This thesis is divided into two parts. The first part deals with theNevanlinna-Pick interpolation problem, a problem which occursnaturally in several applications such as robust control, signalprocessing and circuit theory. We consider the problem of shaping andapproximating solutions to the Nevanlinna-Pick problem in a systematicway. In the second part, we study distance measures between powerspectra for spectral estimation. We postulate a situation where wewant to quantify robustness based on a finite set of covariances, andthis leads naturally to considering the weak*-topology. Severalweak*-continuous metrics are proposed and studied in this context.In the first paper we consider the correspondence between weighted entropyfunctionals and minimizing interpolants in order to find appropriateinterpolants for, e.g., control synthesis. There are two basic issues that weaddress: we first characterize admissible shapes of minimizers bystudying the corresponding inverse problem, and then we developeffective ways of shaping minimizers via suitable choices of weights.These results are used in order to systematize feedback controlsynthesis to obtain frequency dependent robustness bounds with aconstraint on the controller degree.The second paper studies contractive interpolants obtained as minimizersof a weighted entropy functional and analyzes the role of weights andinterpolation conditions as design parameters for shaping theinterpolants. We first show that, if, for a sequence of interpolants,the values of the corresponding entropy gains converge to theoptimum, then the interpolants converge in H_2, but not necessarily inH-infinity. This result is then used to describe the asymptoticbehaviour of the interpolant as an interpolation point approaches theboundary of the domain of analyticity.A quite comprehensive theory of analytic interpolation with degreeconstraint, dealing with rational analytic interpolants with an apriori bound, has been developed in recent years. In the third paper,we consider the limit case when this bound is removed, and only stableinterpolants with a prescribed maximum degree are sought. This leadsto weighted H_2 minimization, where the interpolants areparameterized by the weights. The inverse problem of determining theweight given a desired interpolant profile is considered, and arational approximation procedure based on the theory is proposed. Thisprovides a tool for tuning the solution for attaining designspecifications. The purpose of the fourth paper is to study the topology and develop metricsthat allow for localization of power spectra, based on second-orderstatistics. We show that the appropriate topology is theweak*-topology and give several examples on how to construct suchmetrics. This allows us to quantify uncertainty of spectra in anatural way and to calculate a priori bounds on spectral uncertainty,based on second-order statistics. Finally, we study identification ofspectral densities and relate this to the trade-off between resolutionand variance of spectral estimates.In the fifth paper, we present an axiomatic framework for seekingdistances between power spectra. The axioms requirethat the sought metric respects the effects of additive andmultiplicative noise in reducing our ability to discriminate spectra.They also require continuity of statistical quantities withrespect to perturbations measured in the metric. We then present aparticular metric which abides by these requirements. The metric isbased on the Monge-Kantorovich transportation problem and iscontrasted to an earlier Riemannian metric based on theminimum-variance prediction geometry of the underlying time-series. Itis also being compared with the more traditional Itakura-Saitodistance measure, as well as the aforementioned prediction metric, ontwo representative examples. / QC 20100817

Analytical interpolation theory has several applications in systems and control. In particular, solutions of low degree, or more generally of low complexity, are of special interest since they allow for synthesis of simpler systems. The study of degree constrained analytic interpolation was initialized in the early 80's and during the past decade it has had significant progress. This thesis contributes in three different aspects to complexity constrained analytic interpolation: theory, numerical algorithms, and design paradigms. The contributions are closely related; shortcomings of previous design paradigms motivate development of the theory, which in turn calls for new robust and efficient numerical algorithms. Mainly two theoretical developments are studied in the thesis. Firstly, the spectral Kullback-Leibler approximation formulation is merged with simultaneous cepstral and covariance interpolation. For this formulation, both uniqueness of the solution, as well as smoothness with respect to data, is proven. Secondly, the theory is generalized to matrix-valued interpolation, but then only allowing for covariance-type interpolation conditions. Again, uniqueness and smoothness with respect to data is proven. Three algorithms are presented. Firstly, a refinement of a previous algorithm allowing for multiple as well as matrix-valued interpolation in an optimization framework is presented. Secondly, an algorithm capable of solving the boundary case, that is, with spectral zeros on