In recent years there were many debates and different opinions whether R&D spillover effects exist or not. In 1995 Coe and Helpman published a study about this phenomenon, based on a panel dataset, that supports the position that such R&D spillover effects are existent. However, this survey was criticized and many different suggestions for improvement came from the scientific community. Some of them were selected and analysed and finally led to a new model. And even though this new model is well compatible with the data, it leads to different conclusions, namely that there does not exist an R&D spillover effect. These different results were the motivation to run a spatial analysis, which can be done by considering the countries as regions and using an adequate spatial link matrix. The used methods from the field of spatial econometrics are described briefly and quite general, and finally the results from the spatial models (the ones which correspond to the non-spatial ones) are compared with the results from the non-spatial analysis. The preferred model supports the position that R&D spillover effects exist.

Thesis (PhD)--Stellenbosch University, 2014. / ENGLISH ABSTRACT: The research presented in this dissertation establishes a micro-CMM parallel manipulator as a viable positioning device for three degree of freedom micro measurement applications. The machine offers the advantages associated with parallel kinematic manipulators, such as light carrying weight, high stiffness and no accumulation of errors, while avoiding some of the traditional disadvantages of parallel manipulators such as the associated effects of angular errors (Abbé error), singularity problems, work space limitation and the extensive use of spherical joints. In this dissertation, the direct position kinematic solution is developed analytically and the solution of the inverse position kinematic is solved numerically. A workspace analysis has been performed. A fully functional prototype demonstrator is fabricated to demonstrate this machine. While the demonstrator was not intended to achieve submicron accuracy, it was intended to validate the error models. Computer controlled measurement is developed and used to position the probe and to record measurements. A reliable kinematic error model based on the theory of error propagation is derived analytically. A numerical method is used to verify the analytical results. Comparison shows that the results of the error model, both analytical and numerical, represent a very good match and follow the same trend. The kinematic position model is validated using a conventional CMM. Results show that an average difference of less than 0.5 mm over a set of 30 points is achieved. This result of the micro-CMM demonstrator measurements falls within the error budget of approximately 0.75 mm estimated by the proposed analytical error model. / AFRIKAANSE OPSOMMING: Die navorsing in hierdie tesis vestig ‘n mikro-CMM parallelle manipuleerder as ‘n lewensvatbare posisioneringstoestel vir drie vryheidsgraad-mikrometing toepassings. Die masjien bied voordele geassosieer met parallelle kinematiese manipuleerders, bv. ligte dra-gewig, hoë styfheid en geen ophoping van foute nie. Die tradisionele nadele van parallelle manipuleerders soos die geassosieerde gevolge van hoekfoute (Abbé fout), enkelvoudigheidsprobleme, werkspasiebeperking en die uitgebreide gebruik van sferiese koppelings word vermy. In hierdie tesis word die direkte posisie kinematiese oplossing analities ontwikkel en die oplossing van die omgekeerde posisie kinematies word numeries opgelos. ‘n Werkspasie analise is uitgevoer. ‘n Ten volle funksionele prototipe demonstrasie-model is vervaardig om hierdie masjien te demonstreer. Die model is nie vervaardig om submikron akkuraatheid te bereik nie, maar eerder om foutmodelle geldig te verklaar. Rekenaar-beheerde metings is ontwerp en gebruik om die toetspen te posisioneer en om metings te neem. ‘n Betroubare kinematiese foutmodel gebaseer op die teorie van foutvoortplanting is analities afgelei. ‘n Numeriese metode word gebruik om die analitiese resultate te bevestig. Vergelyking toon aan dat die resultate van die foutmodel, beide analities en numeries, goeie pasmaats is en dieselfde tendens volg. Die kinematiese posisie model word geldig verklaar deur gebruik te maak van ‘n konvensionele CMM. Resultate wys dat daar ‘n gemiddelde verskil van minder as 0.5 mm oor ‘n stel van 30 punte behaal word. Die resultate van die mikro-CMM model se metings val binne die foutbegroting van ongeveer 0.75 mm geskat by die voorgestelde analitiese foutmodel.

The purpose of this thesis is to investigate different control strategies on a differential drive vehicle. The vehicle should be able to drive in turns at high speed and slowly when it should park next to a charger. In both these cases, good precision in both orientation and distance to the path is important. A PID and an LQ controller have been implemented for this purpose. The two controllers were first implemented in a simulation environment. After implementing the controllers on the system itself, tests to evaluate the controllers were made to imitate real-life situations. This includes tests regarding driving with different speeds in different turns, tests with load distributions, and tests with stopping accuracy. The existing controller on the system was also tested and compared to the new controllers. After evaluating the controllers, it was stated that the existing controller was the most robust. It was not affected much by the load distribution compared to the new controllers. However, the LQ controller was slightly better in most cases, even though it was highly affected by the load distribution. The PID controller performed best regarding stopping accuracy but was the least robust controller by the three. Since the existing controller has a similar performance as the LQ controller but is more robust, the existing controller was chosen as the best one.

No description available.

Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2011. / ENGLISH ABSTRACT: The In the Physiotherapy Division of the Faculty of Health Sciences on the Tygerberg Hospital Campus of the University of Stellenbosch, the challenge arose to develop a portable, affordable and yet accurate 3D measurement machine for the assessment of posture in school children in their classroom environment. Currently Division already uses a state-of-the-art VICON commercial medical measuring machine to measure human posture in 3D in their physiotherapy clinic, but the system is not portable and is too expensive to cart around to different places for testing. To respond to this challenge, this Master’s thesis designed and analyzed a machine and its supporting system through both research on stereo-vision methodologies and empirical appraisal in the field. In the development process, the research was required to overcome the limitations posed by small image resolutions and lens distortions that are typical of cheap cameras. The academic challenge lay in the development of an error prediction model through Jacobian derivation and Error Propagation Law, to predict uncertainties of angular measurement calculated by the system. The research culminated in a system that is comparable in accuracy to the VICON within 3mm, and that has 1.5mm absolute accuracy within its own system for a measurement volume radius of 2.5 m. As such, the developed error model is an exact predictor of the angular error to within 0.02° of arc. These results, for both system accuracy and the error model, exceed the expectations on the basis of the initial challenge of the system. The development of the machine was successful in providing a prototype tool that is suitable for commercial development for use by physiotherapists in human posture measurement and assessment. In its current incarnation, the machine will also serve the Engineering Faculty as the most fundamental form of a three-dimensional measuring apparatus using only basic theories and algorithms of stereo-vision, thereby providing a basic experimental platform from which further scientific research on the theory and application of computer vision can be conducted. / AFRIKAANSE OPSOMMING: Die Fisioterapie Afdeling van die Fakulteit Gesondheidswetenskappe op die Tygerberg kampus van die Universiteit van Stellenbosch gebruik ’n allernuutste VICON kommersiële mediese meettoestel om menslike postuur in drie dimensies te meet. Vanuit hierdie Afdeling het die uitdaging ontstaan om ’n draagbare, bekostigbare, maar tog akkurate, drie-dimensionele meetapparaat geskik vir die meet van die postuur van skoolkinders in die klaskamer te ontwikkel. In aanvaarding van hierdie uitdaging, het hierdie Magistertesis ’n toestel en ondersteuningstels ontwerp en ontleed deur beide navorsing in stereo-visie metodiek en terplaatse beoordeling. In die ontwikkelingsproses moes die navorsing die beperkings wat deur klein-beeld resolusie en lens-distorsie (tipies van goedkoop kameras) meegebring word, oorkom. Die akademiese uitdaging lê in die ontwikkeling van ’n voorspellende foutmodel deur van die Jacobianse-afleiding en die Fout Propageringswet gebruik te maak om onsekerheid van hoeksberekening deur die stelsel te voorspel. Die navorsing het gelei tot ’n stelsel wat binne 3mm vergelykbaar is in akkuraatheid met dié van die VICON en ook 1.5mm absolute interne akkuraatheid het in ’n meet-volume radius van 2.5m radius. Die ontwikkelde foutmodel is dus ’n presiese voorspeller van hoekfout tot binne 0.02° van boog. Die resultate met betrekking tot beide die akkuraatheid en die foutmodel het die oorspronklike verwagtinge van die uitdaging oortref. Die ontwikkeling was suksesvol in die skep van ’n prototipe-toestel geskik vir kommersiële ontwikkeling, vir gebruik deur fisioterapeute in die meting en evaluering van menslike postuur. Die stelsel is in sy fundamentele vorm, deur die gebruik van slegs basiese teorieë en algoritmes van stereo-visie, funksioneer as ’n drie-dimensionele meetapparaat. In die fundamentele vorm sal die stelsel die Ingenieursfakulteit dien as ’n basiese eksperimentele platform waarop verdere wetenskaplike navorsing in die teorie en toepassing van rekenaar-visie gedoen kan word.

Modelos com erros de medição têm recebido a atenção de vários pesquisadores das mais diversas áreas de conhecimento. O principal objetivo desta dissertação consiste no estudo de um modelo funcional com erros de medição heteroscedásticos na presença de réplicas das observações. O modelo proposto estende resultados encontrados na literatura na medida em que as réplicas são parte do modelo, ao contrário de serem utilizadas para estimação das variâncias, doravante tratadas como conhecidas. Alguns procedimentos de estimação tais como o método de máxima verossimilhança, o método dos momentos e o método de extrapolação da simulação (SIMEX) na versão empírica são apresentados. Além disso, propõe-se o teste da razão de verossimilhanças e o teste de Wald com o objetivo de testar algumas hipóteses de interesse relacionadas aos parâmetros do modelo adotado. O comportamento dos estimadores de alguns parâmetros e das estatísticas propostas (resultados assintóticos) são analisados por meio de um estudo de simulação de Monte Carlo, utilizando-se diferentes números de réplicas. Por fim, a proposta é exemplificada com um conjunto de dados reais. Toda parte computacional foi desenvolvida em linguagem R (R Development Core Team, 2011) / Measurement error models have received the attention of many researchers of several areas of knowledge. The aim of this dissertation is to study a functional heteroscedastic measurement errors model with replicated observations. The proposed model extends results from the literature in that replicas are part of the model, as opposed to being used for estimation of the variances, now treated as known. Some estimation procedures such as maximum likelihood method, the method of moments and the empirical simulation-extrapolation method (SIMEX) are presented. Moreover, it is proposed the likelihood ratio test and Wald test in order to test hypotheses of interest related to the model parameters used. The behavior of the estimators of some parameters and statistics proposed (asymptotic results) are analyzed through Monte Carlo simulation study using different numbers of replicas. Finally, the proposal is illustrated with a real data set. The computational part was developed in R language (R Development Core Team, 2011)

