Browsing by Author "Ginsberg, Samuel"

Now showing 1 - 12 of 12
  • Thumbnail Image
    Item
    Open Access
    An aircraft and provide information about flight performance and local microclimate
    (2013) Johnson, Bruce Edward; Verrinder, Robyn; Ginsberg, Samuel
    The application of using Unmanned Aerial Vehicles (UAVs) to locate thermal updraft currentsis a relatively new topic. It was first proposed in 1998 by John Wharington, and, subsequently, several researchers have developed algorithms to search and exploit thermals. However, few people have physically implemented a system and performed field testing. The aim of this project was to develop a low cost system to be carried on a glider to detect thermals effectively. A system was developed from the ground up and consisted of custom hardware and software that was developed specifically for aircraft. Data fusion was performed to estimate the attitude of the aircraft; this was done using a direction cosine (DCM) based method. Altitude and airspeed data were fused by estimating potential and kinetic energy respectively; thus determining the aircraft’s total energy. This data was then interpreted to locate thermal activity. The system comprised an Inertial Measurement Unit (IMU), airspeed sensor, barometric altitude sensor, Global Positioning System (GPS), temperature sensor, SD card and a realtime telemetry link. These features allowed the system to determine aircraft position, height, airspeed and air temperature in realtime. A custom-designed radio controlled (RC) glider was constructed from composite materials in addition to a second 3.6 m production glider that was used during flight testing. Sensor calibration was done using a wind tunnel with custom designed apparatus that allowed a complete wing with its pitot tube to be tested in one operation. Flight testing was conducted in the field at several different locations over the course of six months. A total of 25 recorded flights were made during this period. Both thermal soaring and ridge soaring were performed to test the system under varying weather conditions. A telemetry link was developed to transfer data in realtime from the aircraft to a custom ground station. The recorded results were post-processed using Matlab and showed that the system was able to detect thermal updrafts. The sensors used in the system were shown to provide acceptable performance once some calibration had been performed. Sensor noise proved to be problematic, and time was spent alleviating its effects.
  • Thumbnail Image
    Item
    Open Access
    A compact high-energy particle detector for low-cost deep space missions
    (2015) Kemp, Dayne Hilton; Ginsberg, Samuel; Buffler, Andy
    Over the last few decades particle physics has led to many new discoveries, laying the foundation for modern science. However, there are still many unanswered questions which the next generation of particle detectors could address, potentially expanding our knowledge and understanding of the Universe. Owing to recent technological advancements, electronic sensors are now able to acquire measurements previously unobtainable, creating opportunities for new deep-space high-energy particle missions. Consequently, a new compact instrument was developed capable of detecting gamma rays, neutrons and charged particles. This instrument combines the latest in FPGA System-on-Chip technology as the central processor and a 3x3 array of silicon photomultipliers coupled with an organic plastic scintillator as the detector. Using modern digital pulse shape discrimination and signal processing techniques, the scintillator and photomultiplier combination has been shown to accurately discriminate between the di_erent particle types and provide information such as total energy and incident direction. The instrument demonstrated the ability to capture 30,000 particle events per second across 9 channels - around 15 times that of the U.S. based CLAS detector. Furthermore, the input signals are simultaneously sampled at a maximum rate of 5 GSPS across all channels with 14-bit resolution. Future developments will include FPGA-implemented digital signal processing as well as hardware design for small satellite based deep-space missions that can overcome radiation vulnerability.
  • Thumbnail Image
    Item
    Open Access
    Design of a kite controller for airborne wind energy
    (2015) Milandri, Matteo; Ginsberg, Samuel; De Vries, Ian
    Airborne wind energy is a field of technology being developed to make use of the vast, renewable wind power resource which is above the reach of traditional wind turbines, without the need for a large tower. Much analytical research has been undertaken in recent years to better understand the problem space. However, there are relatively few working systems that demonstrate their functioning and can be compared with simulations and theory. Off-grid power systems still rely heavily on diesel generators, so devices that tap renewable energy sources with similar ease of deployment and lower cost of energy would help this sector to reduce its reliance on expensive, polluting, fossil fuels. The development of these systems is often performed by teams with business interests leaving little open access content available regarding the design process of such devices or the data that they provide. A kite control pod has been designed for the remote control of a standard kitesurfing kite and a prototype has been demonstrated stably flying such a kite on a fixed length tether. This pod and kite would be tethered to a winch and as the kite flies across the wind, the lift force generated is applied to the winch which is reeled out and electrical power generated. Once fully extended, the tether would be reeled in with the kite de-powered, using some of the generated energy, stored in a battery. This system can then be used as a test bed for the further development of a compact, autonomous, airborne wind energy system for off-grid applications.