the unit circle, is given. This also yields an inherent numerical robustness. Thirdly, a new algorithm treating the problem with both cepstral and covariance conditions is presented. Two design paradigms have sprung out of the complexity constrained analytical interpolation theory. Firstly, in robust control it enables low degree Hinf controller design. This is illustrated by a low degree controller design for a benchmark problem in MIMO sensitivity shaping. Also, a user support for the tuning of controllers within the design paradigm for the SISO case is presented. Secondly, in ARMA estimation it provides unique model estimates, which depend smoothly on the data as well as enables frequency weighting. For AR estimation, a covariance extension approach to frequency weighting is discussed, and an example is given as an illustration. For ARMA estimation, simultaneous cepstral and covariance matching is generalized to include prefiltering. An example indicates that this might yield asymptotically efficient estimates. / QC 20100928

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Thesis (M.Tech.: Marketing)-Dept. of Marketing, Durban University of Technology, 2006 xiii, 140 leaves / Retailing in South Africa is one of the most challenging and competitive sectors. The South African retail business environment is seemingly becoming tough and uncertain, with intense competition from both domestic and international companies. South Africa has a varied and fascinating retailing landscape. A feature that retailers need to understand is the different demographics of the South African population and consumers from different races; this resulted in inadequate shopping facilities in the black townships and an oversupply in the traditionally white areas. Gaining access to new markets in South Africa is one of the challenges facing the retail sector. The purpose of this study is to evaluate customer service at Pick’ n Pay stores in selected shopping malls within the greater Durban area. It examines the opinions and perceptions of customers from selected shopping centres.

BACKGROUND: The research deals with the effect of the Student Rag Community Service's (SRCS) Pick–A–Leader programme on adolescents in a disadvantaged community. The SRCS has been in existence for 30 years and the Student Representative Council of the North–West University: Potchefstroom Campus, has authorised them to promote voluntary ativities for charity in Potchefstroom and its surrounding areas. The SJGD annually presents various programmes to communities in Potchefstroom; however, these programmes have not thus far been formally evaluated. One of these projects is the Pick–A–Leader (PAL) programme which focuses on leadership– and skills development for adolescents in a disadvantaged community. This study concentrates on the evaluation of the PAL–programme. AIM: The primary aim of this study was to determine the effect of the PAL–programme on the adolescents in a disadvantaged community. METHOD: The nature of the investigation was exploratory and descriptive. Mixed methodology was applied in this study. A quasi–experimental design was used in the form of a comparative pre– and post–test design. Focus groups and a number of measuring instruments were used to gather data. Participants in the experimental groups consisted of 45 grade 11 learners from 3 schools in a disadvantaged community of Potchefstroom. Members of the comparative groups also numbered 45 and were grade 11 learners from the same 3 schools as those in the experimental groups. RESULT: It was concluded that the SRCS PAL–programme had an effect on the adolescents. / Thesis (M.A. (MW))--North-West University, Potchefstroom Campus, 2011.

BACKGROUND: The research deals with the effect of the Student Rag Community Service's (SRCS) Pick–A–Leader programme on adolescents in a disadvantaged community. The SRCS has been in existence for 30 years and the Student Representative Council of the North–West University: Potchefstroom Campus, has authorised them to promote voluntary ativities for charity in Potchefstroom and its surrounding areas. The SJGD annually presents various programmes to communities in Potchefstroom; however, these programmes have not thus far been formally evaluated. One of these projects is the Pick–A–Leader (PAL) programme which focuses on leadership– and skills development for adolescents in a disadvantaged community. This study concentrates on the evaluation of the PAL–programme. AIM: The primary aim of this study was to determine the effect of the PAL–programme on the adolescents in a disadvantaged community. METHOD: The nature of the investigation was exploratory and descriptive. Mixed methodology was applied in this study. A quasi–experimental design was used in the form of a comparative pre– and post–test design. Focus groups and a number of measuring instruments were used to gather data. Participants in the experimental groups consisted of 45 grade 11 learners from 3 schools in a disadvantaged community of Potchefstroom. Members of the comparative groups also numbered 45 and were grade 11 learners from the same 3 schools as those in the experimental groups. RESULT: It was concluded that the SRCS PAL–programme had an effect on the adolescents. / Thesis (M.A. (MW))--North-West University, Potchefstroom Campus, 2011.

