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Multiwavelength Studies Of Rotating Radio Transients, Joshua J. Miller
Multiwavelength Studies Of Rotating Radio Transients, Joshua J. Miller
Graduate Theses, Dissertations, and Problem Reports (ETD)
Seven years ago, a new class of pulsars called the Rotating Radio Transients (RRATs) was discovered with the Parkes radio telescope in Australia (McLaughlin et al., 2006). These neutron stars are characterized by strong radio bursts at repeatable dispersion measures, but not detectable using standard periodicity-search algorithms. We now know of roughly 100 of these objects, discovered in new surveys and re-analysis of archival survey data. They generally have longer periods than those of the normal pulsar population, and several have high magnetic fields, similar to those other neutron star populations like the X-ray bright magnetars. However, some of the …
Effect Of Head Width, Head Height And Clamp Force On The Noise Reduction Provided By Two Different Styles Of Earmuffs, Jonathan R. Lewin
Effect Of Head Width, Head Height And Clamp Force On The Noise Reduction Provided By Two Different Styles Of Earmuffs, Jonathan R. Lewin
Graduate Theses, Dissertations, and Problem Reports (ETD)
Earmuffs provide necessary protection from the hazardous effects of noise for workers and the general population. The wearability and effectiveness of these devices is crucial for protection of hearing in noisy conditions. One component critical to the function of the earmuff is the clamp force that keeps the earmuff securely against the head and around the pinna. This clamp force must be high enough to provide a good seal, but not so high that it makes the muff uncomfortable. This study investigated the relationship between noise reduction (NR) and the force on the ear. This force was incrementally varied by …
Microbial Genome Evolution Due To Multifaceted Symbiosis Within The Tsetse Fly (Diptera: Glossinidae), Anna Kathleen Snyder
Microbial Genome Evolution Due To Multifaceted Symbiosis Within The Tsetse Fly (Diptera: Glossinidae), Anna Kathleen Snyder
Graduate Theses, Dissertations, and Problem Reports (ETD)
Microbes are capable of rapid genetic modification, enabling the habitation of a wide field of niches, including forming interdependent associations with macroscopic hosts. While ancient multipartite mutualisms have been shown to involve metabolic complementation, little is known concerning the early genomic adaptations leading towards co-residence within a novel host. The overall objective of this research is to gain insight on genome evolution resulting from symbiosis, particularly by examining bacteria with varying levels of host dependency and times of establishment. The tsetse fly (Diptera: Glossinidae) serves as a relatively simple model system to investigate evolutionary aspects of symbiosis, while also maintaining …
Machine-Vision-Based Pose Estimation System Using Sensor Fusion For Autonomous Satellite Grappling, Andres Felipe Velasquez Escandon
Machine-Vision-Based Pose Estimation System Using Sensor Fusion For Autonomous Satellite Grappling, Andres Felipe Velasquez Escandon
Graduate Theses, Dissertations, and Problem Reports (ETD)
When capturing a non-cooperative satellite during an on-orbit satellite servicing mission, the position and orientation (pose) of the satellite with respect to the servicing vessel is required in order to guide the robotic arm of the vessel towards the satellite. The main objective of this research is the development of a machine vision-based pose estimation system for capturing a non-cooperative satellite. The proposed system finds the satellite pose using three types of natural geometric features: circles, lines and points, and it merges data from two monocular cameras and three different algorithms (one for each type of geometric feature) to increase …
Using A Three-Dimensional Model To Understand Age Differences In The Framing Effect, Tara E. Karns
Using A Three-Dimensional Model To Understand Age Differences In The Framing Effect, Tara E. Karns
Graduate Theses, Dissertations, and Problem Reports (ETD)
The present study used a between-subjects design with three instruction conditions to investigate susceptibility to the framing effect among younger, middle-aged, and older adults. Participants were instructed to pay attention to the facts and numbers, to use their gut feelings, or to use their previous experiences to respond to two decision-making scenarios pertaining to treatment for lung cancer and a vaccination for a flu virus. Results revealed that, overall, the framing effect was present in the lung cancer scenario, but not the flu scenario. Instruction condition and age did not affect susceptibility to the framing effect; however, a frame by …