  • Thumbnail Image
    Item
    Open Access
    Design of a low-resource 2D graphics engine for FPGAs
    (2018) Tolmie, Donald Francois; Wilkinson, Andrew; Ginsberg, Samuel
    This study focused on the design and implementation of a low-resource graphics engine, MicroGE, which can be implemented on an FPGA. MicroGE uses a minimal amount of FPGA resources when compared to other graphics engines. After researching existing graphics engines, it was discovered that most make use of a memory space to store frame buffer data. Because of the restrictions that were imposed on the design of MicroGE, it could not incorporate a large enough memory space to store a frame buffer. It was specified that MicroGE should be able to fit on low-resource FPGAs, without any external memory components. Also, MicroGE should be able to fit on modern, high-resource, FPGAs without using a significant amount of those FPGAs’ resources. These goals were achieved by designing MicroGE according to an architecture which differs from the ones of existing graphics engines. MicroGE only renders parts of the video frame, which can be stored in a small memory space, before those parts are transmitted to an HDMI or DVI monitor. After the design was completed, MicroGE, along with other components, was implemented in a VHDL design. Hardware was developed, which contained a Spartan-6 LX25 FPGA, to verify this VHDL. Other verification methods, including the use of VHDL test benches, were also used to verify the VHDL design. A software library, MGAPI, was developed on an Arduino Due microcontroller board. This software library allowed the Arduino Due to display graphics on an HDMI monitor via MicroGE. The Arduino Due was able to update the display of 1000 graphics primitives within 111 ms. The internal FPGA RAM resource usage of MicroGE, 792 kb, was found to be significantly lower than the amount of memory required for a frame buffer. Even though these results were satisfactory, there are still many improvements that can be made to MicroGE. These improvements include increasing the number of rendering capabilities, optimisation of power usage, and increasing the control and video output interfaces.
  • Thumbnail Image
    Item
    Open Access
    Design of a man-wearable control station for a robotic rescue system
    (2015) Fong, Wai K; Ginsberg, Samuel; Booysen, Tracy
    This report details the design, development, and testing of a man-wearable operator control station for the use of a low-cost robotic system in Urban Search and Rescue (USAR). The complete system, dubbed the "Scarab", is the 1st generation developed and built in the Robotics and Agents Research Laboratory (RARL) at the University of Cape Town (UCT), and was a joint effort between three MSc students. Robots have found a place in USAR as replaceable units which can be deployed into dangerous and confined voids in the place of humans. As such, they have been utilized in a large variety of disaster environments including ground, aerial, and underwater scenarios, and have been gathering research momentum since their first documented deployment in the rescue operations surrounding the 9/11 terrorist attacks. However one issue is their cost as they are not economical solutions, making them less viable for inclusion into a rescue mission as well as negatively affecting the operator‟s decisions in order to prioritise the safety of the unit. Another concern is their difficulty of transport, which becomes dependent on the size and portability of the robot. As such, the Scarab system was conceived to provide a deployable robotic platform which was lowcost, with a budget goal of US $ 500. To address the transportability concerns, it aimed to be portable and light-weight; being able to be thrown through a window by a single hand and withstanding a drop height of 3 m. It includes an internal sensor payload which incorporates an array of sensors and electronics, including temperature monitors and two cameras to provide both a normal and IR video feed. Two LED spotlights are used for navigation, and a microphone and buzzer is included for interaction with any discovered survivors. The operator station acts as the user interface between the operator and the robotic platform. It aimed to be as intuitive as possible, providing quick deployment and minimalizing the training time required for its operation. To further enhance the Scarab system‟s portability, it was designed to be a manwearable system, allowing the operator to carry the robotic platform on their back. It also acts as a charging station, supplying power to the robotic platform‟s on-board charging circuitry. The control station‟s mechanical chassis serves as the man-wearable component of the system, with the functionality being achieved by integration onto a tactical vest. This allows the operator to take the complete system on and off as a single unit without assistance, and uses two mounting brackets to dock the robotic platform. Key areas focussed upon during design were the weight and accessibility of the system, as well as providing a rugged housing for the internal electronics. All parts were manufactured in the UCT Mechanical Engineering workshop.
  • Thumbnail Image
    Item
    Open Access
    Design of the communication, power management and interchangeable sensor payload system for an inspection-class robotic platform
    (2015) Knox, Greig; Ginsberg, Samuel; Booysen, Tracy
    With the "golden day" being the first 24 hours after an urban disaster, after which the survival rate of victims decreases dramatically, there is a requirement for a low-cost first-response robotic platform. UCT robotics is developing a platform to fulfil this requirement, with the Scarab (Figure 0-1) - a low-cost, man-packable, throwable inspection-class robotic platform with interchangeable payloads. The system was designed to create a 1:1 human-to-robot ratio which improves the efficiency of rescue operations. Once the operator has reached the inspection void, the Scarab is thrown in where the sensor stimulus from the inspection environment is communicated, via wireless communications, from the payload back to the operator station. The interchangeable payload allows the sensor configuration to be tailored to the needs of the disaster, while reducing the cost of the platform. The design of the battery and battery management system, communications and interchangeable sensor payload for this platform are described in this report.
