primary source of accommodation for students in tertiary institutions. A considerable gap exists between the supply and demand for on-campus student housing and the quest to fill this gap has stimulated the creation of a significant student housing market in the areas where these tertiary institutions are located. The prospect for economic investments in the student housing sector is high and private investors are involved in the provision and management of offcampus student housing. The main consequence of this practice in South-South, Nigeria is the delivery of low-quality buildings that are not able to meet the needs and expectations of residents. SHFs that are constructed without due regard to residents needs are characterised by dissatisfaction with attributes of housing and low investment performance. The implication is that residence users are often not satisfied with the attributes of the residential environment that are provided; thus their behaviours often impose some consequences on investors gains and objectives.Therefore, understanding the dynamics among attributes that are important to students, that give the required satisfaction, and the impact of the availability or lack-of on behaviour such as loyalty, willingness to pay for attributes and word of mouth behaviour are critical to profitability. Most often, the relationship among these attributes are treated as linear and symmetrical with the assumed implication that better attributes produce improved behaviours. However, this may not always be the case. This approach is rarely addressed and is little understood in student housing studies. Therefore, the aim of this study was to identify student housing attributes that act as drivers of resident atisfaction and the consequences/effects of these drivers on student behaviour in order to determine appropriate measures that could be used to develop, maintain and upgrade student accommodation. The methodology of the study included an extensive literature review and a field study conducted to obtain the perceptions of students in seven tertiary institutions located in South-South, Nigeria. The main task was to define attributes of student housing facilities based on the symmetric and asymmetric impact of the performance of attributes on satisfaction with residence. The Kano model and importance-performance analysis (IPA) were used to establish sets of criteria that could be used to prioritise attributes that are required in student housing for optimal investor gains. Analysis of the findings lead to the conclusions that different degrees of behaviour were associated to the perception of importance that is attached to attributes by residents and the satisfaction that is derived from the use of such attributes. The implication of the conclusions is that to meet users satisfaction needs, varied improvement strategies are required for different attributes in order to maximise the use of resources for maximum gains. The recommendations for investors in SHFs include among others to segment the SHFs market based on demographic characteristics, prioritise and provide only attributes that add-value to identified groups. Emphasis should also be placed on providing attributes that are not only satisfactory, but with capacity to improve loyalty/retention, willingness to pay and positive word of mouth behaviour. It is also recommended that the local authority should improve critical attributes that are deemed to be outside the scope of the investors.
- Full Text:
- Date Issued: 2015
- Authors: Bella-Omunagbe, Ojo Cyprain
- Date: 2015
- Subjects: Student housing -- Nigeria , Housing -- Resident satisfaction , Residence and education , Universities and colleges -- Nigeria -- Administration
- Language: English
- Type: Thesis , Doctoral , DPhil
- Identifier: vital:9720 , http://hdl.handle.net/10948/d1021198
- Description: The student housing system worldwide and South-South Nigeria in particular has witnessed an unprecedented transformation, such that private off-campus student housing facilities (SHFs) are now the primary source of accommodation for students in tertiary institutions. A considerable gap exists between the supply and demand for on-campus student housing and the quest to fill this gap has stimulated the creation of a significant student housing market in the areas where these tertiary institutions are located. The prospect for economic investments in the student housing sector is high and private investors are involved in the provision and management of offcampus student housing. The main consequence of this practice in South-South, Nigeria is the delivery of low-quality buildings that are not able to meet the needs and expectations of residents. SHFs that are constructed without due regard to residents needs are characterised by dissatisfaction with attributes of housing and low investment performance. The implication is that residence users are often not satisfied with the attributes of the residential environment that are provided; thus their behaviours often impose some consequences on investors gains and objectives.Therefore, understanding the dynamics among attributes that are important to students, that give the required satisfaction, and the impact of the availability or lack-of on behaviour such as loyalty, willingness to pay for attributes and word of mouth behaviour are critical to profitability. Most often, the relationship among these attributes are treated as linear and symmetrical with the assumed implication that better attributes produce improved behaviours. However, this may not always be the case. This approach is rarely addressed and is little understood in student housing studies. Therefore, the aim of this study was to identify student housing attributes that act as drivers of resident atisfaction and the consequences/effects of these drivers on student behaviour in order to determine appropriate measures that could be used to develop, maintain and upgrade student accommodation. The methodology of the study included an extensive literature review and a field study conducted to obtain the perceptions of students in seven tertiary institutions located in South-South, Nigeria. The main task was to define attributes of student housing facilities based on the symmetric and asymmetric impact of the performance of attributes on satisfaction with residence. The Kano model and importance-performance analysis (IPA) were used to establish sets of criteria that could be used to prioritise attributes that are required in student housing for optimal investor gains. Analysis of the findings lead to the conclusions that different degrees of behaviour were associated to the perception of importance that is attached to attributes by residents and the satisfaction that is derived from the use of such attributes. The implication of the conclusions is that to meet users satisfaction needs, varied improvement strategies are required for different attributes in order to maximise the use of resources for maximum gains. The recommendations for investors in SHFs include among others to segment the SHFs market based on demographic characteristics, prioritise and provide only attributes that add-value to identified groups. Emphasis should also be placed on providing attributes that are not only satisfactory, but with capacity to improve loyalty/retention, willingness to pay and positive word of mouth behaviour. It is also recommended that the local authority should improve critical attributes that are deemed to be outside the scope of the investors.
