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Full-Text Articles in Engineering

Thermo-Mechanical Instabilities In Next-Generation Friction Materials In High-Speed Sliding Systems, Kingsford Koranteng Nov 2023

Thermo-Mechanical Instabilities In Next-Generation Friction Materials In High-Speed Sliding Systems, Kingsford Koranteng

Electronic Theses and Dissertations

For centuries, the manufacturing industry has incorporated metals like copper into friction materials to enhance thermal properties and minimize thermo-mechanical instabilities (TMI) in high-speed sliding systems. Unfortunately, these metals have adverse environmental effects due to the emission of hazardous particulate matter. As a result, there is a growing movement towards adopting next-generation friction materials as an alternative solution.

The study begins by conducting experimental and numerical investigations to examine the instabilities found in metal-based friction materials. The primary objective is to utilize the insights gained from the investigations to computationally explore effective strategies for mitigating various instabilities that may arise …


Molecular Dynamics Study Of Characterization In Metal-Free Friction Materials, Yizhan Zhang Nov 2023

Molecular Dynamics Study Of Characterization In Metal-Free Friction Materials, Yizhan Zhang

Electronic Theses and Dissertations

Metallic friction materials currently used in industry may adversely impact the environment. Substitutions for metals in friction materials, on the other hand, can introduce operational safety issues and other unforeseeable issues such as thermal-mechanical instabilities and insufficient strength. In view of it, this dissertation focuses on developing different kinds of materials from simple structure to complex structure and evaluating the material properties with the assistance of molecular dynamics (MD) tools at the nano scale.

First, the concept of the contacted surfaces in friction at the atomic scale was introduced in order to get accurate understanding of the friction process compared …


Mechanical Characterization Of Automated Fiber Placement And Additive Manufacturing Hybrid Composites, Lucan Haviland Aug 2023

Mechanical Characterization Of Automated Fiber Placement And Additive Manufacturing Hybrid Composites, Lucan Haviland

Electronic Theses and Dissertations

This thesis presents the optimization of processing parameters based on the mechanical properties of Continuous Fiber-Reinforced Thermoplastic (CFRTP) Unidirectional (UD) consolidated tapes. The UD tapes were consolidated using an AFP head and a thermoforming press for comparison. The adhesive strength of hybrid parts consisting of CFRTP UD tape bonded to a 3D-printed substrate with the same matrix system were investigated. Large Area Additive Manufacturing (LAAM) was utilized for the 3D-printed parts. Different types of thermoplastic composite materials were explored, including Glass Fiber reinforced Polyethylene Terephthalate Glycol (GF/PETG), Carbon Fiber reinforced Polyethylene Terephthalate Glycol (CF/PETG), Carbon Fiber reinforced Polycarbonate (CF/PC), and …


Investigation Into Sintered Lunar Regolith Construction Methods And Novel Usability Evaluation, Thomas A. Cox May 2023

Investigation Into Sintered Lunar Regolith Construction Methods And Novel Usability Evaluation, Thomas A. Cox

Electronic Theses and Dissertations

Since the Apollo missions in the late 1960's, there has been a growing interest shared by many countries around the world to return to the Moon and establish a permanent Lunar settlement. The first phase of temporary Lunar bases will be established over the next several years. For a permanent human presence on the Moon, it will be necessary to use locally available resources for the construction of Lunar habitats and other infrastructure. Sintering Lunar regolith has been shown to be a promising method for producing structural material with a variety of desirable properties from strength to radiation shielding. While …


Experimental Evaluation Of Heat Leak From Anti-Sweat Components Into Fresh Food And Freezer Compartments Of A Household Refrigerator., Delva Felissaint Aug 2022

Experimental Evaluation Of Heat Leak From Anti-Sweat Components Into Fresh Food And Freezer Compartments Of A Household Refrigerator., Delva Felissaint

Electronic Theses and Dissertations

Condensation beads forming on outside surfaces around a refrigerator is an undesirable byproduct driven by the cold temperature exhibited throughout the unit. To combat this issue, anti-sweat components usually in the form of electrical heaters or tubes carrying hot refrigerant, bring heat to the cold surfaces to ensure their temperatures do not drop below the dew point. Some heat produced by the anti-sweat components may transfer to the interior refrigerated compartment. The purpose of this study is to quantify how much heat from the anti-sweat components are entering the fresh food and freezer compartments and what impact that has on …


