Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: The monitoring of patients in healthcare is of prime importance to ensure their efficient treatment. The monitoring of blood oxygen saturation in tissues affected by diseases or conditions that may negatively affect the function is a field that has grown in importance in recent times. This study involved the development and testing of a highly sensitive noninvasive blood oxygen saturation device. The device can be used to continuously monitor the condition of tissue affected by diseases which affect the blood flow through the tissue, and the oxygen usage in tissue. The device’s system was designed to specifically monitor occluded tissue which has low oxygen saturations and low perfusion. With the use of the device, it is possible to monitor the status of tissue affected by diseases such as meningococcemia and diabetes mellitus or conditions such as the recovery after plastic surgery. The study delved into all aspects involved in the development of a non-invasive artificial pulse oximeter, including but not limited to that of a detailed device design, signals analysis, animal in-vivo and laboratory in-vitro system design for the calibration of the system as well as human clinical validation and testing procedures. All these aspects were compared to determine the relative accuracies of the different models. Through testing it was shown that it is possible to non-invasively measure the mixed oxygen saturation in occluded tissue. However, without accurate validation techniques and methods of obtaining both arterial and venous blood samples in occluded tissue the system could not be fully validated for determining both the arterial and venous oxygen saturations in the human invivo study. Although the system was unable to accurately measure specifically the venous oxygenation it was able to measure the mixed oxygen saturation. With further research it would be possible to validate the system for measuring both the arterial and venous oxygen saturations. / AFRIKAANSE OPSOMMING: Die monitering van pasiënte in gesondheidsorg is van uiterste belang om doeltreffende behandeling te verseker. Die monitering van bloedsuurstofversadiging in weefsels wat geaffekteer word deur siektes of toestande wat ’n negatiewe impak kan hê op die funksie daarvan is ’n gebied wat aansienlike groei getoon het in die onlangse verlede. Die studie het die ontwikkeling en toetsing van ’n hoogs sensitiewe nieindringende bloedsuurstofversadigingsensor ingesluit. Hierdie sensor kan gebruik word om deurentyd die toestand van weefsel te monitor wat geaffekteer word deur siektes wat bloedvloei deur weefsel affekteer sowel as die suurstofgebruik in die weefsel. Die stelsel is ontwerp om spesifiek die ingeslote weefsel wat lae suurstofversadiging en lae perfusie het, te monitor. Deur gebruik te maak van die toestel is dit moontlik om die toestand van die weefsel wat geaffekteer word deur siektes soos meningococcemia en diabetes mellitus of toestande soos die herstel na plastiese sjirurgie te monitor. Die studie het gekyk na alle aspekte wat betrokke is in die ontwikkeling van ’n nie-indringende kunsmatige pols-oksimeter, insluitend maar nie beperk tot gedetailleerde ontwerp nie, sein analise, dier in-vivo en laboratorium in-vitro stelselontwerp vir die kalibrasie van die stelsel sowel as menslike kliniese bekragtiging en toetsprosedures. Al hierdie aspekte is vergelyk om die relatiewe akkuraatheid van die verskillende modelle te bepaal. Die toetse het gewys dat dit moontlik is om nie-indringend die gemengde suurstofversadiging in weefsel te bepaal. Sonder akkurate bekragtigingstegnieke en metodes om beide arteriële en vene bloedmonsters te versamel in ingeslote weefsel kan die stesel nie ten volle bekragtig word om beide arteriële- en veneversadigings in menslike in-vivo studie te bepaal nie. Hoewel die stelsel nie ’n akkurate meting van die aarsuurstof kon kry nie, is daar wel ’n akkurate meting geneem van die gemengde suurstofversadiging. Toekomstige navorsing kan lei tot die bekragtiging van die stelsel om beide arteriële en slagaar suurstofversadigings te meet.

MScEng / Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: Accurate dimensional measurement devices are critical for international industrial competitiveness for South Africa. An overview of all the necessary components of a laser tracking system using a multilateration technique for very accurate dimensional metrology is presented. A prototype laser tracker station was built to further investigate this type of system. The prototype successfully tracks a target within a volume of at least 200 200 200 mm3, approximately 300 mm away from the tracker. This system includes the mechanical design of a prototype tracker station, electronic implementation of ampli cation and motor control circuits, a tracking control algorithm, microcontroller programming and interfacing, as well as a user interface. Kinematic modelling along with Monte Carlo analyses nd the main error source of such a tracker as the beam steering mechanism gimbal axes misalignment. Multilateration is also motivated by the results found by the analysis. Furthermore, an initial sequential multilateration algorithm is developed and tested. The results of these tests are promising and motivate the use of multilateration over a single beam laser tracking system. / AFRIKAANSE OPSOMMING: Dit is van kritieke belang dat Suid-Afrika akkurate dimensionele metingstoestelle ontwikkel vir internasionale industriële medinging. 'n Oorsig van al die nodige komponente vir 'n Laser-Volgsisteem, wat slegs van multilaterasie gebruik maak om baie akkurate drie dimensionele metings te kan neem, word in hierdie projek voorgestel. 'n Prototipe Laser-Volgsisteem-stasie word gebou om so 'n sisteem verder te ondersoek. Die prototipe slaag wel daarin om 'n teiken, binne 'n volume van 200 200 200 mm3 op 'n afstand van omtrent 300 mm te volg. Die sisteem sluit die meganiese ontwerp van die sodanige stasie, elektroniese seinversterking, motorbeheer, 'n volgingsbeheer algoritme, mikroverwerker programeering en intergrasie, asook 'n gebruikerskoppelvlak program in. Kinematiese modelering, tesame met Monte Carlo simulasies, toon aan dat die hoof oorsaak van metingsfoute by so 'n stasie by die rotasie-asse van die laserstraal-stuurmeganisme, wat nie haaks is nie, lê. Die multilaterasie metode word ook verder ondersteun deur dié modelering. 'n Algoritme wat sekwensiële multilateratsie toepas word boonop ontwikkel en getoets. Die resultate van die toetse dui daarop dat die algoritme funksioneer en dat daar voordele daarin kan wees om so 'n metode in plaas van 'n Enkelstraal-Volgsisteem te gebruik.

Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: Regulators and designers of nuclear reactors regard knowledge of the pebble fuel temperature as important, due to the role that it plays in maintaining structural integrity and the production of neutrons. By using special fuel assemblies fitted with measuring equipment it is possible to measure the fuel temperature in stationary fuel reactors. This, however, is not possible in the pebble bed modular reactor due to its dynamic core. Designers of the pebble bed modular reactor have reserved special inspection channel borings inside the center reflector for fuel temperature measurement. By means of optical fibers and interferometry, the temperature can be measured inside such a channel. Currently the only way to control the fuel surface and core temperature is by measuring the gas inlet and outlet temperatures. This thesis attempts to determine the pebble temperature by measuring the temperature in a reflector channel. This is done by constructing an electrically heated pebble bed experimental setup simulating a cutout section of a pebble bed modular reactor core. An additional computational fluid dynamics simulation of the experimental setup was also performed. This thesis also attempts to determine if there is a measureable temperature peak that can indicate where a pebble was in contact with the reflector surface. This could then be used in future studies to determine the pebble fuel velocity as it moves down the reactor core. The computational fluid dynamics results were validated by experimental measurements. In the computational fluid dynamics model and experimental setup, it was found that there was indeed a measureable temperature difference on the temperature gradient along the reflector wall. The heat being conducted away from the pebble through the contact area can explain this. These differences were only observed when the channel was moved closer to the pebbles and it is therefore advised that some redesigning of the channel should be done if the in-core temperature is to be accurately interpreted by the designers at PBMR (Pty) Ltd. / AFRIKAANSE OPSOMMING: Reguleerders en ontwerpers van kern reaktore beskou die kennis van die korrel brandstof temperatuur as belangrik. Dit is weens die rol wat die brandstof temperatuur speel met die behoud van strukturele integriteit en die produksie van neutrone binne-in die reaktor. Met behulp van spesiale brandstof montasies toegerus met die meetings instrumentasie, is dit moontlik om die brandstof temperatuur in stilstaande brandstof reaktore te meet. Dit is egter nie moontlik in die korrel bed modulêre reaktor nie, as gevolg van sy dinamiese kern. Ontwerpers van die korrel bed modulêre reaktor het spesiale kanale in die binnekant van die middel reflektor vir brandstof temperatuur meeting gereseveer. Deur middel van optiese vesel en interferometrie, kan die temperatuur binne so 'n kanaal gemeet word. Tans is die enigste manier om die brandstof-oppervlak temperatuur te berekern, net moontlik deur gebruik te maak van die gemete gas inlaat-en uitlaat temperature van die reaktor. Hierdie tesis poog om vas te stel of die korrel brandstof temperatuur deur die meet van die oppervlak temperatuur in 'n reflektor-kanaal bepaal kan word. Dit word gedoen deur 'n elektriese verhitte korrel bed eksperimentele opstelling te bou wat 'n gedeelte van 'n korrel bed modulêre reaktor simuleer. 'n Bykomende numeriese simulasie van die eksperimentele opstelling was ook uitgevoer. Hierdie werk het ook probeer om vas te stel of daar 'n meetbare temperatuur piek op die temperatuur profiel aandui kan word waar 'n korrel in kontak is met die reflektor se oppervlak. Dit kan dan in toekomstige studies gebruik word om te bepaal wat die korrel brandstof spoed was soos dit in die reaktor beweeg. Die numerise simulasie uitslae was deur eksperimentele metings bevestig. In die numerise simulasie model en die eksperimentele opstelling, is daar gevind dat daar inderdaad 'n meetbare temperatuur verskil op die temperatuurgradiënt teen die reflektor oppervlak is. Dit kan verduidelik word as gevolg van die hitte wat weg van die korrel gelei word deur middel van die kontak area. Hierdie verskille was slegs waargeneem wanneer die kanaal nader aan die korrels geskuif is en dit word as n aanbeveling aan PBMR (Pty) Ltd gemaak om sommige herontwerpe aan die kanaal te doen indien die in-kerntemperatuur gemeet wil word en akkuraat geinterpreteer wil word.

Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: This project investigates the use of Rapid Prototyping (RP), with specific focus on Three Dimensional Printing (3DP), in the manufacture of complex shaped advanced composite parts, using variants of the Resin Transfer Moulding (RTM) method of composite manufacture. This study developed design guidelines, cost models and a process chain by studying data obtained by making example parts, from literature and consultation with industry. Advanced composite materials offer some of the best low weight and high specific strength properties for the solution of design problems. A major disadvantage of these processes, however, is the low production rates possible and the need of costly moulds. The 3DP technologies combined with the RTM composite process was found to enable a lowering of costs and increase in productivity if smaller batch sizes are considered. The most meaningful area of application for RP techniques seems to be for smaller and more complex components. The geometrical freedom allowed by RP technologies allowed the manufacture of parts which are challenging to manufacture by conventional technology such as CNC machining. Example part case studies were completed for a simple part utilising the one sided mould Resin Infusion RTM variant as well as for a complex part utilising the closed mould Vacuum Assisted Resin Transfer Moulding (VARTM) process variant. During these two case studies it was clear that proper part infusion with resin is critical for the manufacture of good quality composite parts free of voids and dry spots. It is possible to improve the resin infusion by correct placement of resin inlet and outlet ports as well as resin channels incorporated in the mould. Correct placement of these features for the case studies was obtained through simulations done with RTM-Worx software. Results also indicated that another useful application of RP technology to RTM is the manufacture of disposable cores for parts with thick cross sections. Resin channels were included on the surface of these cores to improve the mould filling with resin and consequently part quality. An early cost estimation model, based on the work of Veldsman (1995), was developed for the combined RP and RTM manufacturing process. This model may help designers to eliminate expensive design features and enables a quick cost comparison with competing processes. Drawbacks of applying RP techniques to RTM include the limited lifetime of moulds produced with 3DP and the size and accuracy limitations of the RP t echnology. / AFRIKAANSE OPSOMMING: Hierdie projek handel oor die toepassing van die drie-dimensionele druk metode van Snel-Prototipering (Rapid Prototyping) op die vervaardiging van komplekse gevorderde saamgestelde materiaal komponente met die Hars-Inspuit Giet (Resin Transfer Moulding) metode. Die projek behels die opstel van ontwerpsriglyne, koste-modelle en ’n proses-ketting deur data te bestudeer wat bekom is deur middel van die vervaardiging van eksperimentele parte, literatuurstudie asook raadpleging met individue in die industrie. Gevorderde saamgestelde materiale verskaf van die beste sterk, dog ligte oplossings vir sekere ontwerpsprobleme. ’n Ernstige nadeel van hierdie materiale is egter die stadige produksietempo moontlik en die vereiste van duur gietstukke. Die Snel- Prototipering metodes, gekombineerd met ’n saamgestelde materiaal vervaardigingsproses, maak laer kostes met beter produktiwiteit moontlik indien ontwerpers die part grootte- en akkuraatheidsbeperkings in ag neem. Die mees betekenisvolle area van toepassing blyk kleiner en meer komplekse komponente te wees. Die vryheid in geometrie wat moontlik gemaak word deur die Snel- Prototipering tegnologie laat die vervaardiging toe van parte wat uitdagend is om te vervaardig met konvensionele tegnologie soos CNC masjinering. ’n Gevallestudie is voltooi vir ’n eenvoudige part vervaardig met die enkelkant gietstuk vakuum-infusie weergawe van die Hars-Inspuit Giet metode asook vir ’n komplekse part wat vervaardig is met die geslote gietstuk Vakuum Hars-Inspuit Giet weergawe van die basiese metode. Dit het tydens die twee gevallestudies duidelik geword dat deeglike hars infusie van kritieke belang is vir die vervaardiging van goeie kwaliteit parte sonder enige droë kolle of lugruimtes. Dit is moontlik om die hars infusie te verbeter deur hars inlate en uitlate asook hars kanale in die korrekte posisies te plaas. Die korrekte posisies vir hierdie komponente is verkry deur middel van ’n reeks simulasies met die RTM-Worx sagteware. Resultate dui ook daarop dat Snel-Prototipering tegnologie handig te pas kom by die vervaardiging van verbruikbare kerne vir saamgestelde materiaal parte met groter diktes. Hars kanale kan maklik op die kerne se oppervlak geskep word om die hars verspreiding en gevolglik part kwaliteit te verbeter. ’n Vroeë kostevoorspellings model, gebaseer op werk voltooi deur Veldsman (1995), is saamgestel vir die gekombineerde Snel-Prototipering en Hars-Inspuit Giet proses. Hierdie model kan gebruik word om duur ontwerpsbesonderhede op parte te elimineer en om ’n vinnige koste vergelyking met ander vervaardigingsprosesse te toon. Nadele van die toepassing van Snel-Prototipering tegnieke op Hars-Inspuit Giet sluit die beperkte gietstuk-leeftyd en beperkte akkuraatheid in.

Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: The Pebble Bed Modular Reactor (PBMR) is a Generation IV graphite-moderated helium cooled nuclear reactor which is being developed in South Africa. The PBMR design is based on the German Arbeitsgemeinschaft Versuchreaktor (AVR). The AVR was decommissioned in December 1988 due to operational and safety problems. The PBMR project has put a lot of emphasis on safety and therefore all safety issues relating to the AVR have to be addressed before this technology can be implemented. After the decommissioning of the AVR plant, technicians found radioactive isotopes of cesium 55Cs137, 55Cs134, silver 44Ag110 and strontium 38Sr90 as well as graphite dust in the primary coolant loop of the reactor. These isotopes as well as the graphite dust have to be removed from the helium coolant stream because it can be potentially harmful to equipment, personnel and the general public. The main objective of this thesis is therefore to investigate a separation method for removing the graphite dust (and with it the radioactive isotopes) from the helium coolant stream and also test this method under different operating conditions and geometrical configurations to determine its dust separation efficacy. The device chosen to investigate is the Ranque-Hilsch vortex tube. The Ranque-Hilsch vortex tube (RHVT) is a simple device having no moving parts that produces a hot and cold air stream simultaneously at its two ends from a compressed air source. The vortex generated by the vortex generator located at the inlet of the RHVT causes strongly rotating flows similar in speed to that of a gas centrifuge. The gas centrifuge is used for isotope separation. The RHVT, in theory, can therefore be implemented to separate the graphite/silver isotopes from the helium coolant with the added benefit of either cooling or heating the coolant and was thus selected as the separation technique to be tested experimentally. The dust separation efficiency of the RHVT was tested experimentally using different grades of graphite dust, different fluids, various inlet volumetric flow rates and volume fractions and different RHVT geometries. The experimental results showed that the RHVT has a dust separation efficiency of more than 85 %. A regression analysis was also done with the experimental data to obtain a correlation between the different operating conditions (such as volumetric flow rate) and the dust separation efficiency that can be used to predict the dust efficiency under different operating and geometric conditions (such as the PBMR environment). An analytical model is also presented to describe the ‘temperature separation’ phenomenon in the RHVT, using basic thermo-physical principals to gain a better understanding of how the RHVT works. A CFD analysis was also attempted to supplement the analytical analysis but the solution did not converge and therefore only the preliminary results of the analysis are discussed. / AFRIKAANSE OPSOMMING: Die “Pebble Bed Modular Reactor” (PBMR) is `n vierde generasie grafiet gemodereede en helium verkoelde reaktor wat in Suid-Afrika ontwikkel word. Die PBMR ontwerp is gebaseer op the Duitse Arbeitsgemeinschaft Versuchreaktor (AVR) wat buite werking gestel is in Desember 1988 as gevolg van operasionele en veiligheidsprobleme. Die PBMR projek lê baie klem op veiligheid en daarom moet alle veiligheidskwessies van die AVR eers aangespreek word voor die tegnologie geimplementeer kan word. Nadat die AVR buite werking gestel is, het AVR tegnisie radioaktiewe isotope van cesium 55Cs137, 55Cs134, silwer 44Ag110 en strontium 38Sr90 asook grafiet stof in die primêre stroomkring van die reaktor gevind. Hierdie isotope sowel as die grafiet stof moet uit die helium verkoelingsmiddel in die primere stroomkring van die reaktor verwyder word aangesien dit dalk skadelik kan wees vir toerusting, personeel en die publiek. Die hoofdoelwit van hierdie tesis is dus om `n skeidingstekniek te ondersoek wat die stof (en dus ook die radioaktiewe isotope) uit die helium verkoelingsmiddel kan verwyder. Hierdie tegniek moet dan getoets word onder verskillende operasionele en geometriese toestande om die skeidingsbenuttingsgraad te bepaal. Die toestel wat gekies is om ondersoek te word is die “Ranque-Hilsch Vortex Tube”. Die “Ranque-Hisch Vortex Tube” (RHVT) is a eenvoudige uitvindsel wat geen bewegende parte bevat nie en wat warm en koue lug gelyktydig produseer vanaf `n saamgepersde lugbron. ‘n Baie sterk roteerende vloei word gegenereer in die RHVT wat dieselfde snelhede bereik as die lug in `n gas-sentrifugeerder. Die gas- sentrifugeerder word gebruik as `n isotoopskeidingsapparaat. In teorie kan die RHVT dus ook gebruik word om partikels te skei as gevolg van die sterk roteerende vloei, met die voordeel dat dit ook die lug kan verhit en verkoel. As gevolg van hierde redes is die RHVT gekies as die skeidingstegniek om te ondersoek en dus experimenteel te toets. Die benuttingsgraad van die RHVT se vermoë om die grafiet stof van die lug te skei was gevolglik eksperimenteel getoets deur gebruik te maak van verskillende gehaltes grafiet stof, verskillende vloeistowwe (lug of helium), verskillende inlaat volumevloeitempos en volume fraksies en RHVT geometrieë. Die experimentele resultate het getoon dat die RHVT `n benuttingsgraad van meer as 85 % het. `n Regressie analise was ook gedoen met die eksperimentele data om `n korrelasie tussen die verskillende opersionele toestande (soos volumevloeitempo) en die stof skeiding benuttingsgraad te kry. Hierdie korrelasie kan dan gebruik word om die stofskeidingsbenuttingsgraad onder ander operasionele en geometriese omstandighede, soos die PBMR omgewing, te voorspel. `n Analitiese model word ook voorgestel om die “temperatuur-skeidings” meganisme in die RHVT te verduidelik, met die hulp van basiese termo-fisiese beginsels, om beter te verstaan hoe dit werk. Daar was ook gepoog om `n CFD analise te doen wat die analitiese model kon aanvul, maar die numeriese oplossing het nie gekonvergeer nie en dus word net die voorlopige resultate van dié analise bespreek.