  • Thumbnail Image
    Item
    Open Access
    Electronic Circuits EEE3068F
    (2014) Ginsberg, Samuel
    The notes consist of three parts. The first part consists of the opening chapters which contain material that is considered prerequisite for the course, as well as useful supplementary information. The second part is the examinable section of the course and starts with the sixth chapter entitled “Amplifiers”. The appendices, which are the third part, are intended for students who want a deeper understanding of various issues and phenomena that pertain to material covered in the notes. This set of notes is aimed at EEE3068F, a one semester, third year electronics course for electrical engineering and mechatronics students.
  • Thumbnail Image
    Item
    Open Access
    Fusion of sensor information to measure the total energy of an aircraft and provide information about flight performance and local microclimate
    (2013) Johnson, Bruce; Verrinder, Robyn; Ginsberg, Samuel
    The application of using Unmanned Aerial Vehicles (UAVs) to locate thermal updraft currents is a relatively new topic. It was first proposed in 1998 by John Wharington, and, subsequently, several researchers have developed algorithms to search and exploit thermals. However, few people have physically implemented a system and performed field testing. The aim of this project was to develop a low cost system to be carried on a glider to detect thermals effectively. A system was developed from the ground up and consisted of custom hardware and software that was developed specifically for aircraft. Data fusion was performed to estimate the attitude of the aircraft; this was done using a direction cosine (DCM) based method. Altitude and airspeed data were fused by estimating potential and kinetic energy respectively; thus determining the aircraft's total energy. This data was then interpreted to locate thermal activity. The system comprised an Inertial Measurement Unit (IMU), airspeed sensor, barometric altitude sensor, Global Positioning System (GPS), temperature sensor, SD card and a realtime telemetry link. These features allowed the system to determine aircraft position, height, airspeed and air temperature in realtime. A custom-designed radio controlled (RC) glider was constructed from composite materials in addition to a second 3.6 m production glider that was used during flight testing. Sensor calibration was done using a wind tunnel with custom designed apparatus that allowed a complete wing with its pitot tube to be tested in one operation. Flight testing was conducted in the field at several different locations over the course of six months. A total of 25 recorded flights were made during this period. Both thermal soaring and ridge soaring were performed to test the system under varying weather conditions. A telemetry link was developed to transfer data in realtime from the aircraft to a custom ground station. The recorded results were post-processed using Matlab and showed that the system was able to detect thermal updrafts. The sensors used in the system were shown to provide acceptable performance once some calibration had been performed. Sensor noise proved to be problematic, and time was spent alleviating its effects. Results showed that the system was able to measure airspeed to within ± 1 km/h. The standard deviation of the altitude estimate was determined to be 0.94 m. This was deemed to be satisfactory. The system was highly reliable and no faults occurred during operation. In conclusion, the project showed that inexpensive sensors and low power microcontrollers could be used very effectively for the application of detecting thermals.
  • Thumbnail Image
    Item
    Open Access
    Neuromorphic cross correlation of digital spreading codes
    (2008) Vismer, Mark Philip; Tapson, Jonathan; Ginsberg, Samuel
    The study of neural networks is inspired by the mystery of how the brain works. In a quest to solve this mystery, scientists and engineers hope that they will learn how to build more powerful computational systems that are capable of processing information much more efficiently than today’s digital computer systems. This dissertation involves a biologically inspired circuit which can be used as an alternative for a cross correlation engine. Cross correlation engines are widely used in spread spectrum, wireless communication systems that use digital spreading codes to divide a single communication medium into separate channels. This technology is used in many systems such as GPS, ZigBee and GSM mobile communications. The technology is renowned for its robustness and security since it is highly tolerant to signal jamming and spoofing. Digital spreading in wireless communication is also widely used in military systems and has recently been proposed for use in the medical sector for neural prostheses. A limitation of using digital spreading is that the computational demands on the cross correlation engine are normally quite high and is generally considered to be the limiting factor in designing low-power portable devices. In recent developments proposed by Tapson, it was shown that a two-neuron mutual inhibition network can be used to generate a cross correlation like function (Tapson et al., 2008). In this work, the two-neuron cross correlation engine is analysed specifically for application on a particular set of digital spreading codes called Gold codes. Based on the analysis, the neuron’s response to an input signal is optimised in favour of yielding a neural cross correlation that resembles the mathematical cross correlation more closely. The aim is to find a biologically inspired computer that is practically viable in an electrical engineering application involving a digital spread spectrum communication system.
