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Full-Text Articles in Engineering
Tangle-Free Exploration With A Tethered Mobile Robot, Danylo Shapovalov, Guilherme Pereira
Tangle-Free Exploration With A Tethered Mobile Robot, Danylo Shapovalov, Guilherme Pereira
Faculty & Staff Scholarship
Exploration and remote sensing with mobile robots is a well known field of research, but current solutions cannot be directly applied for tethered robots. In some applications, tethers may be very important to provide power or allow communication with the robot. This paper presents an exploration algorithm that guarantees complete exploration of arbitrary environments within the length constraint of the tether, while keeping the tether tangle-free at all times. While we also propose a generalized algorithm that can be used with several exploration strategies, our implementation uses a modified frontier-based exploration approach, where the robot chooses its next goal in …
Continuous Otm 33a Analysis Of Controlled Releases Of Methane With Various Time Periods, Data Rates And Wind Filters, Robert S. Heltzel, Mohammed T. Zaki, Aron K. Gebreslase, Omar I. Abdul-Aziz, Derek R. Johnson
Continuous Otm 33a Analysis Of Controlled Releases Of Methane With Various Time Periods, Data Rates And Wind Filters, Robert S. Heltzel, Mohammed T. Zaki, Aron K. Gebreslase, Omar I. Abdul-Aziz, Derek R. Johnson
Faculty & Staff Scholarship
Other test method (OTM) 33A has been used to quantify emissions from natural gas sites since it was introduced by the Environmental Protection Agency (EPA). The method relies on point source Gaussian (PSG) assumptions to estimate emissions rates from a targeted site or source. However, the method often results in low accuracy (typically ±70%, even under conducive conditions). These accuracies were verified with controlled-release experiments. Typically, controlled releases were performed for short periods (15–20 min) under atmospheric conditions that were ideal for effective plume transport. We examined three methane release rates from three distances over various periods of time ranging …
Large-Scale Inflatable Structures For Tunnel Protection: A Review Of The Resilient Tunnel Plug Project, Eduardo M. Sosa, Gregory J. Thompson, Gregory M. Holter, John M. Fortune
Large-Scale Inflatable Structures For Tunnel Protection: A Review Of The Resilient Tunnel Plug Project, Eduardo M. Sosa, Gregory J. Thompson, Gregory M. Holter, John M. Fortune
Faculty & Staff Scholarship
The protection of underground civil infrastructure continues to be a high priority for transportation and transit security agencies. In particular, rail transit tunnels running under bodies of water are susceptible to disruptions due to flooding caused by extraordinary climatic events such as hurricanes or other events resulting from human activities. Several events have taken place in the past decades that have demonstrated the need to mitigate vulnerabilities or, at least, minimize the consequences of catastrophic events. Although it is impossible to prevent all situations that can lead to flooding, damage can be substantially decreased by reducing the area affected by …