Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2008. / A rapid measurement system is implemented using two digital video cameras, presenting a faster and less expensive solution to certain metrology problems. The cameras are calibrated from one stereo image-pair of a 3D calibration grid that allows an immediate assessment of the achievable metric accuracy of the system. Three different methods, using either laser tracking or structured light patterns, were developed and employed to solve the coordinate extraction and correspondence matching problems. Different image processing techniques were used to speed up the entire measurement process. All software development was accomplished using only freely distributed software packages. The system achieves calibration in less than a minute and accumulates point correspondences at 12 frames per second. Accuracies of greater than 0.4 mm are achieved for a 235 x 190 x 95 mm measurement volume using a single pair of images with 640 x 480 pixel resolution each.

Thesis (MScEng (Mechanical and Mechatronic Engineering))--Stellenbosch University, 2008. / A fluoroscopy-guided needle-positioning system is designed and tested as a first prototype for aiding urologists in gaining fast, accurate and repeatable kidney calyx access during a PCNL procedure while also reducing radiation exposure of the people involved. Image guidance is realized by modelling the fluoroscopic system as an adapted pinhole camera model and utilizing stereo vision principles on a stereo image pair. Calibration, distortion correction and image processing algorithms are implemented on images of a designed calibration object. Thereafter the resulting variables are used in the targeting of the calyx with the aid of a graphical user interface. The required relative translation and rotation of the needle from its current position to the target is calculated and the system is adjusted accordingly. Using digital cameras, needle placement accuracies of 2.5 mm is achieved within the calibrated volume in a simulated environment. Similar results are achieved in the surgery room environment using the fluoroscopic system. Successful needle access in two porcine kidney calyxes concluded the testing

Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: Uterine manipulation is integral to obtaining adequate access to the uterus during a laparoscopic procedure. A variety of mechanical manipulators have been developed to aid the surgeon with the dissection of the uterus during laparoscopic hysterectomies. Limitations of existing manipulators are that they require an additional assistant during surgery, are expensive and may cause tissue trauma to the vaginal or cervical canal. This study introduces the novel concept of a magnetic uterine manipulator, intended to overcome existing devices’ shortcomings and enabling non-invasive uterine manipulation. The first goal of the study was to investigate the strengths and weaknesses of existing mechanical manipulators and compare them to those of a magnetic device. Analysis showed that a magnetic manipulator would not be able to compete in terms of the range of motion of existing devices. A limited anteriorsagittal rotation range of 60 was seen in the magnetic manipulator compared to a range of 140 in mechanical devices. However, the magnetic manipulator could eliminate the need for an extra assistant, is reusable and thus also more economical. The second goal was to investigate which type of setup would be most successful at effective uterine manipulation. Through concept analysis a cart-on-arch system was deemed most effective. To lift an effective load of 1 N over an air-gap of 150 mm rare-earth N38 Neodymium (NdFeBr) magnets showed the most promise as magnetic actuators. FEA (Finite Element Analysis) simulations of the magnetic setup were validated experimentally which produced an acceptable MAE (mean absolute error) of 0.15 N. Furthermore, a comparative simulation study of shielded and unshielded magnets was done which concluded that shielded magnets produce a slightly higher attraction force and would be safer to use due to less magnetic flux fringing. Thirdly and lastly, potential safety hazards and risks of using magnetic actuators in surgical environments were identified. The literature research revealed that connections between magnetic fields and health risks to patients have not been conclusively proven in clinical studies to date, but nonetheless, great care should be taken in situations where the patient has a pace-maker or orthopaedic implants, as these might interact with the magnetic