Fluid Structure Interactions Within A Common Rail Diesel Injector., Russell Prater May 2022

Fluid Structure Interactions Within A Common Rail Diesel Injector., Russell Prater

Electronic Theses and Dissertations

The internal flow of a high-pressure diesel injector is simulated numerically to investigate the complex transient flow structures and the unsteady forces imparted to the injector needle that result from the asymmetric flow fields developed during operation. The gas-liquid two phase flow is simulated using a mixture model with the cavitation numerically modeled using the Zwart-Gerber-Belamri model. Both the k-ε model and the detached eddy simulation (DES) model are used, and the numerical results are compared. This dissertation looks at the internal flow of a generic injector at different lifts and characterizes the flow parameters at high lift and low …


Monitoring Of State Transitions In Extreme Environment Application Materials Using Fiber Bragg Grating Sensors, Sabuj Khadka Jan 2022

Monitoring Of State Transitions In Extreme Environment Application Materials Using Fiber Bragg Grating Sensors, Sabuj Khadka

Electronic Theses and Dissertations

By embedding both a single fiber Bragg grating (FBG) sensor and a thermocouple (TC) during the manufacturing for extreme environment applications of certain classes of materials such as metals and polymers, a novel in-situ approach was developed to precisely monitor their entire manufacturing processes. This novel monitoring technique was able to identify many characteristic points during the curing of room and high-temperature epoxies and the solidification processes of metal alloys composed of tin and bismuth which were selected in this research purely for verification purposes. Some of the characteristic points identified for the epoxies were: (i) the gel point, (ii) …


A Computational Fluid Dynamics Analysis Of The Temperature And Impurity Profiles In The Protodune-Sp Neutrino Detector, Jenna Harrison Jan 2022

A Computational Fluid Dynamics Analysis Of The Temperature And Impurity Profiles In The Protodune-Sp Neutrino Detector, Jenna Harrison

Electronic Theses and Dissertations

Computational fluid dynamics (CFD) models of the ProtoDUNE single-phase detector were developed, refined, and analyzed. The ProtoDUNE single-phase detector is a prototype detector that is part of the Deep Underground Neutrino Experiment, an international research collaboration aimed at better understanding neutrinos and the role they play in our universe. The ProtoDUNE single-phase detector is used to gather data and inform design changes for the full-sized far detector prior to its construction. The effects of certain geometric features and heat sources on the thermal profiles within the liquid region of the detector were investigated in a set of parametric studies. The …


Effects Of Titanium And Cerium Addition On Grain Size And Mechanical Properties Of Ductile Iron Castings, Shelton F. Fowler Iv Jan 2022

Effects Of Titanium And Cerium Addition On Grain Size And Mechanical Properties Of Ductile Iron Castings, Shelton F. Fowler Iv

Electronic Theses and Dissertations

According to the Hall-Petch equation, the refinement of grains in metals increases the yield strength of the material. Austenite grain size influences the fineness of microstructural constituents in the ferrous alloys. It is well studied that cerium and titanium refine the austenite in steels and some gray irons, but no studies have been done to systematically explore the effects of cerium and titanium additions on austenite in ductile iron. This study sought to determine the effects of selected levels of these elements on the grain size within ductile iron. A hypoeutectic iron was chosen for testing as the proeutectic phase …


Determining Cause Of Failure For Load Cells Supporting Vertical Pressure Vessels Subject To Wind Loading, Seth Nowak Jan 2022

Determining Cause Of Failure For Load Cells Supporting Vertical Pressure Vessels Subject To Wind Loading, Seth Nowak

Electronic Theses and Dissertations

Wind loads cannot be avoided during a natural disaster such as a hurricane and could affect the strength and stability of vertical pressure vessels during exposure. Vertical pressure vessels cater to large wind loads; therefore, it is imperative to study the effect of additional loading on the structures. In this study, three pressure vessels with volumes of 50 CuFt, 200 CuFt, and 1100 CuFt, supported by three equidistant load cells under their legs are individually analyzed to determine von mises stress to estimate yield failure criteria. Two load rating criteria, maximum load capacity and water-filled condition (critical condition) are utilized …


