An integrated control system for the subsets of a mobile robot

Thesis (MScEng)--University of Stellenbosch, 2001.ENGLISH ABSTRACT: This project, tided An Integrated Control System for the SubsetJ of a Mobile Robot, concerns the integration of subsets for a mobile robotic system developed in the past. It was found that these subsets would not integrate with ease and that integration was not taken into account when the subsets were developed. The complete problem statement is given in chapter one. Before trying to solve the problem the author did a literature review to eqwp her with the necessary knowledge and skills needed to solve the problem. The literature reviewed included topics like Computer Integrated Manufacturing (CIM) and Mobile Robotic. A thorough study of the developed subsets was also completed. The proposed control system is software-based and developed in three programming languages: e TURBO PASCAL, e BORLAND DELPHI, and :> MA1LAB. The DELPHI and MATLAB programs run on the base station. This computer communicates with the MOBile ROBot used in this project (MOBROB) using RF communication hardware and software. This software is part of the DELPHI programs. The DELPHI program is the starting point. This program then calls the MATLAB programs or sends data to the robot. It is important to set the hardware as prompted. The process basically consists of creating path files on the base station. These files are then sent to the robot. The robot then drives to a destination, updates its position and sends the new position back to the base station. The onboard programs used by the robot were developed in TURBO PASCAL. These programs are responsible for the control of the robot's hardware. The control system is discussed in detail in chapters five, sUtand seven. The project was completed successfully and all the objectives set at the beginning of the project were met. These objectives are given in chapter one. This document consists of four sections. The first section is the introduction, the second section the literature review, the third section discusses the control system and the fourth section discusses the results and contains conclusions and recommendations.AFRIKAANSE OPSOMMING: Die projek, getiteld 'n Geïntegreerde beheerstelselvir die subdek van 'n Mobiele Rabot, handel oor die integrasie van voorafontwikkelde dele vir 'n mobiele robotiese stelsel. Daar is gevind dat die dele nie maklik is om te integreer nie en dat integrasie glad nie in ag geneem is toe die dele ontwikkel is nie. Die volledige probleemstelling word in hoofstuk een gegee. Voordat die probleem aangepak is, is 'n literatuurstudie voltooi om die skrywer toe te rus met die kennis wat nodig is vir die oplos van die probleem. Die literatuurstudie het gehandel oor Rekenaar-geïntegreerde vervaardiging (CIM), mobiele robotte en die verskillende voorafontwikkelde dele van die stelsel. Die literatuurstudie vorm hoofstukke twee, drie en vier van hierdie dokument. Die voorgestelde beheerstelsel is sagteware gebaseer en is in drie rekenaar programmerings-tale ontwikkel: ~ TURBO PASCAL, e BORLAND DELPHI en ~ MA1LAB. Die DELPHI and MA1LAB programme loop op die beheerstasie rekenaar. Die rekenaar kommunikeer met die robot deur middel van RF kommunikasie hardeware en sagteware. Hierdie sagtware vorm deel van die DELPHI sagteware. Daar word begin by die Delphi program. Die program roep dan die MATLAB programme op of stuur data na die robot toe. Dit is belangrik om die apparatuur op te stel soos in die dokument aangeteken is, voor die programme geloop word. Die proses bestaan basies uit die skep van pad-lêers op die beheerstasie. Hierdie lêers word dan na die robot gestuur, wat van sy huidige posisie na 'n bestemming toe beweeg. Wanneer die taak voltooi is, word die nuwe posisie van die robot teruggestuur na die beheerstasie. Op die robot self, loop die PASCAL program, wat verantwoordelik is vir die beheer van die robot hardeware. Die beheerstelsel word deeglik bespreek in hoofstukke vyf, ses en sewe. Die projek is suksesvol afgehandel en daar word aan al die doelstellings wat aan die begin van die projek daar gestel is, voldoen. Hierdie doelstellings word in hoofstuk een gegee. Die verslag bestaan uit vier dele. Die eerste deel is 'n inleiding, die tweede deel 'n literatuurstudie, die derde deel bespreek die beheerstelsel en die vierde deel is 'n samevatting waar die resultate bespreek word en gevolgtrekkings en aanbevelings gemaak word

Die Rietrivier-besproeiingskema

Verhandeling (M.A.) -- Universiteit van Stellenbosch, 1953.Full text to be digitised and attached to bibliographic record

Veldbrandnavorsing in die Struikmopanieveld van die Nasionale Krugerwildtuin

Die geskiedenis van veldbrand en die ontwikkeling van die huidige brandbeleid in die Nasionale Krugerwildtuin, Republiek van Suid-Afrika, word bespreek. Aandag word gegee aan die ligging en uitleg van die brandproefherhalings in die struikmopanieveld. Die metode van opname van die houtagtige komponente en die veldlaag word bespreek, sowel as die kriteria wat gebruik is in die vergelyking tussen brandbehandelings. 'n Fitososiologiese tabel van die verskillende persele is opgestel met spesifieke verwysing na die verskille in grondsoorte en hoe dit die floristiese samestelling bei'nvloed. Uit die resultate wat verkry is, is dit duidelik dat meer frekwente brande 'n nadelige invloed op die veldlaag het. Dit hang egter grootliks at van die seisoen van diejaar waarin gebrand word, sowel as die reenval en gepaardgaande opbou van brandbare materiaal. Brande in Augustus, Oktober en Desember is strawwer en rig meer skade in die veldlaag aan. In 'n nat siklus word die houtagtige komponent beter beheer deur 'n meer frekwente brand, maar as dit in 'n droe siklus toegepas word, kan dit lei tot bosindringing. 'n Oorwegende gevolgtrekking van hierdie studie is dat 'n brand* beleid wat nie daarop ingestel is om die natuurlike regime sover moontlik te simuleer nie, tot veldagteruitgang kan lei. Veld fire research on the mopani shrubveld of the Kruger National Park. The history of veld burning and the development of the current burning policy in the Kruger National Park, Republic of South Africa, are discussed. Attention is given to the siting and lay-out of replications of the experimental burning plots in the northern mopani shrubveld. The method used for syurveying the woody and herbaceous components and the criteria used for comparing different burning treatment are explained. A phytosociological table of different plots is presented with special reference to differences in soil types and its influence on floristic composition. The results obtained show that more frequent burns have a detrimental effect on the herba-ceous vegetation. This is primarily dependent on the amount of accumulated fuel which in turn is influenced by the season and amount of rainfall. The August, October and December burns are more severe and cause more damage to the herbaceous field layer. In a wet cycle better control of the woody components is obtained with more frequent burns, but when applied during a dry cycle it may lead to bush encroachment. A major conclusion is that a burning policy which is not aimed at simulating the natural regime as far as possible, may cause deterioration of veld conditions