field. Recommendations for future work include further research into the geometry and scaling effects of magnetic shielding as well as electromagnetic actuator design. Electromagnetic actuators could replace rare-earth magnets, if coil and cooling systems are optimized, resulting in magnets that can be reversed or switched off and which are therefore easier to control and safer to handle. / AFRIKAANSE OPSOMMING: Ontwikkeling van ’n Magnetiese Intra-Uteriene Manipuleerder Baarmoedermanipulasie is van uiterste belang om sodoende voldoende toegang te kry tot die baarmoeder gedurende ’n laparoskopiese prosedure. Daar is reeds ’n verskeidenheid meganiese manipuleerders ontwikkel as hulpmiddel vir die chirurg in die ontleding van die uterus tydens laparoskopiese histerektomies. Beperkings van bestaande manipuleerders is dat ’n bykomende assistent tydens chirurgie benodig word. Die manipuleerders is ook duur en kan weefseltrauma veroorsaak aan die vaginale of servikale kanale. Die studie stel ’n nuwe konsep bekend: ’n magnetiese baarmoedermanipuleerder, gemik daarop om bestaande toestelle se tekortkominge te oorkom en nie-indringende baarmoedermanipulasie moontlik te maak. Die eerste doel van die studie was om die voordele en nadele van bestaande meganiese manipuleerders te ondersoek en dit te vergelyk met dié van die magnetiese toestel. Analise het getoon dat ’n magnetiese manipuleerder nie met bestaande toestelle sal kan kompeteer waar dit gaan om beweegruimte nie. Daar is ’n beperkte anterior-sagitale rotasiespeling van 60 in die magnetiese manipuleerder, terwyl die meganiese toestel ’n rotasiespeling van 140 het. Die magnetiese manipuleerder kan egter die nodigheid van ’n bykomende assistant uitskakel, is herbruikbaar en dus ook meer ekonomies. Die tweede doel van die studie was om die tipe opstelling wat meer suksesvol sal wees tydens doeltreffende baarmoeder manipulasie te ondersoek. Konsep-analise het getoon dat ’n "cart-on-arch"stelsel die beste sal werk. N38 Neodimium (NdFeBr) magnete het die beste vertoon as magnetiese aandrywer om ’n werklike belasting van 1 N oor ’n lugspasie van 150 mm te lig. EEA (Eindige Element Analise) simulasies van die magnetiese opstelling is eksperimenteel bekragtig en het ’n aanvaarbare gemene absolute fout (GAF) van 0.15 N gelewer. ’n Vergelykende simulasie studie het verder gewys dat beskutte magnete ’n effens hoër aantrekkingskrag oplewer en sal dus veiliger wees om te gebruik vanweë die verminderde magnetiese stromingsrand. Derdens en laastens is potensiële veiligheidsrisikos en gevare in die gebruik van magnetiese drywers in chirurgiese omgewings geïdentifiseer. Literatuurnavorsing het onthul dat die verband tussen magneetvelde en gesondheidsrisikos aan pasiënte nog nie voldoende bewys is in kliniese studies tot op datum nie. Gevalle waar pasiënte ’n pasaangeër of ortopediese inplantings het moet met groot sorg hanteer word aangesien dit dalk kan reageer met die magneetvelde. Aanbevelings vir toekomstige werk sluit verdere navorsing in in die rigting van die geometrie en die afskilferingseffek van magnetiese beskutting en ook elektromagnetiese drywer ontwerp. Elektromagnetiese drywers kan moontlik rou aarde magnete vervang indien winding en afkoelstelsels ge-optimeer word wat kan lei tot magnete wat omgekeer of afgeskakel kan word en dus makliker beheerbaar is en veiliger om te hanteer.

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)--University of Stellenbosch, 2002. / ENGLISH ABSTRACT: The cost of powering Antarctic research stations by conventional diesel electric generator systems is high (Steel, 1993). In order to reduce these costs and airborne pollution due to the combustion of fossil fuels, an investigation into renewable energy sources has been conducted, with the focus on wind turbine energy generation. The aim was to see whether a wind turbine is feasible, both technically and economically, for partial energy production at the SANAE IV base. The existing diesel electrical generators will still be used for the base demand, when there is not enough wind or when the energy demand is more than can be produced by the wind turbine. The work accomplished for this study explains and motivates a MSc. (Eng.) thesis on the feasibility of installing wind electricity generators at Antarctica. This evaluation was done for the South African research station SANAE IV in Antarctica. It provides information on the literature consulted to date, the theoretical and practical work covered, the theoretical investigations, the results obtained and future implementations. Also included in this work