Investigations Of The Low Temperature Combustion Regions And Emissions Characteristics Of Aerospace F24 In A Constant Volume Combustion Chamber And A Common Rail Direct Injection Ci Engine, Richard C. Smith Iii Jan 2022

Investigations Of The Low Temperature Combustion Regions And Emissions Characteristics Of Aerospace F24 In A Constant Volume Combustion Chamber And A Common Rail Direct Injection Ci Engine, Richard C. Smith Iii

Electronic Theses and Dissertations

A study was conducted to investigate the low temperature combustion (LTC) regions of aerospace F24 and ULSD in the static setting of a CVCC and the dynamic setting of a CRDI research engine. This research is conducted to reduce in-cylinder emissions by understanding and implementing a technique to achieve an extended LTC. Emissions data for this study were collected during the operation of the CRDI research engine with a MKS 2030 FTIR and an AVL Microsoot 483. The parameters researched within the static setting of the CVCC included the determinations of the cool flames and NTC regions within the LTHR …


Numerical Study Of Laryngeal Control Of Phonation Using Realistic Finite Element Models Of A Canine Larynx, Biao Geng Dec 2021

Numerical Study Of Laryngeal Control Of Phonation Using Realistic Finite Element Models Of A Canine Larynx, Biao Geng

Electronic Theses and Dissertations

While many may take it for granted, the human voice is an incredible feat. An average person can produce a great variety of voices and change voice characteristics agilely even without formal training. Last several decades of research has established that the production of voice is largely a mechanical process: i.e., the sustained vibration of the vocal folds driven by the glottal air flow. Since one only has a single pair of vocal folds, the versatility comes with the ability to change the mechanical status of the vocal folds, including vocal fold length and thickness, tension, and level of adduction, …


Materials And Process Design For Ceramic Fused Filament Fabrication (Cf3) Of Hydroxyapatite., Kavish Sudan Dec 2021

Materials And Process Design For Ceramic Fused Filament Fabrication (Cf3) Of Hydroxyapatite., Kavish Sudan

Electronic Theses and Dissertations

Ceramic fused filament fabrication (CF3) enables the fabrication of highly customizable ceramic parts at relatively lower costs compared to other AM technologies. Advanced ceramics, having specific or niche applications, call for a high level of accuracy to meet the performance requirements. For achieving the desired level of accuracy in any manufacturing process, it is important to know the effect of involved parameters at different stages of fabrication. CF3 has been around for a while but there has been a severe lack of literature dealing with understanding the effect of process parameters on the final part properties. In this study, Hydroxyapatite …


Electrical Characterization Of Phytoplankton Suspensions Using Impedance Spectroscopy., Margaret R Jett Aug 2021

Electrical Characterization Of Phytoplankton Suspensions Using Impedance Spectroscopy., Margaret R Jett

Electronic Theses and Dissertations

Phytoplankton are closely monitored because of their important environmental role, and the impacts they have on their local ecosystems. Some phytoplankton respond to stress by producing lipids, which can be harvested for biofuels and other chemicals. Microfluidic devices have been important in improving the portability and throughput of phytoplankton characterization methods, increasing their potential for in situ use. This study utilized a small sample of phytoplankton suspended in a stagnant medium and measured the impedance response using a lab-on-chip and impedance analyzer. The individual cell characteristics were derived from the impedance response of the group. The goal was to characterize …


Monitoring Of Overhead Polymer Core Composite Conductors Under Excessive Mechanical Loads Using Fiber Bragg Grating Sensors, Daniel H. Waters Jan 2021

Monitoring Of Overhead Polymer Core Composite Conductors Under Excessive Mechanical Loads Using Fiber Bragg Grating Sensors, Daniel H. Waters

Electronic Theses and Dissertations

This combined experimental and numerical study addresses mechanical effects associated with static and dynamic loading of novel High Temperature Low Sag (HTLS) transmission line polymer core composite conductors. The developed methodology was successfully applied to ACCC® to explain the complex failure mechanisms associated with combined bending and tension loading. Furthermore, the use of Fiber Bragg Grating (FBG) sensors was investigated for the first time to monitor the ACCC® design during installation and in-service.

