The thesis is devoted to the development of new algorithms for estimation of system frequency, power system phasors and transmission line fault location in the context of power system protection and control. A z-transform signal model combined with a nonlinear post-filtering scheme to estimate the operating frequency in a power system is first developed in the thesis. The signal model parameters are identified by an optimisation method in which the error between the model output and the actual signal that represents a voltage or current in the power system is minimised. The form and the structure of the signal model do not require iterations in the optimisation process for parameter identification. The system operating frequency is directly evaluated from the model parameters. Effects of noise and any frequency components other than the operating or supply-frequency on the accuracy are countered very effectively by applying a median post-filtering on the time series representing the frequency estimates derived from the model. Extensive simulation studies and comparisons with previously-published frequency estimation techniques confirm the high performance of the method developed in the thesis in terms of accuracy and time delay. With respect to power system phasor estimation, a method is developed based on waveform interpolation in the discrete time-domain to counter the spectral leakage errors arising in forming, by discrete Fourier transform (DFT), the supply frequency phasors representing power system voltages and currents when there are system frequency deviations from the nominal value. The interpolation scheme allows DFT evaluation to be performed with a time window length which is exactly equal to the fundamental period of the voltage or current waveform. Comparative studies presented in the thesis confirm the improvements achieved by the method proposed over other previouslypublished techniques in terms of accuracy and computing time. With the availability of accurate operating frequency and phasor estimates, an optimal fault location method based on multi-conductor distributedparameter line model is developed. The method is a general one which is applicable to any transmission line configurations, including multi-terminal lines. The fault location method is based on the minimisation of an objective function in which the fault distance is a variable. The objective function is formed from combining the phase-variable distributed-parameter equations of individual line sections from the fault point to the line terminals. The multivariable minimisation leads to high accuracy and robustness of the fault location algorithm in which any voltage/current measurement errors, including sampling time synchronisation errors, are represented in the estimation procedure as variables in addition to the fault distance. Extensive simulation studies are performed to verify that the method developed is highly accurate and robust. The thesis is supported by two international publications of which the candidate is a joint author.

Thesis (Ph. D.)--University of Washington, 2006. / Vita. Includes bibliographical references (leaves 134-141).

Long resistive cables used in the operation of remote instrumentation impose fundamental limits on the amount of power delivered and create difficulties in voltage regulation at the remote-end (voltage at the end of the cable) with changing load conditions. This type of power delivery is used in many engineering systems such as in the operation of underwater remotely-operated vehicles, in oil drilling and mining industries, and in highly distributed systems (aircraft, submarines, and space stations, etc.). The focus of this research is to develop new approaches for power delivery in systems that have considerable voltage drops between the local and remote-ends.Two novel methods of power delivery based on state feedback control and parallel operation of switching and linear regulators to enhance stability and increase the power delivered at the remote-end are developed and validated experimentally.A system-level approach is developed to control the remote-end voltage for changing load conditions through the usage of a model inversion technique at the local-end along with a feedback of the local-end variables.

The vision of ubiquitous computing is to seamlessly integrate information processing into everyday objects and activities. Part of this integration is an awareness on the part of a system of its user's context. Context can be composed of several variables --- such as a user's current activity, goals, or state of mind --- but location (both past and present) is almost always a key component. Determining location outdoors has become quite simple and pervasive with today's low-cost handheld Global Positioning System (GPS) receivers. Technologies enabling the location of people and objects to be determined while indoors, however, have lagged due to their extensive infrastructure requirements and associated cost. Just as GPS receivers utilize radio signals from satellites to triangulate their position, an indoor real-time locating system (RTLS) must also make use of some feature of the environment to determine the location of mobile units. Since the signal from GPS satellites is not sufficiently strong to penetrate the structure of a building, indoor RTLS systems must either use some existing feature of the environment or generate a new one. This typically requires a large amount of infrastructure (e.g. specialized RF receivers, additional 802.11 access points, RFID readers, etc.) to be deployed, making indoor RTLSs impractical for the home. While numerous techniques have been proposed for locating people and objects within a building, none of these has yet proven to be a viable option in terms of cost, complexity of installation, and accuracy for home users. This dissertation builds on work by Patel et al. in which the home power lines are used to radiate a low-frequency wireless RF signal that mobile tags use for location fingerprinting. Leveraging the existing power line permits this system to operate on far less additional infrastructure than existing solutions such as cellular (GSM and CDMA), 802.11b/g, and FM radio based systems. The contributions of this research to indoor power line-based RTLS are threefold. First, I examine the temporal stability of a power line based RTLS system's output. Fingerprinting-based RTLS relies upon some feature of the environment, such as the amplitude of an RF signal, to be stable over time at a particular location (temporal stability), but to change in space (spatial differentiability). I show that a power line-based RTLS can be made much more resistant to temporal instability in individual fingerprint components by utilizing a wide-band RF fingerprint. Next, I directly compare the temporal stability of the raw features used by various fingerprinting based indoor RTLSs, such as cellular, 802.11b/g, and FM radio. In doing so, I show that a power line based indoor RTLS has an inherent advantage in temporal stability over these other methods. Finally, I characterize the power line as a receiving antenna for low-powered wireless devices within the home, thus allowing the power line to not only transmit the RF signals used for fingerprinting, but also to receive the sensed features reported by location tags. Here, I show that the powerline is a viable receiver for these devices and that the globally available 27.12 MHz ISM band is a good choice of frequency for communications.