was a trip to Antarctica, so that all the relevant data, like wind speeds and wind direction could be measured. Another reason for having done the trip was to do an energy audit for SANAE IV, so that the energy demand for the base could be established. The energy demand of the base varies among other factors, for summer and winter conditions, for day and night conditions, and for population variations. With the information obtained during the trip, the theoretical evaluation of a possible wind turbine system was performed. With the aid of the data from the 6 m wind mast, wind profiles have been established, from which Wei bull distributions were obtained, and the energy output from 5 different wind turbines, in the range between 10 kW and 100 kW, were calculated. The annual energy production of the 100 kW wind turbine is 430 MWh with a capacity factor of 49 %. The annual energy demand of the base amounts to 1153 MWh, thus the wind turbine could contribute up to 30 % of the power needed at the base taking losses, such as availability and maintenance losses, into account. From the automatic weather station of the South African Weather Services, positioned at SANAE IV, wind speed and direction data for the year 2001 was obtained and this data was analyzed. The results show that the winds at SANAE IV are highly directional, coming mostly from an eastern and southeastern direction. This highly directional wind pattern is well suited for wind turbine application. The average wind speed, being measured at 10m height, is 10.8 m/s and the hourly averaged maximum wind speed for the year 2001 is 38.9 mls. From the wind analysis, site survey, cold weather issues and connection to the electricity grid of the base, it becomes evident that the North Wind NWIOO/19 100 kW wind turbine is the best-suited wind turbine for installation at SANAE IV. One of the major advantages of the NW100/19 is that it features a tilt-up tower erecting system that enables the wind turbine to be installed without the use of a crane. The NW100/19 is the only turbine rated at 100 kW, with this feature. From the economic analysis it is evident that a wind turbine, with the complete installation, operation and maintenance costs, features a break even period of 10 years, when installed at SANAE IV. This relatively short breakeven period, considering that the life of the turbine is 30 years, originates from the fact that the average wind speed at the base is about 11 mis, which is relatively high and yields enormous power productions. This wind turbine operates for approximately 80 % during a year, which is very high, making this renewable energy source very attractive as a power-generating source for SANAE IV. The cost per kWh produced by the wind-diesel system is R1.63/kWh, while the cost per kWh produced by the current diesel generators, satisfying the power demand of the base, is R1.94/kWh. Thus the hybrid system can reduce the cost of power produced by almost 20 %, which again demonstrates the attractiveness of using wind power at SANAE IV. From an environmental point of view, the use of wind power at SANAE IV is favorable, since a wind turbine has minimal effects on the environment at Antarctica. The cost of emissions and fuel spills were calculated for SANAE IV. The fuel saving, resulting from the operation of a wind turbine at SANAE IV, converts to a saving in externalities of about R500 000.00 per year, using an evaluation method that was applied to remote Alaskan villages. It can therefore be concluded that the aims of the project have been fully accomplished and that the use of wind power at SANAE IV is indeed a very attractive option, regarding all the criteria mentioned above. When it is being decided that a budget will be provided for a wind turbine installation, the economic analysis has to be refined, due to the uncertainty of the market value of the South African currency. / AFRIKAANSE OPSOMMING: Die koste verbonde aan krag voorsiening vir Antarktiese navorsingstasies deur middel van konvensionele diesel elektriese kragopwekkers is baie hoog (Steel, 1993). Om hierdie kostes en lugbesoedeling weens die verbranding van fossielbrandstowwe te verminder, is 'n ondersoek na hemubare energiebronne gedoen, met die fokus op windturbiene energie opwekking. Die doelwit van die studie was om te sien of 'n windturbiene aanwending vir kragopwekking vir die SANAE IV stasie lewensvatbaar is, gebaseer op tegniese en ekonomiese uitgangspunte. Die bestaande diesel elektriese kragopwekkers sal nog altyd gebruik word vir kragopwekking, as daar nie genoeg wind is nie, of as die