M.Ing. (Mechanical Engineering) / The research reported in this thesis describes the design and simulation of a neural controller for a three -degree-of-freedom robot leg for use as an hexapod leg . Biological systems are considered as a motivation to develop the neural control system for hexapod walking on a horizontal surface . Backpropagation training of multilayer perceptrons and a combination of heterogeneous neurons are used to implement several pattern generators with different behaviours. The artificial neurons are simulated and connected together with the pattern generators to form a complete control system . Previous work [48] shows the performance of a two -degree-of-freedom leg controller - this type of controller however cannot compensate for surface irregularities , The control system for the three degree-of-freedom leg is then further extended to compensate for surface irregularities that cannot be traversed by the two -degree-of-freedom leg.

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The fundamental premise of research presented in this thesis is the search for conceptual approaches and practical measures to enhance the practice of building assessment in fostering sustainable construction. Hence, this thesis advances the theory for the practice of building assessment that incorporates the principles of sustainable development. The research findings are communicated via a functional specification for a building sustainability assessment model, suitable to the South African context. The research focuses primarily on process-related aspects of building assessment. Important insights for the development of the model's specification are gained from the review of the practice and experience of Environmental Assessment (EA) in addressing sustainability at a project level. Lessons are also drawn from the Process Protocol (PP), which provides a means of describing the building project process in a way that is transparent and accessible to building stakeholders. The most relevant insights sourced from these two fields of expertise are grouped into three key themes. These include integration (i.e. integration of sustainability principles, stakeholder values and perspectives), transparency and accessibility (i.e. open participation and communication competence) and collaborative learning (i.e. active involvement and transfer of knowledge). It is proposed that these themes form key outcomes of building assessment and be viewed as crucial functionalities of the model. The model is presented as a generic method that can be customised to suit the context of its application. The potential use scenarios of the model, identified in this thesis, include the formulation of a building project proposal, a building project sustainability appraisal and a building performance audit. The use of process maps produced through this research facilitates the identification of interfaces between the model and the building process in terms of decision-points and associated information needs in each use scenario. The model's user personas are also discussed (i.e. building stakeholders) with regard to the potential benefits and challenges of their participation in the building assessment process. The theory for building assessment advanced in this thesis was validated during a workshop with South African academics and built environment practitioners, held at the University of Cape Town. The thesis concludes that building assessment methods can do more than assess the sustainability of a building. More importantly, they provide a means of introducing the principles of sustainable development into the processes that produce the built end-product. This suggests a need to move beyond the terminology of building assessment and instead talk of enhancement models that would facilitate a shift in the practice of building assessment from measuring to one of proactive improvement.

"The author has constructed a wood-fired kiln of the catenary arch style. The design chosen affords maximum uniformity and ease in firing. Furthermore, it is suitable for green brick construction. In its entirety, it is economical to produce and fire. During the course of the kiln construction, the author explored successfully the possibility of building with green handmade brick. Their composition utilized economically available local materials. It is the author's intent to show record of this endeavor in written form and on slide film"--Introduction. / Typescript. / "March, 1973." / "Submitted to the Department of Art Education and Constructive Design in partial fulfillment of the requirements for the degree of Master of Science." / Advisor: George R. Bocz, Professor directing Thesis. / Vita. / Includes bibliographical references (leaves 49-50).

A thesis submitted to the Faculty of Engineering, University of the Witwatersrand, Johannesburg, in fulfillment of the requirements for the degree of Master of Science in Engineering. / The use of advanced composite materials in helicopter rotor systems offers opportunities for improvements in aerodynamic geometry, performance, weight, damage tolerarice, maintenance and operating costs. Technical aspects of the design and analysis and the-practical aspects of the manufacture of a composite rotor system are discussed herein. The rotor system was compared to an existing conventional teetering rotor system, in order to establish the viability of the new composite rotor system, This rotor system reduced the number of components by 55% and the manufacturing time by half, due to the simplicity of the design and lay up procedure, thus making the system economically more viable. The mass was predicted to within 1% of that achieved in practice and gave a mass advantage of 50.5% over the conventional rotor. Static tests identified the failure modes and stress concentration points, while. the comparative hover tests showed the system to have ±20% less drag. [Abbreviated Abstract. Open document to view full version] / AC2017

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