Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2007. / In this thesis we present a human-computer interface (HCI) system for disabled persons using only a basic web camera. Mouse movements are simulated by small movements of the head, while clicks are simulated by eye blinks. In this study, a system capable of face tracking, eye detection (including iris detection), blink detection and finally skin detection and face recognition has been developed. A detection method based on Haar-like features are used to detect the face and eyes. Once the eyes have been detected, a support vector machines classifier is used to detect whether the eye is open or closed (for use in blink detection). Skin detection is done using K-means clustering, while Eigenfaces is used for face recognition. It is concluded that using a web camera as a human-computer interface can be a viable input method for the severely disabled.

Thesis (MScEng)--Stellenbosch University, 2012 / ENGLISH ABSTRACT: Modern-day online applications are required to deal with an ever-increasing number of users without decreasing in performance. This implies that the applications should be scalable. Applications hosted on static servers are in exible in terms of scalability. Cloud computing is an alternative to the traditional paradigm of static application hosting and o ers an illusion of in nite compute and storage resources. It is a way of computing whereby computing resources are provided by a large pool of virtualised servers hosted on the Internet. By virtually removing scalability, infrastructure and installation constraints, cloud computing provides a very attractive platform for hosting online applications. This thesis compares the cloud computing infrastructures Google App Engine and AmazonWeb Services for hosting web applications and assesses their scalability performance compared to traditionally hosted servers. After the comparison of the three application hosting solutions, a proof-of-concept software framework for the provisioning and deployment of automatically scaling applications is built on Amazon Web Services which is shown to be best suited for the development of such a framework.

Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: This research combines symbolic execution, a formal method of static analysis, with various test adequacy criteria, to explore the e ectiveness of using symbolic execution for calculating code coverage on a program's existing JUnit test suites. Code coverage is measured with a number of test adequacy criteria, including statement coverage, branch coverage, condition coverage, method coverage, class coverage, and loop coverage. The results of the code coverage calculation is then used to automatically generate JUnit test cases for areas of a program that are not su ciently covered. The level of redundancy of each test case is also calculated during coverage calculation, thereby identifying fully redundant, and partially redundant, test cases. The combination of symbolic execution and code coverage calculation is extended to perform coverage calculation during a manual execution of a program, allowing testers to measure the e ectiveness of manual testing. This is implemented as an Eclipse plug-in, named ATCO, which attempts to take advantage of the Eclipse workspace and extensible user interface environment to improve usability of the tool by minimizing the user interaction required to use the tool. The code coverage calculation process uses constraint solving to determine method parameter values to reach speci c areas in the program. Constraint solving is an expensive computation, so the tool was parallellised using Java's Concurrency package, to reduce the overall execution time of the tool. / AFRIKAANSE OPSOMMING: Hierdie navorsing kombineer simboliese uitvoering, 'n formele metode van statiese analise, met verskeie toets genoegsaamheid kriteria, om die e ektiwiteit van die gebruik van simboliese uitvoer te ondersoek vir die berekening van kode dekking op 'n program se bestaande JUnit toets stelle. Kode dekking word gemeet deur verskeie toets genoegsaamheid kriteria, insluited stelling dekking, tak dekking, kondisie dekking, metode dekking, klas dekking, en lus dekking. Die resultate van die kode dekking berekeninge word dan gebruik om outomaties JUnit toets voorbeelde te genereer vir areas van 'n program wat nie doeltre end ondersoek word nie. Die vlak van oortolligheid van elke toets voorbeeld word ook bereken gedurende die dekkingsberekening, en daardeur word volledig oortollige, en gedeeltelik oortollige, toets voorbeelde identi seer. Die kombinasie van simboliese uitvoer en kode dekking berekening is uitgebrei deur die uitvoer van dekking berekeninge van 'n gebruiker-beheerde uitvoer, om sodoende kode dekking van 'n gebruiker-beheerde uitvoer van 'n program te meet. Dit laat toetsers toe om die e ektiwiteit van hulle beheerde uitvoer te meet. Bogenoemde word ge mplimenteer as 'n Eclipse aanvoegsel, genaamd ATCO, wat poog om voordeel te trek vanuit die Eclipse werkspasie, en die uitbreibare gebruiker oordrag omgewing, om die bruikbaarheid van ATCO te verbeter, deur die vermindering van die gebruiker interaksie wat benodig word om ATCO te gebruik. Die kode dekking berekeningsproses gebruik beperking oplossing om metode invoer waardes te bereken, om spesi eke areas in die program te bereik. Beperking oplossing is 'n duur berekening, so ATCO is geparalleliseer, met behulp van Java se Concurrency pakket, om die algehele uitvoer tyd van die program te verminder.