Thesis (MScEng)--Stellenbosch University, 2009. / ENGLISH ABSTRACT: Minimal invasive surgery (MIS) enables surgeons to operate through a few small incisions made in the patient’s body. Through these incisions, long rigid instruments are inserted into the body and manipulated to perform the necessary surgical tasks. Conventional instruments, however, are constrained by having only five degrees of freedom (DOF), as well as having scaled and mirrored movements, thereby limiting the surgeon’s dexterity. Surgeons are also deprived of depth perception and hand-eye coordination due to only having two-dimensional visual feedback. Surgical robotics attempt to alleviate these drawbacks by increasing dexterity, eliminating the fulcrum effect and providing the surgeon with three-dimensional visualisation. This reduces the risks to the patient as well as to the surgeon. However, existing MIS systems are extremely expensive and bulky in operating rooms, preventing their more widespread adoption. In this thesis, a new, inexpensive seven-DOF primary slave manipulator (PSM) is presented. The four-DOF wrist is actuated through a tendon mechanism driven by five 12 VDC motors. A repeatability study on the wrist’s joint position was done and showed a standard deviation of 0.38 degrees. A strength test was also done and demonstrated that the manipulator is able to resist a 10 N opposing tip force and is capable of a theoretical gripping force of 15 N. / AFRIKAANSE OPSOMMING: Minimale indringende chirurgie (MIC) maak dit vir chirurge moontlik om operasies uit te voer deur ’n paar klein insnydings wat op die pasiënt se liggaam gemaak word. Deur hierdie insnydings word lang onbuigsame instrumente in die liggaam ingesit en gemanipuleer om die nodige chirurgiese take uit te voer. Konvensionele instrumente is egter beperk vanweë die feit dat hulle net vyf vryheidsgrade het, asook afgeskaalde bewegings en spieëlbewegings, en gevolglik die chirurg se handvaardigheid beperk. Chirurge word ook ontneem van dieptewaarneming en hand-oog-koördinasie, want hulle is beperk tot tweedimensionele visuele terugvoer. Chirurgiese robotika poog om hierdie nadele aan te spreek deur handvaardigheid te vermeerder, die hefboomeffek uit te skakel en die chirurg driedimensionele visualisering te bied. Dit verminder die risiko’s vir die pasiënt én vir die chirurg. Bestaande MIC-stelsels is egter uiters duur en neem baie plek op in teaters, wat verhoed dat hulle op ’n groter skaal gebruik word. In hierdie tesis word ’n nuwe, goedkoop sewevryheidsgrade- primêre slaafmanipuleerder (PSM) voorgelê. Die viervryheidsgrade-pols word beweeg deur ’n tendonmeganisme wat aangedryf word deur vyf 12 VDC-motors. ’n Herhaalbaarheidstudie is op die pols se gewrigsposisie gedoen, wat ’n standaardafwyking van 0.38 grade aangetoon het. ’n Sterktetoets is ook gedoen en het gewys dat die manipuleerder in staat is om ’n 10 N-teenkantelkrag te weerstaan en dat dit oor ’n teoretiese greepsterkte van 15 N beskik.

Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: Minimally Invasive Surgery (MIS) in human beings is performed by making small incisions in the abdominal region of the patient and inflating the abdominal cavity with CO2. This procedure enables the surgeon to manipulate long rigid surgical instruments inside the patient in order to perform the surgery. Unfortunately the current methods of insertion and assembly of MIS instruments limit the surgeon to only five (of a possible seven) Degrees of Freedom (DOF). Along with this, the surgeon’s movements are mirrored (called the Fulcrum effect) and scaled around the point of incision. Minimally invasive surgical robots attempt to alleviate these drawbacks by eliminating the Fulcrum effect, as well as improving dexterity and accuracy. These robots’ abilities to improve the surgeon’s hand-eye coordination, enables the surgeon to perform surgeries using their natural movements with reduced fatigue. As a result of this, the risk to both patient and surgeon is reduced. Existing MIS robotic systems are extremely expensive and large, and as a result they are not widely used. In this thesis a new, lower cost, seven DOF robotic manipulator is further developed. The thesis focuses on the external three DOF Secondary Slave Manipulator (SSM) and combines it with the Primary Slave Manipulator (PSM) that was developed by a previous Masters student. Tests done on the SSM showed that the manipulator has a minimum resolution of 0.7 ± 0.2 mm (mean ± standard deviation) on the shoulder joint’s yaw rotation and 0.5 ± 0.2 mm in pitch rotation. The linear actuator used for insertion has a minimum resolution of 0.2 ± 0.2 mm. A strength test was also conducted and showed that the manipulator is easily capable of producing a 10 N actuation force as required during Minimally Invasive Robotic Surgery (MIRS) procedures. In conclusion the complete system has potential as a viable alternative to the existing systems due to its accuracy and lower cost. Future work will include the development of a user interface and control system for the complete robot. / AFRIKAANSE OPSOMMING: Minimaal Indringende Chirurgie (MIC) op mense word uitgevoer deur klein insnydings in die pasiënt se buik te maak en dan die abdominale holte met CO2 te vul. Dit stel die chirurg in staat om lang, onbuigbare instrumente binne die pasiënt te manipuleer om sodoende die operasie uit te voer. Die manier waarop die MIC instrument ontwerp is en die pasiënt binnegaan, laat egter slegs vyf vryheidsgrade toe, terwyl die chirurg self sewe vryheidsgrade in sy handbewegings het. Verder veroorsaak hierdie instrumente ook dat die chirurg se aksies in spieëlbeeld vertolk word (Fulcrum effek) en geskaleer is. Chirurgiese robotika poog om hierdie nadele teen te werk deur die Fulcrum effek te verwyder, en ook om handvaardigheid en akkuraatheid te bevorder. Die robot se potensiaal om die chirurg se hand-oog koӧrdinasie te verbeter, maak dit moontlik vir die chirurg om op ’n meer natuurlike en gemaklike manier te werk te gaan en bring minder vermoeienis mee. Dit verminder die risiko’s vir beide die pasiënt en die chirurg. Bestaande robotiese stelsels is egter baie duur en groot, en word dus nie meer algemeen gebruik nie. In hierdie tesis word ‘n nuwe sewe-vryheidsgraad robotiese manipuleerder ontwikkel. Die tesis fokus op die eksterne drie-vryheidsgraad Sekondêre Slaaf Manipuleerder (SSM) en kombineer dit met die Primêre Slaaf Manipuleerder (PSM) wat deur ʼn vorige Meestersstudent ontwikkel is. Toetse wat uitgevoer is op die SSM het getoon dat dit ’n minimum resolusie van 0.7 ± 0.2 mm (gemiddeld ± standaard afwyking) op die skouer se afwyking en 0.5 ± 0.2 mm om die onderskeie skouer aslyne toon. Die linieêre aktueerder wat vir inlassing gebruik word het ’n minimum resolusie van 0.2 ± 0.2 mm. ’n Sterktetoets is uitgevoer en het getoon dat die manipuleerder maklik die nodige 10 N krag soos benodig in Minimaal Indringende Robotiese Chirurgie (MIRC) prosedures kan lewer. Ter afsluiting, die volledige stelsel het die potensiaal as lewensvatbare alternatief tot die bestaande stelsels vanweë die akkuraatheid en laer koste verbonde. Toekomstige navorsing kan moontlik die ontwikkeling van ʼn gebruikerkoppelvlak en beheerstelsel vir die volledige robot insluit.

Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: In percutaneous procedures, where the surgeon inserts a needle into a target in the patient, it is challenging to access the target at the rst attempt. Repeated needle insertion attempts are highly undesirable, as they lead to increased theatre time, patient haemorrhage and radiation exposure. The proposal of this thesis was to develop a low-cost system to aid surgeons with the process of positioning and orientating the needle prior to insertion. The proposed system uses a stereo pair of images produced by a standard C-arm uoroscope. By applying computer vision techniques, such as triangulation, the desired needle position and orientation are determined from the set of images. An articulated manipulator is used to position and orientate the needle. The surgeon makes selections on the images, via a graphical user interface (GUI), to indicate the desired position and orientation of the needle. Following these selections, an algorithm determines the necessary angles for the manipulator. The surgeon then positions the manipulator accordingly. Results from tests on a phantom showed the system to be repeatable and accurate to 2 mm. This is less accurate than similar, existing systems which, reported accuracies of 0:25 and 1:21 mm. However, 2 mm accuracy is considered adequate as it allows a range of percutaneous procedures to be performed such as needle biopsy, regional anaesthesia, brachytherapy and percutaneous nephrolithotomy (PCNL). Tests on both a phantom kidney and a porcine kidney indicated that the system can function in a real percutaneous procedure and with an anatomical target. The total cost to develop the prototype system was R15 000. The accuracy of the proposed system and the time to gain access to the target indicate that the system can be a bene cial aid to surgeons when performing percutaneous procedures. As minimal X-ray imaging is required, patients will also be spared excessive radiation exposure and theatre time. / AFRIKAANSE OPSOMMING: In perkutane prosedures, waar die chirurg 'n naald in 'n teiken op die pasiënt invoeg, is dit moeilik om met die eerste probeerslag toegang tot die teiken te bekom. Herhaalde pogings om die naald in te voeg is hoogs ongewens, aangesien dit tot verlengde teatertyd, bloeding by pasinte sowel as stralingsblootstelling lei. 'n Laekostestelsel is ontwikkel om chirurge by te staan met die proses om die naald voor invoeging te plaas en te oriënteer. Die stelsel gebruik 'n paar stereobeelde wat deur 'n standaard-C-arm- uoroskoop voortgebring word. Met behulp van rekenaarsigtegnieke, soos triangulasie, word die gewenste naaldposisie en -oriëntasie uit die stel beelde bepaal. 'n Geartikuleerde manipuleerder word gebruik om die naald te plaas en te oriënteer. Die chirurg voer die vereiste invoerdata deur middel van 'n gra ese gebruikerskoppelvlak (GGK) in, waarna 'n algoritme die vereiste hoeke vir die manipuleerder bepaal. Die chirurg plaas dan die manipuleerder dienooreenkomstig. Die resultate van toetse op 'n fantoom toon dat die stelsel herhaalbaar en tot op 2 mm akkuraat is. Dit is minder akkuraat as soortgelyke, bestaande stelsels, wat 'n akkuraatheid van 0:25 mm en 1:21 mm onderskeidelik aangemeld het. Tog kan akkuraatheid van 2 mm as voldoende beskou word, aangesien dit 'n verskeidenheid perkutane prosedures moontlik maak, soos naaldbiopsies, regionale anestesie, bragiterapie en perkutane nefrolitotomie (PCNL). Toetse op 'n fantoomnier dui daarop dat die stelsel wél in 'n werklike perkutane prosedure kan funksioneer. Toetse op 'n varknier toon dat die stelsel wél ook met 'n anatomiese teiken kan werk. Die totale koste om die prototipe te ontwikkel was R15 000. Die akkuraatheid van die voorgestelde stelsel en die tydsduur om toegang tot die teiken te bekom, dui daarop dat die stelsel 'n nuttige hulpmiddel kan wees vir chirurge wat perkutane prosedures uitvoer. Aangesien minimale Xstraalbeelding vereis word, sal dit pasiënte ook oormatige stralingsblootstelling en verlengde teatertyd spaar.

Thesis (MScEng)--Stellenbosch University, 2013. / ENGLISH ABSTRACT: The thesis evaluates control strategies for reconfigurable manufacturing systems by using a welding assembly cell as a case study. The cell consists of a pallet magazine, conveyor, feeder subsystem (comprising an articulated robot and singulation unit), welder subsystem (which uses a modular Cartesian robot), and inspection and removal subsystems. The research focuses on control strategies that enhance reconfigurability in terms of structure, hardware and software using agent-based control and the IEC 61499 standard, based on PC control. Reconfiguration may occur when a new product is introduced, as well as when a new subsystem is introduced or removed from the production cell. The overall control architecture is that the subsystems retain no knowledge of the product, but product information resides in the cell controller, while services offered by the subsystems are registered with the directory facilitator of the Java agent platform. The control strategies are implemented on the modular Cartesian weld robot and the cell controller for assembly cell. A layered architecture with low-level control and high-level control is used to allow separation of concerns and rapid changes in both hardware and software components. The low-level control responds in hard real-time to internal and external events, while the high-level control handles soft real-time actions involving coordination of control related issues. The results showed IEC 61499 function blocks to be better suited to low-level control application in distributed systems, while agents are more suited for high-level control. Modularity in software components enhances hardware and software scalability. Additionally, agents can support online reconfiguration of reconfigurable machines. / AFRIKAANSE OPSOMMING: Die tesis evalueer beheerstrategieë vir herkonfigureerbare vervaardigingstelsels deur gebruik te maak van ’n sweismonteersel as ’n gevallestudie. Die sel bestaan uit ’n palletmagasyn, vervoerbande, voersubstelsel (bestaande uit ’n geartikuleerde robot en singulasie-eenheid), sweissubstelsel (wat gebruik maak van ’n modulêre Cartesiese robot), en inspeksie- en verwyderingsubstelsels. Die navorsing fokus op beheerstrategieë wat herkonfigureerbaarheid verhoog in terme van struktuur, hardeware en sagteware met behulp van agent-gebaseerde beheer en die IEC 61499 standaard, wat gebaseer is op PC-beheer. Herkonfigurasie mag voorkom wanneer ’n nuwe produk in-gestel word, sowel as wanneeer ’n nuwe substelsel bygevoeg of verwyder word van die produksiesel. Die oorhoofse beheerargitektuur is dat die substelsels geen kennis van die produk hou nie, maar die produkinligting in die selbeheerder geberg, terwyl dienste wat aangebied word deur die substelsels wat geregistreer is by die gidsfasiliteerder van die Java agent platform. Die beheerstrategië is geïmplementeer op die modulere Cartesiese sweisrobot en die selbeheerder vir die monteersel. ’n Gelaagde argitektuur met ’n lae-vlak beheer en hoë-vlak beheer word gebruik om skeiding van oorwegings en vinnige veranderinge in beide hardeware en sagteware komponente toe te laat. Die lae-vlak beheer reageer hard intyds op interne en eksterne gebeure, terwyl die hoë-vlak beheer sag intyds die koördinering van beheerverwante kwessies hanteer. Die resultate het getoon dat IEC 61499 funksie-blokke beter geskik is vir lae-vlak beheer toepassing in verspreide stelsels, terwyl agente meer geskik is vir hoë-vlak beheer. Modulariteit in sagteware komponente verhoog hardeware en sagteware skaleerbaarheid. Boonop kan agente ook aanlyn herkonfigurasie van herkonfigureerbare masjiene ondersteun.