- Full Text:
- Date Issued: 2015
Dysfunctional facilities management service provision in an outsource environment
- Authors: Otoo, Ernest Kweku
- Date: 2013
- Subjects: Facility management
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:9725 , http://hdl.handle.net/10948/d1019717
- Full Text:
- Date Issued: 2013
- Authors: Otoo, Ernest Kweku
- Date: 2013
- Subjects: Facility management
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:9725 , http://hdl.handle.net/10948/d1019717
- Full Text:
- Date Issued: 2013
Educating users about information security by means of game play
- Authors: Monk, Thomas Philippus
- Date: 2011
- Subjects: Computer security , Educational games -- Design , Computer networks -- Security measures
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9748 , http://hdl.handle.net/10948/1493 , Computer security , Educational games -- Design , Computer networks -- Security measures
- Description: Information is necessary for any business to function. However, if one does not manage one’s information assets properly then one’s business is likely to be at risk. By implementing Information Security controls, procedures, and/or safeguards one can secure information assets against risks. The risks of an organisation can be mitigated if employees implement safety measures. However, employees are often unable to work securely due to a lack of knowledge. This dissertation evaluates the premise that a computer game could be used to educate employees about Information Security. A game was developed with the aim of educating employees in this regard. If people were motivated to play the game, without external motivation from an organisation, then people would also, indirectly, be motivated to learn about Information Security. Therefore, a secondary aim of this game was to be self-motivating. An experiment was conducted in order to test whether or not these aims were met. The experiment was conducted on a play test group and a control group. The play test group played the game before completing a questionnaire that tested the information security knowledge of participants, while the control group simply completed the questionnaire. The two groups’ answers were compared in order to obtain results. This dissertation discusses the research design of the experiment and also provides an analysis of the results. The game design will be discussed which provides guidelines for future game designers to follow. The experiment indicated that the game is motivational, but perhaps not educational enough. However, the results suggest that a computer game can still be used to teach users about Information Security. Factors that involved consequence and repetition contributed towards the educational value of the game, whilst competitiveness and rewards contributed to the motivational aspect of the game.
- Full Text:
- Date Issued: 2011
- Authors: Monk, Thomas Philippus
- Date: 2011
- Subjects: Computer security , Educational games -- Design , Computer networks -- Security measures
- Language: English
- Type: Thesis , Masters , MTech
- Identifier: vital:9748 , http://hdl.handle.net/10948/1493 , Computer security , Educational games -- Design , Computer networks -- Security measures
- Description: Information is necessary for any business to function. However, if one does not manage one’s information assets properly then one’s business is likely to be at risk. By implementing Information Security controls, procedures, and/or safeguards one can secure information assets against risks. The risks of an organisation can be mitigated if employees implement safety measures. However, employees are often unable to work securely due to a lack of knowledge. This dissertation evaluates the premise that a computer game could be used to educate employees about Information Security. A game was developed with the aim of educating employees in this regard. If people were motivated to play the game, without external motivation from an organisation, then people would also, indirectly, be motivated to learn about Information Security. Therefore, a secondary aim of this game was to be self-motivating. An experiment was conducted in order to test whether or not these aims were met. The experiment was conducted on a play test group and a control group. The play test group played the game before completing a questionnaire that tested the information security knowledge of participants, while the control group simply completed the questionnaire. The two groups’ answers were compared in order to obtain results. This dissertation discusses the research design of the experiment and also provides an analysis of the results. The game design will be discussed which provides guidelines for future game designers to follow. The experiment indicated that the game is motivational, but perhaps not educational enough. However, the results suggest that a computer game can still be used to teach users about Information Security. Factors that involved consequence and repetition contributed towards the educational value of the game, whilst competitiveness and rewards contributed to the motivational aspect of the game.