Thesis (MScEng)--Stellenbosch University, 2012 / ENGLISH ABSTRACT: The class-D audio power amplifier has found widespread use in both the consumer and professional audio industry for one reason: efficiency. A higher efficiency leads to a smaller and cheaper design, and in the case of mobile devices, a longer battery life. Unfortunately, the basic class-D amplifier has some serious drawbacks. These include high distortion levels, a load dependent frequency response and the potential to radiate EMI. Except for EMI, the aforementioned issues can be mitigated by the proper implementation of global negative feedback. Negative feedback also has the potential to indirectly reduce EMI, since the timing requirements of the output devices can be relaxed. This thesis discusses the design of a clocked analogue controlled pulse-width modulated class-D audio amplifier with global negative feedback. The analogue control loop is converted to the z-domain by modelling the PWM comparator as a sampling operation. A method is implemented that improves clip recovery and ensures stability during over-modulation. Loop gain is shaped to provide a high gain across the audio band, and ripple compensation is implemented to minimize the negative effect of ripple feedback. Experimental results are presented. / AFRIKAANSE OPSOMMING: Die klas-D klankversterker geniet wydverspreide gebruik in beide die verbruiker en professionele oudio industrie vir een rede: benuttingsgraad. ’n Hoër benuttingsgraad lei tot ’n kleiner en goedkoper ontwerp, en in die geval van draagbare toestelle, tot langer batterylewe. Ongelukkig het die basiese klas-D klankversterker ernstige tekortkominge, naamlik hoë distorsievlakke, ’n lasafhanklike frekwensierespons en die vermoë om EMI te genereer. Behalwe vir EMI kan hierdie kwessies deur die korrekte toepassing van globale negatiewe terugvoer aangespreek word. Negatiewe terugvoer het ook die potensiaal om EMI indirek te verminder, aangesien die tydvereistes van die skakel stadium verlaag kan word. Hierdie tesis bespreek die ontwerp van ’n geklokte analoog-beheerde pulswydte-modulerende klas-D klankversterker met globale negatiewe terugvoer. Die analoogbeheerlus word omgeskakel na die z-vlak deur die PWM vlakvergelyker as ’n monster operasie te modelleer. ’n Metode word geïmplementeer wat die stabiliteit van die lus verseker tydens oormodulasie. Die lusaanwins word gevorm om ’n hoë aanwins in die oudioband te verseker en riffelkompensasie word geïmplementeer om die negatiewe effek van terugvoerriffel teen te werk. Eksperimentele resultate word voorgelê.