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The work presented in this thesis focuses on the problem of reconstructing threedimensional models of fire from real images. The intended application of the reconstructions is for use in research into the phenomenon of fire-induced high voltage flashover, which, while a common problem, is not fully understood. As such the reconstruction must estimate not only the geometry of the flame but also the internal density structure, using only a set of a few synchronised images. Current flame reconstruction techniques are investigated, revealing that relatively little work has been done on the subject, and that most techniques follow either an exclusively geometric or tomographic direction. A novel method, termed the 3D Fuzzy Hull method, is proposed, incorporating aspects of tomography, statistical image segmentation and traditional object reconstruction techniques. By using physically based principles the flame images are related to the relative flame density, allowing the problem to be tackled from a tomographic perspective. A variation of algebraic tomography is then used to estimate the internal density field of the flame. This is done within a geometric framework by integrating the fuzzy c-means image segmentation technique and the visual hull concept into the process. Results are presented using synthetic and real flame image sets. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, 2007.

This dissertation presents the research, development and application of trajectory creation, obstacle avoidance and trajectory optimisation methods for an existing serial manipulator power line inspection robot (PLIR). The obstacle avoidance implementation allows the robot to navigate around an obstacle obstructing its navigation along the line. The algorithm generated end effector trajectory waypoints autonomously based on bounding box obstacle descriptions in Cartesian space, and connected them with a fifth order basis-spline end effector trajectory command. The trajectories were created taking into account the dynamic torque and velocity constraints of the robot while ignoring non-linearities. Performance was inspected and evaluated in a simulated workspace environment. The trajectory optimisation was designed to maximise the robot’s operating range, with constraints on the battery power supply, by minimising charge consumed during obstacle avoidance trajectories. The temporal components of the basis-spline trajectories were optimised by minimising a timeenergy type of cost function subject to the dynamic constraints of the robot. Cost function analyses are presented for a simple frictionless robot model based on the recursive Newton-Euler method, and for a more realistic model including viscous, Coulomb and static friction as well as gearbox backlash. It is shown that the Nelder-Mead simplex method was appropriate for optimisation. For representative trajectories that were studied, the optimiser was capable of finding global minima with satisfactory speed and accuracy in simulation. The validity of trajectory optimisation with regard to the cost function behaviour was confirmed. This was based on experiments carried out on the robot hardware in the laboratory, examining the predicted and actual actuator current profiles. The engineering design and implementation of hardware and software for the base station and on-board system is presented, together with the layout of the PLIR’s control system and PID (proportional-integral-derivative) controller design. Trajectory commands are sent from the base station to the robot via Wi-Fi for execution. Furthermore, live video feed from the robot can be sent to the ground station computer. Furthermore, high voltage testing of the PLIR showed that the engineering design of the robot and communication platform is robust. / Thesis (M.Sc.Eng.)-University of KwaZulu-Natal, Durban, 2012.

This thesis discusses the results of an investigation that was initiated in January 1996 to determine the root cause of the increasing fault trend in respect of transient earth faults on the 275 kV transmission grid in KwaZulu-Natal, South Africa. Historically it was thought that the persistently poor performance of this network was caused by pollution faults. This network was reinsulated with silicone composite insulators, and cane fire as well as veld fire management programmes were introduced. These projects did not result in a consistently decreasing fault trend on this 275 kV transmission grid. The burn marks caused by the power arcs, which were identified in this study, appeared to indicate that air gap breakdown was occurring. Birds were also observed in close proximity to the faulted towers. Consequently it was thought that bird streamers caused the transmission line faults. Welded rod bird guards designed to prevent bird streamer faults were installed on eighteen 275 kV transmission lines. The accumulative length of these transmission lines is 932 km. The implementation of this initiative coincided with a 73% reduction in the total number of transient earth faults. This improvement in performance indicates a strong statistical correlation showing that a large number of the transient earth faults on the transmission grid are related to bird streamers. Bird streamer induced faults were identified by means of the following diagnostic techniques: • Burn mark analysis • Time-of-day analysis Bird streamer line faults have been observed on I string, V string and strain jumper assemblies on the 275 kV power lines. However, on the 400 kV power lines bird streamer faults have only been observed on V string assemblies. Experimental work involved simulated bird streamers and determining the minimum flashover distance for AC system voltages. Electric field measurements by means of a capacitive probe were undertaken at the ground plane. The electric field measurements at the ground plane under bird streamer intrusion confirm that if the streamer is moved away from the live tower hardware, the electric field enhancement at the ground plane decreases below the background streamer propagation field. This case study determined that in order to prevent bird streamer faults the bird streamer must be moved away from the live tower hardware. The distance it must be moved is at least 900 mm for 275 kV power lines and 1 100 mm for 400 kV lines. / Thesis (M.Sc.Eng.)-University of Natal, Durban, 2001.

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