Prepreg is a fibre reinforced polymer composite material often used by the aeronautical industry. The material supplier has pre-impregnated the fibre often with an epoxy resin and cured it to a semi-viscous B-stage where the material is tacky (adhesive). Manual layup of prepreg components is still common because there are only a few automated layup techniques which has limited geometric capability and high investment cost. Swerea SICOMP is a research institute which have in collaboration with partners developed a manufacturing demonstrator for automated layup of carbon fibre prepreg components based on robotic handling. The manufacturing demonstrator is able to; feed out prepreg from a spool onto a cutting table, cut the prepreg into plies, pick the plies from the cutting table and place them on a layup table, consolidate the prepreg plies on the layup table and remove the backing paper that covers one side of the prepreg. Three robustness problems has been identified and these forms the bulk of this master’s thesis. The first problem is that the robot is unable to place the plies on the cutting table with sufficient accuracy due to fluctuating position of the prepreg on the cutting table. The second problem is that the end effector used for the pick and place operation sometimes fails to pick the adhesive plies from the cutting table. The problem originates in limited holding force by the end effectors suction cups and limited capability to perform a peeling motion when picking due to the design of the end effector. The third problem is that process variables like temperature is believed to effect the robustness of the demonstrator but has not been further studied. The first problem was solved by implementing a probing routine which measures the position of the prepreg on the cutting table with an array sensor mounted to the robot. The measurement values are used to reprogram subsequent operations. The second problem seems to be solved by designing and implementing a new pick and place end effector. The new end effector has higher holding force and better capability to perform a peeling motion while picking and placing the tacky prepreg plies. Tests with the new end effector has been promising, the pick and placeoperation performs robustly, but all ply geometries was not tested and some minor adjustment is needed to further improve the placing accuracy. The third problem has not been solved but studied. A literature study reviled that temperature, relative humidity and prepreg out of freezer age is likely to effect the prepreg adhesive properties which in turn is known to effect the robustness. A test procedure has been devised to test how these variables effect the robustnessof the demonstrator. The tests should be conducted when all process steps in the demonstrator is up and running.

The embryonic development and pregnancy rates are influenced by variations in embryo in vitro production (IVP) systems and protocols for bovine embryos, such as gaseous atmosphere, culture media and the protein supply adopted in the different steps of IVP. Two studies were performed to evaluate the effect of O2 tension on in vitro maturation (IVM) and fertilization (IVF) of bovine oocytes, and the protein supply in the embryonic in vitro culture. Immature Cumulusoocytes complexes (COC) were recovered by transvaginal ultrasound guided follicular aspiration (OPU) from Bos taurus indicus donors from commercial programs and randomly assigned according to the number and quality of the COC. Standard bovine IVM procedure was carried out in modified TCM-199, added of FSH, LH, Oestradiol, EGF, insulin and 10% bovine fetal serum (FCS), for 24h. Frozen semen was selected by Percoll gradient (90, 60 and 30%). The insemination was performed with 2x106 spermatozoa/mL in Fert-Talp with heparin and PHE, for 18 to 22h. Presumptive zygotes were in vitro cultured (IVC) in SOFaaci during 6 to 9 days with 5%CO2, 5%O2 and 90% N2 in air. All steps of IVC were performed in an incubator at 39ºC with satured humidity. The cleavage and blastocyst rates were analysed by GLM procedure. Hatching, quality I blastocyst and pregnancy rates