Thesis (MScEng (Electrical and Electronic Engineering))--Stellenbosch University, 2008. / This study investigates high frequency probes through good metrology and computation software such as CST. A factor that can strongly influence the accuracy of measurements, is common mode (CM) current. Therefore, the main focus of this project was the CM current on the outside of an SMA, flanged, probe used for measuring material properties. In the course of the investigation, a clamp-on CM current probe (CP) was calibrated using a CST model and good measurements. This calibration data indicated that the CP was invasive on the measurement setup and could not deliver the accuracy required for the CM current measurement. In light of this, a second method was implemented where the material probe was placed within a cylindrical shield. A cavity was formed between the probe and the walls of the shield in which the electric fields could be simulated and measured. These field measurements allowed measurements to be conducted in both the time- (TD) and frequency-domain (FD). For the TD measurements, a sampling oscilloscope was used. As the basic principle of a sampling oscilloscope differs from its real-time counterpart, this principle, as well as the systematic errors associated with these devices, was explored. The results of the final measurements indicated that the TD results were within an acceptable range of both the FD results, measured on the VNA, and the results predicted by CST. This study shows that CST can be used to simulate complex measurement setups and deliver reliable results in cases where an accurate measurement cannot be guaranteed.

Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: The o set Gregorian dual re ector antenna is eminently well suited to a radio telescope antenna application as it o ers a narrow beam width pattern (i.e high gain) and good e ciency. The focus of this work is on the analysis of characteristics of such a Gregorian antenna. The design of the class of re ector antennas is normally based on the use of ray-optics, with this simpli ed approach being able to predict antenna performance based on approximate formulas for example the beam width against aperture size. However for compound antennas such as the Gregorian re ector there are several interdependent parameters that can be varied and this reduces the applicability of the simple ray-optic approach. It was decided that, if a fast enough analysis of a con guration can be found, the technique of design through interactive analysis would be viable. To implement a fast analysis of the main beam performance of such a Gregorian antenna, a solution algorithm has been implemented using a plane wave spectrum approach combined with a custom aperture integration formulation. As this is able to predict the beam performance within about a second on a PC, it is suitable for iterative design. To implement the iterative design in a practical manner a user interface has been generated that allows the user to interactively modify the geometry, see the physical layout, and then nd the antenna pattern. A complete working system has been realised with results comparing well to a reference solution. The limitations of the technique, such as its inaccuracy in predicting the side lobe structure, are also discussed. / AFRIKAANSE OPSOMMING: Die afset Gregoriaanse dubbelweerkaatser antenna is uiters gepas vir radioteleskoop toepassings aangesien dit 'n nou bundelwydte (ho e aanwins) en 'n goeie benuttingsgraad bied. Die fokus van hierdie werk is op die analise van die eienskappe van so 'n Gregoriaanse antenna. Die ontwerp van die klas van weerkaatsantennas is normaalweg gebaseer op straal-optika, waar hierdie vereenvoudigde tegniek, deur benaderde formules, gebruik kan word om antennawerkverrigting af te skat soos bv. die bundelwydte teen stralingsvlakgrootte. Vir saamgestelde antennas soos die Gregoriaanse weerkaatser is daar egter verskeie onafhanklike parameters wat verstel kan word en die toepaslikheid van die eenvoudige straal-optiese benadering verminder. Dit was besluit dat, indien die analise van die kon gurasie vinnig genoeg uitgevoer kon word, die tegniek van ontwerp deur interaktiewe analise werkbaar kan wees. Om 'n vinnige analise van die hoofbundelwerkverrigting van so 'n Gregoriaanse antenna te bewerkstellig, is 'n oplossingsalgoritme gemplementeer wat gebruik maak van 'n platvlakgolfspektrum benadering in kombinasie met 'n doelgemaakte stralingsvlakintegrasieformulering. Aangesien hierdie strategie die hoofbundel binne ongeveer 'n sekonde op 'n persoonlike rekenaar kan voorspel, is dit gepas vir iteratiewe ontwerp. Om die iteratiewe ontwerp op 'n praktiese wyse te implementeer is 'n gebruikerskoppelvlak geskep wat die gebruiker toelaat om, op 'n interaktiewe wyse, die geometrie aan te pas, die siese uitleg te sien en dan die stralingspatroon te bereken. 'n Volledige werkende stelsel is gerealiseer met resultate wat goed ooreenstem met 'n verwysingsoplossing. Die tekortkominge van die tegniek, soos die onakkuraatheid in die voorspelling van die sylobstruktuur, word ook bespreek.

