The answer to the problem is as follows:
x = sin(t/2)
y = cos(t/2)
Square both equations and add to eliminate the parameter t:
x^2 + y^2 = sin^2(t/2) + cos^2(t/2) = 1
The final step is translating the original parameter limits into limits on x and y. Over the -Pi to +Pi range of t, x varies from -1 to +1, whereas y varies from 0 to 1. Thus we have the semicircle in quadrants I and II: y >= 0.