energievraag hoer is as wat kan verskafword deur die wind turbine. Die werk wat vir hierdie studie voltooi is belig en motiveer 'n MSc(Ing) tesis oor die lewensvatbaarheid vir installering van 'n windelektriese kragopwekker op Antarktika. Hierdie evaluasie is gedoen vir die Suid Afrikanse navorsingstasie, SANAE IV, op Antarktika. Dit behels informasie oor die literatuur verwerk tot dusver, die teoretiese en praktiese werk gedoen, die teoretiese ondersoeke, die resultate verkry en toekomstige verwesenlikings. Werk ook ingesluit was 'n expedisie na Antarktika toe, sodat al die relevante data, soos wind spoed en rigtings gemeet kon word. Nog 'n rede om die expedisie te doen was om energie data van SANAE IV te meet, sodat die energieverbruik van die basis bevestig kon word. Die energieverbruik van die basis varieer ten opsigte van somer en winter kondisies, van dag en nag variasies en inwonergetalle. Met die informasie verkry gedurende die expedisie kon 'n evaluasie gedoen word vir 'n moontlike windturbiene stelsel op Antarktika. Met die hulp van 'n 6tn wind toring kon wind profiele gekry word, waarvandaan Weibull verdelings bereken is en die kragopwekking van 5 verskillende windturbienes bereken is, wat wissel van 10 kW tot 100 kW. Die jaarlikse energieopwekking vir die 100 kW wind turbine is 430 MWh met 'n kapasiteitsfaktoor van 49 %. Die jaarlikse energieaanvraag van die stasie is 1153 MWh. Dus kan die wind turbine ongeveer 30 % van die jaarlikse energieaanvraag dek, as verliese soos beskikbaarheids- en instandhoudingsverliese III berekening gebring word. Wind spoed en rigting data vir die jaar 2001 is verkry van die outomatiese weerstasie van die Suid Afrikaanse Weer Diens, wat geposisioneer is by die SANAE IV stasie, en hierdie data is geanaliseer. Die resultate verkry bewys die direksionele stabiliteit van die winde by SANAE IV, waarvandaan die meeste winde uit die oostlike en suidoostlike rigting kom. Hierdie hoogs gekosentreede winde is baie goed geskik vir windturbiene aanwending. Die gemiddelde wind spoed, wat gemeet is op 'n hoogte van 10 m is 10.8 m/s en die uurlike gemiddelde maksimum wind spoed vir die jaar 2001 is 38.9 m/s. Van die wind analise, terrein analise, koue weer informasie en koppeling van die wind turbine by die bestaande elektrisiteits netwerk word bevestig dat die North Wind NW100119 100 kW windturbiene die geskikste windturbiene vir installasie en werking by SANAE IV is. Een van die grootste voordele van die NW100/19 windturbiene is dat dit 'n selfoprigdende meganisme het, wat sonder die hulp van 'n kraan werk. Die NW100/19 is die enigste windturbiene in sy klas, wat so 'n funksie het. Van die ekonomiese analise kan afgelei-word, dat 'n wind turbine met volledige installasie, werking en diens kostes, 'n kapitale terugbetalings periode van 10 jaar het, as dit by SANAE IV geinstalleer word. Hierdie tydperk is relatief kort, as gekyk word na die ontwerp leeftyd van 30 jaar van die NW100/19 wind turbine. Die rede vir die kort terugbetalings periode is afkomstig van die hoe gemiddelde wind spoed by SANAE IV, wat enorme kragopwekking tot gevolgtrekking het. Dit kan ook gesien word aan die hoe werkingsure van die turbine wat 6942 uur per jaar is. Dus wek die turbine vir omtrent 80 % van die jaar krag op, wat beinvloed dat 'n wind turbine opsie vir SANAE IV baie aantreklik is. Die koste per kWh krag opgewek vir die wind-diesel sisteem is R1.63/kWh, terwyl die koste per kWh krag opgewek vir die huidige diesel generator opstelling R1.941kWh is. Dus kan 'n kostebesparing van tot 20% van die energie onkostes verkry word, wat weer eens beklemtoon, dat die wind-diesel sisteem baie aantreklik vir kragopwekking by SANAE IV is. Vanaf 'n omgewingsoogpunt gesien het die gebruik van 'n wind turbine stelsel by die SANAE IV stasie net weglaatbaar klein invloede op die omgewing in vergelyking met die lugbesoedeling van die diesel kragopwekkers. As die koste verbonde aan lugbesoedeling en brandstof lekkasie besoedeling bereken word kan die wind turbine stelsel omtrent R500000.00 per jaar aan besoedeling onkostes spaar. Die getalle vir besoedelings onkostes is gebaseer op die evaluasie van besoedeling vir afgelee Amerikanse dorpies (Isherwood et al., 1999). Dit kan dus afgelei word vanaf die bogenoemde bevindings, dat die doelwitte van die tesis bereik is en dat wind krag opwekking by SANAE IV inderdaad 'n baie aantreklike moontlikheid is. Wanneer 'n begroting beskikbaar gestel word vir 'n windturbiene stelsel vir SANAE IV, moet die ekonomiese analise geoptimeer word weens die onsekerheid van die markwaaarde van die Suid Afrikaanse Rand.