Transverse low-velocity impacts to the ACCC® conductor having either free or constrained end conditions and large axial tensile loads were performed. It was identified that the most …


Aqueous Redox Flow Batteries With Boron Doped Diamond As An Electrode., Alex M. Bates Aug 2020

Aqueous Redox Flow Batteries With Boron Doped Diamond As An Electrode., Alex M. Bates

Electronic Theses and Dissertations

As the interest and implementation of renewable energy accelerates, so does that of grid energy storage. It is widely believed that a cost-effective energy storage technology will bring about the proliferation of renewable energy. Redox flow battery (RFB) technology represents a promising solution to cost-effective grid energy storage. Compared to other technologies, RFBs have a long lifetime, high efficiency, are non-flammable, significantly reduce cost, and separately scale power and energy. The separation of power and energy enables increased energy capacity by simply adding electrolyte volume. Of the challenges facing RFB technology, one readily apparent is the cost of the active …


Investigation Of Infiltration Measurements Using Wind Induced Pressure Response On An Enclosure, Aaron R. French May 2020

Investigation Of Infiltration Measurements Using Wind Induced Pressure Response On An Enclosure, Aaron R. French

Electronic Theses and Dissertations

Air infiltration into a building is unintentional air leakage, resulting in heat losses or gains and the consequent energy usage to recondition the building to comfortable levels. Methods of evaluating air infiltration provide accurate measures of air exchange rate but must be done per building and take significant experimentation and data collection. This warrants investigation into ways to decrease the time to evaluate building infiltration to decrease the associated costs. For this reason, interior pressure response is the subject of investigation in the present work. Interior pressure of a building responds to a pressure rise on the building face when …


Impact Of Magnetocaloric Material Properties On Performance Of A Magnetocaloric Heat Pump., Michael G. Schroeder May 2020

Impact Of Magnetocaloric Material Properties On Performance Of A Magnetocaloric Heat Pump., Michael G. Schroeder

Electronic Theses and Dissertations

In the field of magnetocaloric heat pumps much research has been performed around machine design and theoretical machines, but little has been researched around practical problems such as variability in material properties. The present work defines a simulation tool that has been proven with experimental data. Magnetocaloric material cascades were statistically analyzed and parameterized, such that they could be recreated parametrically using a split Lorentz function with normally distributed parameters. Correlated curve-defining values with standard deviations were used as input into the simulation tool to determine the effect of variation on cooling heat pump performance for a household refrigerator application. …


A Numerical And Experimental Study On Effect Of Composition Of Ar-N2 Shielding Gas On The Weld Bead Profile And Its Prediction For Hot Wire Arc Additive Manufacturing, Niraj Pudasaini Jan 2020

A Numerical And Experimental Study On Effect Of Composition Of Ar-N2 Shielding Gas On The Weld Bead Profile And Its Prediction For Hot Wire Arc Additive Manufacturing, Niraj Pudasaini

Electronic Theses and Dissertations

Wire arc additive manufacturing is a process of making three-dimensional metal parts in a layer-by-layer approach using a feed wire and electric arc as a heat source. Wire arc additive manufacturing (WAAM) is becoming more popular due to its ability to create complex 3D parts, less build time, high deposition rate, and significant cost savings. Out of the many parameters used in WAAM, one of the important parameters is shielding gas which plays a significant role in material quality, properties, and defects. In this study, a controlled amount of Argon (Ar) and Nitrogen (N2) shielding gases are used …


Damage Resistance And Tolerance Of 3d Woven Composites, Justin T. Mcdermott Dec 2019

Damage Resistance And Tolerance Of 3d Woven Composites, Justin T. Mcdermott

Electronic Theses and Dissertations

Composite materials have been adopted into primary aircraft structures by virtue of their great strength-to-weight and stiffness-to-weight ratios, fatigue insensitivity, and corrosion resistance. These characteristics are leveraged by aircraft designers to deliver improved fuel effciency and reduced scheduled maintenance burdens for their customers. These benefits have been impressively realized in the Boeing 787 and Airbus A350 XWB, with airframes utilizing about 50% composites by weight. Tempering these successes, however, are the inherent vulnerabilities of carbon-fiber reinforced composites. When compared to conventional metallic structure, composite laminates are more sensitive to stress concentrations at mechanical fastenings and damage due to low-velocity impact. …


Fluid Flow Analysis Of Diluted Evaporating American Whiskey Droplets., Martin J. Brown Vi Aug 2019

Fluid Flow Analysis Of Diluted Evaporating American Whiskey Droplets., Martin J. Brown Vi