Portfolio optimisation has a number of constraints resulting from some practical matters and regulations. The closed-form mathematical solution of portfolio optimisation problems usually cannot include these constraints. Exhaustive search to reach the exact solution can take prohibitive amount of computational time. Portfolio optimisation models are also usually impaired by the estimation error problem caused by lack of ability to predict the future accurately. A number of Multi-Objective Genetic Algorithms are proposed to solve the problem with two objectives subject to cardinality constraints, floor constraints and round-lot constraints. Fuzzy logic is incorporated into the Vector Evaluated Genetic Algorithm (VEGA) to but solutions tend to cluster around a few points. Strength Pareto Evolutionary Algorithm 2 (SPEA2) gives solutions which are evenly distributed portfolio along the effective front while MOGA is more time efficient. An Evolutionary Artificial Neural Network (EANN) is proposed. It automatically evolves the ANN's initial values and structures hidden nodes and layers. The EANN gives a better performance in stock return forecasts in comparison with those of Ordinary Least Square Estimation and of Back Propagation and Elman Recurrent ANNs. Adaptation algorithms for selecting a pair of forecasting models, which are based on fuzzy logic-like rules, are proposed to select best models given an economic scenario. Their predictive performances are better than those of the comparing forecasting models. MOGA and SPEA2 are modified to include a third objective to handle model risk and are evaluated and tested for their performances. The result shows that they perform better than those without the third objective.

Modelos com erros de medição têm recebido a atenção de vários pesquisadores das mais diversas áreas de conhecimento. O principal objetivo desta dissertação consiste no estudo de um modelo funcional com erros de medição heteroscedásticos na presença de réplicas das observações. O modelo proposto estende resultados encontrados na literatura na medida em que as réplicas são parte do modelo, ao contrário de serem utilizadas para estimação das variâncias, doravante tratadas como conhecidas. Alguns procedimentos de estimação tais como o método de máxima verossimilhança, o método dos momentos e o método de extrapolação da simulação (SIMEX) na versão empírica são apresentados. Além disso, propõe-se o teste da razão de verossimilhanças e o teste de Wald com o objetivo de testar algumas hipóteses de interesse relacionadas aos parâmetros do modelo adotado. O comportamento dos estimadores de alguns parâmetros e das estatísticas propostas (resultados assintóticos) são analisados por meio de um estudo de simulação de Monte Carlo, utilizando-se diferentes números de réplicas. Por fim, a proposta é exemplificada com um conjunto de dados reais. Toda parte computacional foi desenvolvida em linguagem R (R Development Core Team, 2011) / Measurement error models have received the attention of many researchers of several areas of knowledge. The aim of this dissertation is to study a functional heteroscedastic measurement errors model with replicated observations. The proposed model extends results from the literature in that replicas are part of the model, as opposed to being used for estimation of the variances, now treated as known. Some estimation procedures such as maximum likelihood method, the method of moments and the empirical simulation-extrapolation method (SIMEX) are presented. Moreover, it is proposed the likelihood ratio test and Wald test in order to test hypotheses of interest related to the model parameters used. The behavior of the estimators of some parameters and statistics proposed (asymptotic results) are analyzed through Monte Carlo simulation study using different numbers of replicas. Finally, the proposal is illustrated with a real data set. The computational part was developed in R language (R Development Core Team, 2011)

The empirical results from past research are quite clear. When the surrounding crime level goes up, housing prices go down. However, what has not been acknowledged in the previous literature is that different crimes might impact our willingness-to-pay heterogeneously. As most of the previous research is done through the usage of simple crime rates, this thesis acknowledges the relative severeness of different crimes. Using the newly developed crime harm index (CHI), the relative severity and harm inflicted by a specific crime is identified. The study is conducted in Sweden, Stockholm, using data for the year 2020. With the use of hedonic price equations, spatial models as well as graphical information system software, this thesis estimates a significant, and non-negligible negative relationship between increased area mean CHI and apartment prices. To the best of the author's knowledge, this is one of the very first analyses within the literature, which acknowledges the relative severeness of crimes, and the first to show a significant negative relationship between increased criminal harm and apartment prices. Further, the resulting estimates and method used in this thesis can be utilized to differentiate between the costs of different crimes, hence enabling precise cost estimates. These estimates could for example be of great use to policymaking, urban planners, and decision-making regarding safety investment.

No description available.