Thesis (MScEng)--Stellenbosch University, 2012. / ENGLISH ABSTRACT: Several accents of English are spoken in South Africa. Automatic speech recognition (ASR) systems should therefore be able to process the di erent accents of South African English (SAE). In South Africa, however, system development is hampered by the limited availability of speech resources. In this thesis we consider di erent acoustic modelling approaches and system con gurations in order to determine which strategies take best advantage of a limited corpus of the ve accents of SAE for the purpose of ASR. Three acoustic modelling approaches are considered: (i) accent-speci c modelling, in which accents are modelled separately; (ii) accent-independent modelling, in which acoustic training data is pooled across accents; and (iii) multi-accent modelling, which allows selective data sharing between accents. For the latter approach, selective sharing is enabled by extending the decision-tree state clustering process normally used to construct tied-state hidden Markov models (HMMs) by allowing accent-based questions. In a rst set of experiments, we investigate phone and word recognition performance achieved by the three modelling approaches in a con guration where the accent of each test utterance is assumed to be known. Each utterance is therefore presented only to the matching model set. We show that, in terms of best recognition performance, the decision of whether to separate or to pool training data depends on the particular accents in question. Multi-accent acoustic modelling, however, allows this decision to be made automatically in a data-driven manner. When modelling the ve accents of SAE, multi-accent models yield a statistically signi cant improvement of 1.25% absolute in word recognition accuracy over accent-speci c and accentindependent models. In a second set of experiments, we consider the practical scenario where the accent of each test utterance is assumed to be unknown. Each utterance is presented simultaneously to a bank of recognisers, one for each accent, running in parallel. In this setup, accent identi cation is performed implicitly during the speech recognition process. A system employing multi-accent acoustic models in this parallel con guration is shown to achieve slightly improved performance relative to the con guration in which the accents are known. This demonstrates that accent identi cation errors made during the parallel recognition process do not a ect recognition performance. Furthermore, the parallel approach is also shown to outperform an accent-independent system obtained by pooling acoustic and language model training data. In a nal set of experiments, we consider the unsupervised reclassi cation of training set accent labels. Accent labels are assigned by human annotators based on a speaker's mother-tongue or ethnicity. These might not be optimal for modelling purposes. By classifying the accent of each utterance in the training set by using rst-pass acoustic models and then retraining the models, reclassi ed acoustic models are obtained. We show that the proposed relabelling procedure does not lead to any improvements and that training on the originally labelled data remains the best approach. / AFRIKAANSE OPSOMMING: Verskeie aksente van Engels word in Suid Afrika gepraat. Outomatiese spraakherkenningstelsels moet dus in staat wees om verskillende aksente van Suid Afrikaanse Engels (SAE) te kan hanteer. In Suid Afrika word die ontwikkeling van spraakherkenningstegnologie egter deur die beperkte beskikbaarheid van geannoteerde spraakdata belemmer. In hierdie tesis ondersoek ons verskillende akoestiese modelleringstegnieke en stelselkon gurasies ten einde te bepaal watter strategie e die beste gebruik maak van 'n databasis van die vyf aksente van SAE. Drie akoestiese modelleringstegnieke word ondersoek: (i) aksent-spesi eke modellering, waarin elke aksent apart gemodelleer word; (ii) aksent-onafhanklike modellering, waarin die akoestiese afrigdata van verskillende aksente saamgegooi word; en (iii) multi-aksent modellering, waarin data selektief tussen aksente gedeel word. Vir laasgenoemde word selektiewe deling moontlik gemaak deur die besluitnemingsboom-toestandbondeling-algoritme, wat gebruik word