Electronic Theses and Dissertations

The recent discovery of the unique structures, whiskey webs, formed when the evaporation of diluted American whiskey, has raised many questions as to the nature of the structures. Their formation process follows as such: (1) dilution of the whiskey to form nanoaggregates, (2) formation of a monolayer at the air-liquid interface, (3) chaotic ethanol evaporation caused monolayer collapse (via dynamic pressure), (4) bulk fluid evaporation caused monolayer collapse (via reduction of surface area), where the web-like structures reside on the surface, and finally, (5) web-like structures deposit on the substrate. The webs imaged via SEM had a striking resemblance to …


Metal Thin Film Stiffness Extraction Technique For Surface Acoustic Wave Filters, Travis R. Weismeyer Dec 2018

Metal Thin Film Stiffness Extraction Technique For Surface Acoustic Wave Filters, Travis R. Weismeyer

Electronic Theses and Dissertations

Accurate knowledge of the surface acoustic wave (SAW) properties propagating at the surface of a piezoelectric substrate with thin films, electrodes or temperature compensated films, is critical in SAW filter design to meet the target frequency response, power durability and performance prior to device fabrication. While reliable material constants exist for substrates such as LiNbO3 used in SAW filters, the absolute elastic constants associated with operational thin films used for electrodes or temperature compensation do not exist. Although the bulk values of the constituent materials are known, the composite film/substrate properties are difficult to predict since they depend strongly on …


Feasibility Of Hybrid Thermoplastic Composite-Concrete Load Bearing System, Camerin M. Seigars Aug 2018

Feasibility Of Hybrid Thermoplastic Composite-Concrete Load Bearing System, Camerin M. Seigars

Electronic Theses and Dissertations

Thermoplastic composites have many advantages over thermoset composites such as being recyclable, rapidly manufacturable, and more impact resistant. The goal of this thesis is to assess the feasibility of using thermoplastic composites in structural applications through literature review, mechanical testing, design of a load-bearing hybrid composite-concrete structures, and the implementation of thermoplastic composites for tensile reinforcement of concrete. The study had four objectives covering the stated goal.

  1. Conduct a literature review to direct thermoplastic material selection
  2. Characterize thermoplastic material mechanical properties using standardized mechanical testing
  3. Design a hybrid composite-reinforced concrete beam, and
  4. Develop thermoplastic shear connectors to develop composite action …


Material-Process-Property Relationships Of 17-4 Stainless Steel Fabricated By Laser-Powder Bed Fusion Followed By Hot Isostatic Pressing., Harish Irrinki Aug 2018

Material-Process-Property Relationships Of 17-4 Stainless Steel Fabricated By Laser-Powder Bed Fusion Followed By Hot Isostatic Pressing., Harish Irrinki

Electronic Theses and Dissertations

17-4 PH stainless steel is commonly used in medical, tooling, automotive, chemical and aerospace industries due to its excellent strength and corrosion properties. Additive manufacturing processes such as laser-powder bed fusion (L-PBF) have gained attention and importance due to the potential to produce complex-shaped three-dimensional parts for various industries. In order to manufacture three-dimensional components from 17-4 PH stainless steel powder using L-PBF, it is critical for design and manufacturing engineers to have an awareness of various material options and corresponding processing and post-processing conditions to obtain useful mechanical properties from the process. The goal of this dissertation is to …


Temperature Effects On Helium Filled Soap Bubble Particle Tracking Velocimetry., Michael C. Blum Aug 2018

Temperature Effects On Helium Filled Soap Bubble Particle Tracking Velocimetry., Michael C. Blum

Electronic Theses and Dissertations

Helium Filled Soap Bubble (HFSB) Particle Tracking Velocimetry (PTV) methods are becoming increasingly popular as they provide a low cost, safe option for reliable flow visualization. Several studies have been conducted to understand the accuracy of such systems under normal temperatures and pressures; however, no such studies to date have examined accuracy of HFSB PTV at high temperatures. The goal of this study is to characterize the capability of HFSB PTV methods to visualize air flow through a rectangular duct at elevated temperature. A heated wind tunnel was designed to heat up to 150 m3/h of 25 °C …


Modeling And Validations Of Control Parameters For Material Extrusion-Based Additive Manufacturing Of Thixotropic Aluminum Alloys., Lars Herhold Aug 2018