  • Thumbnail Image
    Item
    Open Access
    Quantification of shared air: a social and environmental determinant of airborne disease transmission
    (Public Library of Science, 2014) Wood, Robin; Morrow, Carl; Ginsberg, Samuel; Piccoli, Elizabeth; Kalil, Darryl; Sassi, Angelina; Walensky, Rochelle P; Andrews, Jason R
    BACKGROUND: Tuberculosis is endemic in Cape Town, South Africa where a majority of the population become tuberculosis infected before adulthood. While social contact patterns impacting tuberculosis and other respiratory disease spread have been studied, the environmental determinants driving airborne transmission have not been quantified. METHODS: Indoor carbon dioxide levels above outdoor levels reflect the balance of exhaled breath by room occupants and ventilation. We developed a portable monitor to continuously sample carbon dioxide levels, which were combined with social contact diary records to estimate daily rebreathed litres. A pilot study established the practicality of monitor use up to 48-hours. We then estimated the daily volumes of air rebreathed by adolescents living in a crowded township. RESULTS: One hundred eight daily records were obtained from 63 adolescents aged between 12- and 20-years. Forty-five lived in wooden shacks and 18 in brick-built homes with a median household of 4 members (range 2-9). Mean daily volume of rebreathed air was 120.6 (standard error: 8.0) litres/day, with location contributions from household (48%), school (44%), visited households (4%), transport (0.5%) and other locations (3.4%). Independent predictors of daily rebreathed volumes included household type (p = 0.002), number of household occupants (p = 0.021), number of sleeping space occupants (p = 0.022) and winter season (p<0.001). CONCLUSIONS: We demonstrated the practical measurement of carbon dioxide levels to which individuals are exposed in a sequence of non-steady state indoor environments. A novel metric of rebreathed air volume reflects social and environmental factors associated with airborne infection and can identify locations with high transmission potential.
  • Thumbnail Image
    Item
    Open Access
    Remote hearing aid fitting
    (2012) Moore, Calvin; Ginsberg, Samuel
    Hearing aid fitting is a costly process due to the cost of hearing aids, audiologists' hourly rates, and large travelling distances caused by regionally sparse audiologist populations. This dissertation is focused on the development of a system which aims at reducing the severity of this problem.
  • Thumbnail Image
    Item
    Open Access
    Three dimentional control of a diode based laser cutter
    (2014) Frost, Phillip John Lowne; Ginsberg, Samuel
    Laser cutting is a widely used technology in many areas of industry and research. Conventional laser cutters only offer control of two axes and either cut through a material or rudimentary control of the third dimension is possible by varying the power, pulse rate and travel rate of the laser beam. These rudimentary three-dimensional systems (often called 2.5D laser cutters) do not incorporate any feedback mechanism to control the depth of cut. The idea of measuring distance using diode lasers (and other laser technologies) is a relatively mature technology and is common to various consumer and industrial products. Recently diode lasers have become powerful enough to perform as laser cutters allowing a merger of these technologies. The aim of this project is to verify the concept of using a laser diode to achieve both material processing and distance measurement. This would allow the creation of a full three-dimension laser cutting machine that is capable of accurate material processing in all three dimensions. This would also offer the ability to cut non-homogenous materials, such as timber, which current ‘2.5D’ laser cutters are unable to cut with any accuracy. A gantry system was designed and constructed, which was able to move the laser cutting toolhead in the x-y plane, using stepper motors and a belt-driven drive system. A 2W single emitter laser diode was used for both laser cutting and distance measurement. Optics were designed and assembled that focused the laser onto the workpiece and directed light reflected back from the workpiece onto a photodiode. Laser driver circuitry was constructed to control the DC current of the laser and to modulate the laser power at the high frequencies required for accurate phase shift measurements. A photodetector and phase shift measurement circuit was designed, simulated and constructed. The phase shift circuit amplified the signal from the light reflected off the workpiece and then compared that signal to a reference signal in order to determine the phase shift between the two. An Atmel® ATmega2560 microcontroller was used to control the gantry, laser driver circuitry and to measure the phase shift output of the phase detector circuitry. Software written in MATLAB® was used to command the microcontroller and to interpret the data received from the microcontroller The photo sensor circuit was not sensitive enough to detect the weak signals that were present when the workpiece had a low reflectivity but was able to be tested using reflective tape. On the other hand the laser diode was not powerful enough to cut reflective tape as it absorbs very little energy from the laser. Nevertheless, the same laser diode was used, without changing any configuration other than the workpiece material, to measure distance and to cut materials. Testing of both the materials processing ability and the distance measurement ability were carried out. Many aspects of each of these major functions were tested, individually and together, in order to determine the areas that performed well and those that need more research. In conclusion, this project was able to verify the concept of a three-dimensionally controlled diode powered laser cutter. Future work will be needed before a practical and useful laser cutter can be built but this project should prove a good starting point for any such future work.