Thesis (MEng)--Stellenbosch University, 2014. / ENGLISH ABSTRACT: Muscular dystrophy, spinal cord injury, or amyotrophic lateral sclerosis (ALS) are injuries and disorders that disrupts the neuromuscular channels of the human body thus prohibiting the brain from controlling the body. Brain computer interface (BCI) allows individuals to bypass the neuromuscular channels and interact with the environment using the brain. The system relies on the user manipulating his neural activity in order to control an external device. Electroencephalography (EEG) is a cheap, non-invasive, real time acquisition device used in BCI applications to record neural activity. However, noise, known as artifacts, can contaminate the recording, thus distorting the true neural activity. Eye blinks are a common source of artifacts present in EEG recordings. Due to its large amplitude it greatly distorts the EEG data making it difficult to interpret data for BCI applications. This study proposes a new combination of techniques to detect and correct eye blink artifacts to improve the quality of EEG for BCI applications. Independent component analysis (ICA) is used to separate the EEG signals into independent source components. The source component containing eye blink artifacts are corrected by detecting each eye blink within the source component and using a trained wavelet neural network (WNN) to correct only a segment of the source component containing the eye blink artifact. Afterwards, the EEG is reconstructed without distorting or removing the source component. The results show a 91.1% detection rate and a 97.9% correction rate for all detected eye blinks. Furthermore for channels located over the frontal lobe, eye blink artifacts are corrected preserving the neural activity. The novel combination overall reduces EEG information lost, when compared to existing literature, and is a step towards improving EEG pre-processing in order to provide cleaner EEG data for BCI applications. / AFRIKAANSE OPSOMMING: Spierdistrofie, ’n rugmurgbesering, of amiotrofiese laterale sklerose (ALS) is beserings en steurnisse wat die neuromuskulêre kanale van die menslike liggaam ontwrig en dus verhoed dat die brein die liggaam beheer. ’n Breinrekenaarkoppelvlak laat toe dat die neuromuskulêre kanale omlei word en op die omgewing reageer deur die brein. Die BCI-stelsel vertrou op die gebruiker wat sy eie senuwee-aktiwiteit manipuleer om sodoende ’n eksterne toestel te beheer. Elektro-enkefalografie (EEG) is ’n goedkoop, nie-indringende, intydse dataverkrygingstoestel wat gebruik word in BCI toepassings. Nie net senuwee aktiwiteit nie, maar ook geraas , bekend as artefakte word opgeneem, wat dus die ware senuwee aktiwiteit versteur. Oogknip artefakte is een van die algemene artefakte wat teenwoordig is in EEG opnames. Die groot omvang van hierdie artefakte verwring die EEG data wat dit moeilik maak om die data te ontleed vir BCI toepassings. Die studie stel ’n nuwe kombinasie tegnieke voor wat oogknip artefakte waarneem en regstel om sodoende die kwaliteit van ’n EEG vir BCI toepassings te verbeter. Onafhanklike onderdeel analise (Independent component analysis (ICA)) word gebruik om die EEG seine te skei na onafhanklike bron-komponente. Die bronkomponent wat oogknip artefakte bevat word reggestel binne die komponent en gebruik ’n ervare/geoefende golfsenuwee-netwerk om slegs ’n deel van die komponent wat die oogknip artefak bevat reg te stel. Daarna word die EEG hervorm sonder verwringing of om die bron-komponent te verwyder. Die resultate toon ’n 91.1% opsporingskoers en ’n 97.9% regstellingskoers vir alle waarneembare oogknippe. Oogknip artefakte in kanale op die voorste lob word reggestel en behou die senuwee aktiwiteit wat die oorhoofse EEG kwaliteit vir BCI toepassings verhoog.