- Full Text:
- Date Issued: 2011
Effective communication planning for high-performance civil engineering project teams
- Authors: Rossouw, Jeanne Jacques
- Date: 2017
- Subjects: Communication in engineering -- South Africa Communication of technical information , Communication in management Project management
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: http://hdl.handle.net/10948/19993 , vital:29020
- Description: In the area of project management, it is well understood that effective communication processes impact positively on project performance. Despite this, project teams still struggle to develop effective communication plans that address their project communication needs. The evidence of this is that many project problems are attributed to poor communication. The literature addresses the needs and shortcomings of group communication and communication planning in general; but there is however, a scarcity of literature describing how to plan for the internal communication needs of high-performance civil engineering teams. With the limited literature available on the topic, this study seeks to validate how effective the current communication planning methods are at Aurecon in meeting the communication needs of its project teams. This qualitative research project is a case study of communication planning within the project teams at Aurecon in Port Elizabeth. A semi-structured interview process was followed, addressing specific questions, without limiting the direction of the interviews. Project team members, working on high performance projects, were asked for their thoughts, feelings and suggestions about existing communication practices and project communication planning. Overall, it was found that the existing communication-planning practices at Aurecon did not have any beneficial effect on how team members communicate. It was concluded that project teams would benefit from improved communication-planning processes that are more inclusive of their specific communication needs. Organisations working on high-performance projects will benefit directly from the research, which challenges these organisations to think more broadly about how they plan for communication at a project level. The research provides practical suggestions for improving the way that teams plan their communication processes; and it does so by focusing on the communication needs of the team members. Recommendations are made to professional bodies, tertiary institutions, project organisations – and most importantly – to project team members themselves. The recommendations to project team members include taking ownership of communication practices, asserting their views, as well as making their needs known.
- Full Text:
- Date Issued: 2017
- Authors: Rossouw, Jeanne Jacques
- Date: 2017
- Subjects: Communication in engineering -- South Africa Communication of technical information , Communication in management Project management
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: http://hdl.handle.net/10948/19993 , vital:29020
- Description: In the area of project management, it is well understood that effective communication processes impact positively on project performance. Despite this, project teams still struggle to develop effective communication plans that address their project communication needs. The evidence of this is that many project problems are attributed to poor communication. The literature addresses the needs and shortcomings of group communication and communication planning in general; but there is however, a scarcity of literature describing how to plan for the internal communication needs of high-performance civil engineering teams. With the limited literature available on the topic, this study seeks to validate how effective the current communication planning methods are at Aurecon in meeting the communication needs of its project teams. This qualitative research project is a case study of communication planning within the project teams at Aurecon in Port Elizabeth. A semi-structured interview process was followed, addressing specific questions, without limiting the direction of the interviews. Project team members, working on high performance projects, were asked for their thoughts, feelings and suggestions about existing communication practices and project communication planning. Overall, it was found that the existing communication-planning practices at Aurecon did not have any beneficial effect on how team members communicate. It was concluded that project teams would benefit from improved communication-planning processes that are more inclusive of their specific communication needs. Organisations working on high-performance projects will benefit directly from the research, which challenges these organisations to think more broadly about how they plan for communication at a project level. The research provides practical suggestions for improving the way that teams plan their communication processes; and it does so by focusing on the communication needs of the team members. Recommendations are made to professional bodies, tertiary institutions, project organisations – and most importantly – to project team members themselves. The recommendations to project team members include taking ownership of communication practices, asserting their views, as well as making their needs known.