in die afrig van gebinde-toestand verskuilde Markov-modelle, uit te brei deur aksent-gebaseerde vrae toe te laat. In 'n eerste stel eksperimente word die foon- en woordherkenningsakkuraathede van die drie modelleringstegnieke vergelyk in 'n kon gurasie waarin daar aanvaar word dat die aksent van elke toetsspraakdeel bekend is. In hierdie kon gurasie word elke spraakdeel slegs gebied aan die modelstel wat ooreenstem met die aksent van die spraakdeel. In terme van herkenningsakkuraathede, wys ons dat die keuse tussen aksent-spesi eke en aksent-onafhanklike modellering afhanklik is van die spesi eke aksente wat ondersoek word. Multi-aksent akoestiese modellering stel ons egter in staat om hierdie besluit outomaties op 'n data-gedrewe wyse te neem. Vir die modellering van die vyf aksente van SAE lewer multi-aksent modelle 'n statisties beduidende verbetering van 1.25% absoluut in woordherkenningsakkuraatheid op in vergelyking met aksent-spesi eke en aksent-onafhanklike modelle. In 'n tweede stel eksperimente word die praktiese scenario ondersoek waar daar aanvaar word dat die aksent van elke toetsspraakdeel onbekend is. Elke spraakdeel word gelyktydig gebied aan 'n stel herkenners, een vir elke aksent, wat in parallel hardloop. In hierdie opstelling word aksentidenti kasie implisiet uitgevoer. Ons vind dat 'n stelsel wat multi-aksent akoestiese modelle in parallel inspan, e ense verbeterde werkverrigting toon in vergelyking met die opstelling waar die aksent bekend is. Dit dui daarop dat aksentidenti seringsfoute wat gemaak word gedurende herkenning, nie werkverrigting be nvloed nie. Verder wys ons dat die parallelle benadering ook beter werkverrigting toon as 'n aksent-onafhanklike stelsel wat verkry word deur akoestiese en taalmodelleringsafrigdata saam te gooi. In 'n nale stel eksperimente ondersoek ons die ongekontroleerde herklassi kasie van aksenttoekennings van die spraakdele in ons afrigstel. Aksente word gemerk deur menslike transkribeerders op grond van 'n spreker se moedertaal en ras. Hierdie toekennings is nie noodwendig optimaal vir modelleringsdoeleindes nie. Deur die aksent van elke spraakdeel in die afrigstel te klassi seer deur van aanvanklike akoestiese modelle gebruik te maak en dan weer modelle af te rig, word hergeklassi seerde akoestiese modelle verkry. Ons wys dat die voorgestelde herklassi seringsalgoritme nie tot enige verbeterings lei nie en dat dit die beste is om modelle op die oorspronklike data af te rig.

Thesis (MScEng)--Stellenbosch University, 2012 / ENGLISH ABSTRACT: This thesis presents the design and implementation of an autonomous navigational system and the automation of a practical demonstrator vehicle. It validates the proposed navigation architecture using simple functional navigational modules on the said vehicle. The proposed navigation architecture is a hierarchical structure, with a mission planner at the top, followed by the route planner, the path planner and a vehicle controller with the vehicle hardware at the base. A vehicle state estimator and mapping module runs in parallel to provide feedback data. The controls of an all terrain vehicle are electrically actuated and equipped with feedback sensors to form a complete drive-by-wire solution. A steering controller and velocity control state machine are designed and implemented on an existing on-board controller that includes a six degrees-of-freedom kinematic state estimator. A lidar scanner detects obstacles. The lidar data is mapped in real time to a local three-dimensional occupancy grid using a Bayesian update process. Each lidar beam is projected within the occupancy grid and the occupancy state of a ected cells is updated. A lidar simulation environment is created to test the mapping module before practical implementation. For planning purposes, the three-dimensional occupancy grid is converted to a two-dimensional drivability map. The path planner is an adapted rapidly exploring random tree (RRT) planner, that assumes Dubins car kinematics for the vehicle. The path planner optimises a cost function based on path length and a risk factor that is derived from the drivability map. A simple mission planner that accepts user-de ned waypoints as objectives is implemented. Practical tests veri ed the potential of the navigational structure implemented in this thesis. / AFRIKAANSE OPSOMMING: In hierdie tesis word die ontwerp en implementering van 'n outonome navigasiestelsel weergegee, asook die outomatisering van 'n praktiese demonstrasievoertuig. Dit regverdig die voorgestelde navigasie-argitektuur op die bogenoemde voertuig deur gebruik te maak van eenvoudige, funksionele navigasie-modules. Die voorgestelde navigasie-argitektuur is 'n hi erargiese struktuur, met die missie-beplanner aan die bo-punt, gevolg deur die roetebeplanner, die padbeplanner en voertuigbeheerder, met die voertuighardeware as basisvlak. 