were compared by Chi-square Test with 5% of significance. In experiment I (11 replicates) IVM and IVF of COC (n=1092) were conducted under 5% CO2 (20% O2) in air or in 5%CO2, 5%O2 and 90% N2 (5%O2). Experiment II was divided in two steps (IIa and IIb). In experiment IIa (n=1745 COC), the IVM and IVF was followed by in vitro culture (IVC) in SOFaaci added of 4mg/mL bovine serum albumin (BSA) or 4mg/mL BSA+2% bovine fetal serum (BSA+FCS). In experiment IIb (n=704 COC), after standard IVM and IVF, IVC was performed in the two media of Experiment IIa (BSA and BSA+FCS) and in a third group the SOFaaci was added of 4mg/mL BSA+2% FCS (BSA+FCSD4) on day 4 of IVC. The viability was accessed by morphological evaluation in D2 (cleavage), D7 (blastocysts and quality categories), D9 (hatched blastocysts), D45 (experiment I) and D60 (experiment II; pregnancy rates), considering day zero (D0) as the fertilization day. In experiment I, no differences were found (P>0.05) in cleavage rates (69 and 70%), blastocyst in D7 (37 and 38%) and blastocyst quality I (79 and 74%) in an atmosphere of 5% or 20%O2, respectively. The hatching rate in D9 considering all COC submitted to IVM was higher (P<0.05) for the 5%O2 group (21%) compared to the IVM and IVF group under 20%O2 (11%). A pregnancy rate of transferred embryos at 45 days (n=278) was similar (P=0.15) between treatments (25.8 e 33.6% for 5%O2 e 20%O2 ,respectively ). In experiment IIa blastocyst rates (51%) and quality I blastocysts (41%) in D7, was higher (P<0.05) in BSA+FCS group compared to the BSA group (42 and 30%), respectively. In experiment IIb, blastocyst rates were higher (P<0.05) in group BSA+FCS (47%) and similar between BSA (34%) and BSA+FCSD4 (43%) groups. Blastocyst rates quality I were higher (P<0.05) for groups BSA+FCS (34%) and BSA+FCSD4 (32%), compared to the BSA group (19.9%). A pregnancy rate of the transferred embryos (n=820) was similar between treatments in experiments IIa and IIb. Considering pregnancy rates corresponding only to IVM COC (Experiment IIa), the rates were higher (P<0.05) for the BSA+FCS group (16%) than the BSA group (12%). There was no detrimental effect in IVP of bovine embryos and their pregnancy rates when IVM, IVF and IVC were performed in 5%O2, 5%CO2 and 90%N2. IVP of bovine embryos is increased by the addition of 2% FCS to the IVC medium without any detrimental effect on their morphological quality and pregnancy rates. On the other hand, pregnancy rates related to IVM of COC incremented by the addition of 2% de Fc to the IVC medium SOFaaci+BSA. / Diferenças nos protocolos e sistemas de produção in vitro (PIV) de embriões bovinos incluindo atmosfera gasosa, meios de cultivo e suplementação de proteína utilizados nas diferentes etapas da PIV, influenciam diretamente os resultados finais de desenvolvimento embrionário e prenhez. Dois experimentos foram conduzidos com o objetivo de avaliar a influência da concentração de oxigênio na maturação in vitro (MIV) e fecundação in vitro (FIV) de oócitos bovinos e da suplementação protéica no cultivo in vitro (CIV) de embriões bovinos. Complexos cumulus-oócitos imaturos (COC) obtidos de fêmeas Bos taurus indicus por aspiração folicular transvaginal guiada por ultra-sonografia (OPU) foram divididos homogeneamente quanto ao número e a qualidade entre os tratamentos, sendo maturados por 24h, em TCM-199 modificado, acrescido FSH, LH, Estradiol, EGF, Insulina e 10% de SFB. Sêmen congelado selecionado por gradientes de Percoll (2 x 106 células/mL) foi utilizado para a fecundação em Fert-TALP com heparina e PHE, por 18 a 22h. Os prováveis zigotos foram cultivados in vitro em SOFaaci por 6 a 9 dias em atmosfera de 5%CO2, 5%O2 e 90% N2. Todas as etapas foram conduzidas em estufa a 39ºC com umidade saturada. Os percentuais de clivagem e de blastocistos foram analisados pelo procedimento GLM. As taxas de eclosão dos blastocistos e de prenhez foram comparadas por Qui-quadrado com significância de 5%. No experimento I (11 repetições), a MIV e FIV dos COC (n=1092) foram realizadas sob atmosfera de 5% de CO2 em ar (20%O2) ou em 5%CO2, 5%O2 e 90% N2 (5%O2). O experimento II foi dividido em 2 