Modeling And Validations Of Control Parameters For Material Extrusion-Based Additive Manufacturing Of Thixotropic Aluminum Alloys., Lars Herhold

Electronic Theses and Dissertations

Additive Manufacturing (AM) with metals has been accomplished mainly through powder bed fusion processes. Initial experiments and simulations using Material Extrusion Additive Manufacturing (MEAM) have been performed by various researchers especially using low melting alloys. Recently Stratasys Inc. submitted a patent application for the use of their Material Extrusion technology also called Fused Deposition Modeling (FDM) where they describe the process using thixotropic semi-solid alloys. Currently this process using semi-solid, engineering type alloys such as A356 or THIXALLOY 540 aluminum have not been researched to evaluate the control parameters. This research combines the in-depth knowledge of applying thixotropic semi-solid aluminum …


Microwave Acoustic Saw Resonators For Stable High-Temperature Harsh-Environment Static And Dynamic Strain Sensing Applications, Anin K. Maskay May 2018

Microwave Acoustic Saw Resonators For Stable High-Temperature Harsh-Environment Static And Dynamic Strain Sensing Applications, Anin K. Maskay

Electronic Theses and Dissertations

High-temperature, harsh-environment static and dynamic strain sensors are needed for industrial process monitoring and control, fault detection, structural health monitoring in power plant environments, steel and refractory material manufacturing, aerospace, and defense applications. Sensor operation in the aforementioned extreme environments require robust devices capable of sustaining the targeted high temperatures, while maintaining a stable sensor response. Current technologies face challenges regarding device or system size, complexity, operational temperature, or stability.

Surface acoustic wave (SAW) sensor technology using high temperature capable piezoelectric substrates and thin film technology has favorable properties such as robustness; miniature size; capability of mass production; reduced installation …


Designing And Testing 3-D Printed Wafer-Box With Embedded Pzt Sensors To Identify The Shape Effect On Energy Harvesting, Ahmad Jami Safayet Jan 2018

Designing And Testing 3-D Printed Wafer-Box With Embedded Pzt Sensors To Identify The Shape Effect On Energy Harvesting, Ahmad Jami Safayet

Electronic Theses and Dissertations

Piezoelectric energy has been recently paid attention in the field of alternative energy. Day by day the traditional energy sources including Coal tar and oils are becoming scarce. People are heading to an alternative energy source to meet the future energy demand. Piezoelectric energy is one of the competitive energy sources compared to the conventional renewable energy sources including solar, wind, and geothermal power and so on. This energy production method bears enormous research potential because it can be used as the roadway for a new method of power generation. This research project aimed to identify which shaped wafer-box produced …


Investigation Of Lattice Structures And Analysis Of Strut Geometry., Zachary D Denzik Jul 2017

Investigation Of Lattice Structures And Analysis Of Strut Geometry., Zachary D Denzik

Electronic Theses and Dissertations

This study involves the evaluation of lattice specimens fabricated using additive manufacturing as well as investigation of the influence of unit cell connection geometry. Lattice topologies of face-centered cells and body-centered cells were modeled, investigated using finite element analysis (FEA) for each specimen, manufactured using direct metal laser sintering (DMLS) with maraging steel powder, and mechanically tested. The strut diameter of each topology was altered to yield four different mass reductions from a solid cube, ranging from 55%-90% mass reduction. Three iterations of 1000mm3 lattice specimens were investigated. The first iteration consisted 0.5mm plates on the top and bottom …


Ego-Localization Navigation For Intelligent Vehicles Using 360° Lidar Sensor For Point Cloud Mapping, Tyler Naes Jan 2017

Ego-Localization Navigation For Intelligent Vehicles Using 360° Lidar Sensor For Point Cloud Mapping, Tyler Naes

Electronic Theses and Dissertations

With its prospects of reducing vehicular accidents and traffic in highly populated urban areas by taking the human error out of driving, the future in automobiles is leaning towards autonomous navigation using intelligent vehicles. Autonomous navigation via Light Detection And Ranging (LIDAR) provides very accurate localization within a predefined, a priori, point cloud environment that is not possible with Global Positioning System (GPS) and video camera technology. Vehicles may be able to follow paths in the point cloud environment if the baseline paths it must follow are known in that environment by referencing objects detected in the point cloud …