The aim of this thesis is the development and implementation of a controlled testing platform for the Robust Intelligent Sensing and Controls (RISC) Lab at Utah State University (USU). This will be an open source adaptable expandable robotics platform usable for both education and research. This differs from the many other platforms developed in that the entire platform software will be made open source. This open source software will encourage collaboration among other universities and enable researchers to essentially pick up where others have left off without the necessity of replicating months or even years of work. The expected results of this research will create a foundation for diverse robotics investigation at USU as well as enable attempts at novel methods of control, estimation and optimization. This will also contribute a complete software testbed setup to the already vibrant robotics open source research community. This thesis first outlines the platform setup and novel developments therein. The second stage provides an example of how this has been used in education, providing an example curriculum implementing modern control techniques. The third section provides some exploratory research in trajectory control and state estimation of the tip of an inverted pendulum atop a small unmanned aerial vehicle as well as bearing-only cooperative localization experimentation. Finally, a conclusion and future work is discussed.

This master's thesis is an investigation and evaluation of MELCOR (a software tool for severe accident analyses regarding nuclear power plants), or more correctly of the (ASEA-Atom BWR 75) reactor model developed for version 1.8.6 of MELCOR. The main objective was to determine if MELCOR, with the reactor model in question, is able to produce satisfactory results in severe accident analyses compared to results made by MAAP, which is currently the only official software tool for this application in Sweden. The thesis work is related to the RASTEP project. This project has been carried out in several stages on behalf of SSM since 2009, with a number of specific issues explored within an NKS funded R&D project carried out 2011-2013. This investigation is related to the NKS part of the project. The purpose with the RASTEP project is to develop a method for rapid source term prediction that could aid the authorities in decision making during a severe accident in a nuclear power plant. A software tool, which also gave the project its name, i.e. RASTEP (RApid Source TErm Prediction), is therefore currently under development at Lloyd's Register Consulting. A software tool for severe accident analyses is needed to calculate the source terms which are the end result from the predictions made by RASTEP. A set of issues have been outlined in an earlier comparison between MAAP and MELCOR. The first objective was therefore to resolve these pre-discovered issues, but also to address new issues, should they occur. The existing MELCOR reactor model also had to be further developed through the inclusion of various safety systems, since these systems are required for certain types of scenarios. Subsequently, a set of scenarios was simulated to draw conclusions from the additions made to the reactor model. Most of the issues (pre-discovered as well as new ones) could be resolved. However the work also rendered a set of issues which are in need of further attention and investigation. The overall conclusion is that MELCOR is indeed a promising alternative for severe accident analyses in the Swedish work with nuclear safety. Several potential benefits from making use of MELCOR besides MAAP have been identified. In conclusion, they would be valuable assets to each other, e.g. since deviations in the results (between the two codes) would highlight possible weaknesses of the simulations. Finally it is recommended that the work on improving the MELCOR reactor model should continue. / RASTEP

Masters in Public Administration - MPA / According to the Constitution of Republic of South Africa (Act 108 of 1996) it is the responsibility of local government to provide basic and effective water services to all consumers in its area of jurisdiction. The Water Services Act (Act 108 of 1997) further supports this concept and establishes the institutional framework for service delivery and an enabling environment for development of the sector. In the spirit of co-operative governance the department of Water Affair and Forestry is obliged to provide this support to local government around the issues of water services provision but this support needs to be located within the legislative laid out in local government legislation. The nature of capacity support to Kei District Council is that it requires intensive initial support to ensure that it is able to fulfil its service functions, including those outlined in the Water Services Act. This requirement for intensive initial support is due of the following: (a) Kei District Council was previously not responsible for water services, (b) it require support to set up structures and systems for managing and monitoring water Services, (c) it need to develop water services expertise, (d)The Transitional Local Government process places an enormous challenge on Kei District Council to gear up for its role as developmental local government, and (e) the Water Services Act has introduced new requirement and clarified the water services authority functions that municipalities are required to fulfil.