etapas (IIa e IIb). No experimento IIa (n=1745 COC) após a MIV e FIV foi realizado o CIV em meio SOFaaci acrescido de 4mg/mL albumina sérica bovina (BSA) ou 4mg/mL de BSA + 2% de soro fetal bovino (BSA+SFB). No experimento IIb (n=704 COC), após a MIV e FIV, o CIV foi conduzido nos dois meios do experimento IIa (BSA e BSA+SFB) e um terceiro grupo onde o SOFaaci+BSA foi suplementado com 2% de SFB no quarto dia de cultivo (BSA+SFBD4). As avaliações morfológicas foram efetuadas no D2 (clivagem), D7 (blastocistos e grau de qualidade), D9 (blastocistos eclodidos) e taxa de prenhez aos 45 (experimento I) e 60 dias (experimento II), considerando-se o dia da fecundação como D0. No experimento I, não houve diferença (P>0,05) nas taxas de clivagem (69 e 70%), blastocistos em D7 (37 e 38%) e blastocistos qualidade I (79 e 74%) entre atmosfera de 5%O2 ou 20% de O2, respectivamente. A taxa de eclosão em D9 sob o total de oócitos MIV foi superior (P<0,05) no grupo 5%O2 (21%) comparado ao grupo MIV e FIV sob 20%O2 (11%). A taxa de prenhez aos 45 dias dos embriões transferidos (n=278) foi semelhante (P=0,15) entre os tratamentos (25,8 e 33,6% para 5%O2 e 20%O2 respectivamente). No experimento IIa, a taxa de blastocistos (51,5%) e de blastocistos qualidade I (41%) em D7, foi superior (P<0,05) para o grupo BSA+SFB em relação ao BSA (42 e 30%), respectivamente. No experimento IIb, a taxa de blastocistos foi superior (P<0,05) no grupo BSA+SFB e semelhante (P>0,05) entre o grupo BSA e BSA+SFBD4. A taxa de blastocistos qualidade I foi superior para os grupos BSA+SFB (34%) e BSA+SFBD4 (32,2%) em comparação ao grupo BSA (19,9%). A taxa de prenhez em relação aos embriões transferidos (n=820) foi semelhante entre os tratamentos nos experimentos IIa e IIb. A taxa de prenhez correspondente aos oócitos colocados para MIV foi superior (P<0,05) para o grupo BSA+SFB (16%) comparado ao grupo BSA (12%) no experimento IIa. Não há comprometimento da PIV de embriões bovinos bem como da taxa de prenhez quando a MIV, FIV e CIV são conduzidas com 5%O2, 5%CO2 e 90%N2. A produção in vitro de embriões é incrementada pela adição de 2% de SFB ao meio de CIV, sem prejudicar a qualidade morfológica dos mesmos e a taxa de prenhez. A porcentagem de prenhez produzida em relação aos COC colocados para MIV é aumentada pela adição de 2% de SFB ao meio de cultivo in vitro SOFaaci+BSA.

The aim of this thesis is to automate the depowdering step in binder-jet additive manufacturing using KUKA kr6 robot. The major tasks involved in this thesis work are commissioning of the KUKA kr6 robot, plan the actions required for automation process of binder jet considering the scaling factor of green bodies. For this purpose KUKA robot with a standard KUKA compact controller (KRC4) and KUKA system software 8.3 (KSS) has been used. In Peter Corke Matlab toolbox (Matlab toolbox), KUKA kr6 robot model has been simulated to understand forward kinematics problem which shows the study the motion of end effector of robot in space for picking process. These transformations between the Joint coordinate systems and Cartesian coordinate systems give the forward and inverse kinematics. Firstly, a KUKA kr6 robot has been programmed in a KUKA Robot Language (KRL) using an algebraic approach with geometric operator to automate the picking process of green bodies. These are fragile bodies thereby many number of tests have been conducted to improve the program. Also additional effort has been placed to test the customized gripper used for the layered pick and place of the components, customized vacuum cleaner for the vacuum cleaning in between the layers and to consider the scaling factor during the sintering step of the binder jet. Finally, KUKA kr6 robot model has been simulated in Matlab toolbox. The picking point in the space has been simulated to study the forward kinematics and to understand how the robot reaches a position and orientation in space. Cartesian trajectory has been simulated. Also, the Jacobian matrix, its rank and determinant are studied to understand the singularities in KUKA kr6 robot, basing on which the thesis work can be continued and enhanced further.