- Full Text:
- Date Issued: 2017
Effective management of machinery in government-operated hospitals
- Authors: Gatang'i, Peter Gatheru
- Date: 2010
- Subjects: Machinery -- Maintenance and repair , Plant maintenance -- Management , Hospitals -- South Africa -- Eastern Cape
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:9664 , http://hdl.handle.net/10948/1237 , Machinery -- Maintenance and repair , Plant maintenance -- Management , Hospitals -- South Africa -- Eastern Cape
- Description: The methodology and the processes that are followed in the maintenance of government-operated district hospitals in the Eastern Cape Province of South Africa are outlined while the strategies that are employed to roll-out the maintenance plan have been investigated. The challenges in managing hospital maintenance are identified so that it can be improved and advice be given on the strategies currently being used. The objectives of the research were to determine the effectiveness of machinery maintenance in government-operated district hospitals. The study has been carried out by investigating 50 district hospitals within the Eastern Cape Province, with the aim of obtaining knowledge of practices in relation to the strategic plans and best practices in the maintenance industry. The following factors identified by the maintenance staff were found to be most important in maintenance management practices; realistic budgets, adherence to occupational health and safety regulations, engagement of qualified and skilled maintenance staff, good record management in relation to the equipment under maintenance, availability of tools and materials and keeping abreast with the latest technologies and trends of machinery advancement. The study also revealed that the majority of the hospitals use a combination of in-house and outsourced personnel during maintenance, the outsourced part being under contract from the National Department of Public Works Repair and Maintenance Plan (RAMP) projects. Service kits and recommended replacement parts for machinery are rarely stocked on the hospital premises while only minor spare parts that include replacement bulbs, electrical fittings, plumbing fittings and paint are readily available. In addition, the maintenance staff members have little or no input in maintenance budgeting, this aspect is controlled by hospital management. For maintenance to be effective, strategic planning that takes into account carefully thought-out maintenance management systems is the first step in the direction of setting out definite tangible objectives and goals. The real challenge lies in the implementation and sustainability of the maintenance management system and the monitoring thereof.
- Full Text:
- Date Issued: 2010
- Authors: Gatang'i, Peter Gatheru
- Date: 2010
- Subjects: Machinery -- Maintenance and repair , Plant maintenance -- Management , Hospitals -- South Africa -- Eastern Cape
- Language: English
- Type: Thesis , Masters , MSc
- Identifier: vital:9664 , http://hdl.handle.net/10948/1237 , Machinery -- Maintenance and repair , Plant maintenance -- Management , Hospitals -- South Africa -- Eastern Cape
- Description: The methodology and the processes that are followed in the maintenance of government-operated district hospitals in the Eastern Cape Province of South Africa are outlined while the strategies that are employed to roll-out the maintenance plan have been investigated. The challenges in managing hospital maintenance are identified so that it can be improved and advice be given on the strategies currently being used. The objectives of the research were to determine the effectiveness of machinery maintenance in government-operated district hospitals. The study has been carried out by investigating 50 district hospitals within the Eastern Cape Province, with the aim of obtaining knowledge of practices in relation to the strategic plans and best practices in the maintenance industry. The following factors identified by the maintenance staff were found to be most important in maintenance management practices; realistic budgets, adherence to occupational health and safety regulations, engagement of qualified and skilled maintenance staff, good record management in relation to the equipment under maintenance, availability of tools and materials and keeping abreast with the latest technologies and trends of machinery advancement. The study also revealed that the majority of the hospitals use a combination of in-house and outsourced personnel during maintenance, the outsourced part being under contract from the National Department of Public Works Repair and Maintenance Plan (RAMP) projects. Service kits and recommended replacement parts for machinery are rarely stocked on the hospital premises while only minor spare parts that include replacement bulbs, electrical fittings, plumbing fittings and paint are readily available. In addition, the maintenance staff members have little or no input in maintenance budgeting, this aspect is controlled by hospital management. For maintenance to be effective, strategic planning that takes into account carefully thought-out maintenance management systems is the first step in the direction of setting out definite tangible objectives and goals. The real challenge lies in the implementation and sustainability of the maintenance management system and the monitoring thereof.
- Full Text:
- Date Issued: 2010