'n Voertuigtoestandsafskatter en karteringsmodule loop in parallel om terugvoer te voorsien. Die kontroles van 'n vierwiel-motor ets is elektries geaktueer en met terugvoersensors toegerus om volledig rekenaarbeheerd te wees. 'n Stuur-beheerder en 'n snelheid-toestandmasjien is ontwerp en ge mplementeer op 'n bestaande aanboordverwerker wat 'n kinematiese toestandsafskatter in ses grade van vryheid insluit. 'n Lidar-skandeerder registreer hindernisse. Die lidar-data word in re ele tyd na 'n lokale drie-dimensionele besettingsrooster geprojekteer deur middel van 'n Bayesiese opdateringsproses. Elke lidar-straal word in die besettingsrooster geprojekteer en die besettingstoestand van betrokke selle word opdateer. 'n Lidar-simulasie-omgewing is geskep om die karteringsmodule te toets voor dit ge mplementeer word. Die drie-dimensionele besettingsrooster word na 'n twee-dimensionele rybaarheidskaart verwerk vir beplanningsdoeleindes. Die padbeplanner is 'n aangepaste spoedig-ontdekkende-lukrake-boom en neem Dubinskar kinematika vir die voertuig aan. Die padbeplanner optimeer 'n koste-funksie, gebaseer op padlengte en 'n risiko-faktor, wat vanaf die rybaarheidskaart verkry word. 'n Eenvoudige missie-beplanner, wat via-punte as doelstellings neem, is ge mplementeer. Praktiese toetsritte veri eer die potensiaal van die navigasiestruktuur, soos hier beskryf.

Thesis (MScIng (Electrical and Electronic Engineering))--University of Stellenbosch, 2006. / Despite enormous advances in digital communication, the voice is still the primary tool with which people exchange ideas. However, uncompressed digital speech tends to require prohibitively high data rates (upward of 64kbps), making it impractical for many applications. Speech coding is the process of reducing the data rate of digital voice to manageable levels. Parametric speech coders or vocoders utilise a-priori information about the mechanism by which speech is produced in order to achieve extremely efficient compression of speech signals (as low as 1 kbps). The greater part of this thesis comprises an investigation into parametric speech coding. This consisted of a review of the mathematical and heuristic tools used in parametric speech coding, as well as the implementation of an accepted standard algorithm for parametric voice coding. In order to examine avenues of improvement for the existing vocoders, we examined some of the mathematical structure underlying parametric speech coding. Following on from this, we developed a novel approach to parametric speech coding which obtained promising results under both objective and subjective evaluation. An additional contribution by this thesis was the comparative subjective evaluation of the effect of parametric speech coding on English and Xhosa speech. We investigated the performance of two different encoding algorithms on the two languages.

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2008. / An existing antenna used in satellite communications is investigated with the goal of improving low angle radiation performance and reducing manufacturing costs. To understand this antenna it is modelled, simulated and verified against existing measurements. This verified model is the basis for further investigation. The antenna is separated into two parts with are individually examined and enhancements are proposed for each. Simulations of the resulting final models show that little by way of improvement in the performance can be obtained but bring several key issues to light. The scanning impedance is of particular importance in such an investigation and a method of determining this impedance is recommended.