Stressors And Coping Behaviors Of Female Peer Leaders Participating In College Club Sports, Leigh A. Bryant
Stressors And Coping Behaviors Of Female Peer Leaders Participating In College Club Sports, Leigh A. Bryant
Graduate Theses, Dissertations, and Problem Reports (ETD)
Peer leadership positions on collegiate club sport teams can be valuable opportunities for students to develop leadership skills, maintain healthy habits, create friendships, and foster organizational and personal connections across the university setting. Nevertheless, involvement in club sports can create stress over and above the many stressors that college students may encounter during their undergraduate experience. This study focused on exploring female leaders' perceived stressors inside and outside of the sport setting, and the ways in which they coped with them. Participants ( N = 7) were interviewed based on nominations from their respective teammates. Interviews were conducted using a …
Human Action Recognition In Still Images, Biyun Lai
Human Action Recognition In Still Images, Biyun Lai
Graduate Theses, Dissertations, and Problem Reports (ETD)
Recently still image-based human action recognition has become an active research topic in computer vision and pattern recognition. It focuses on identifying a person's action or behavior from a single image. Unlike the traditional action recognition approaches where videos or image sequences are used, a still image contains no temporal information for action characterization. It is more challenging to perform still image-based action recognition than the video-based, given the limited source of information as well as the cluttered background for images collected from the Internet.;Based on the emerging research in recent years, we dig into all possible cues from a …
Embedded Nanosensors For Defect Identification Using Flexible, Optically Transparent, Deformation Responsive Wrinkled Single Walled Carbon Nanotube Meshes, Pallavi Anipindi
Embedded Nanosensors For Defect Identification Using Flexible, Optically Transparent, Deformation Responsive Wrinkled Single Walled Carbon Nanotube Meshes, Pallavi Anipindi
Graduate Theses, Dissertations, and Problem Reports (ETD)
Most structures such as buildings, pipelines carrying natural gas, nuclear plant cooling tanks and so forth are made of concrete. In vivo detection of the onset of cracks and voids in these concrete structures have many barriers and neglecting those could lead to failure of structures causing loss of properties and damage to lives. Embedded single walled carbon nanotubes (SWCNTs) with exceptional mechanical, optical, and electrical properties can be utilized in overcoming these barriers. This type of NDT technique can monitor the potential for failure in concrete structures by allowing us to monitor the cracks from the atomistic level. It …
Trauma, Memory And Victimhood: Estonia And The Holocaust, 1998-2012, Paul Oliver Stocker
Trauma, Memory And Victimhood: Estonia And The Holocaust, 1998-2012, Paul Oliver Stocker
Graduate Theses, Dissertations, and Problem Reports (ETD)
Memory of the traumatic Soviet past has both dominated the politics of history in Estonia and been a key determining factor in building a national post-Soviet European identity. As a result, the Holocaust in Estonia has played a less substantial role in both scholarship, and public debate, specifically regarding the nature of local participation in the elimination of Jewish life in Estonia. The subject was catapulted onto the national political agenda in alignment with integration to both NATO and the EU, which clearly viewed Estonia's coming to terms with the event as a matter of importance upon its arrival into …
Data Carving: Identifying And Removing Irrelevancies In The Data, Vasil Papakroni
Data Carving: Identifying And Removing Irrelevancies In The Data, Vasil Papakroni
Graduate Theses, Dissertations, and Problem Reports (ETD)
Data mining has been successfully applied in the recent decades to automatically discover valuable hidden patterns from vast data. However, the current data mining approaches almost exclude business users from the process of knowledge discovery. Most of the learning algorithms operate as "black-boxes", which give predictions based on some input, without giving any hint on how they make their decisions. Moreover, their output is often difficult to interpret or understand by business users.;This thesis explores how to facilitate the users' engagement in the process of data analysis. We present PEEKING2, which combines a set of data reduction and data transformation …
Discrete Time Dynamic Traffic Assignment Models With Lane Reversals For Evacuation Planning, Yeh-Ern Poh
Discrete Time Dynamic Traffic Assignment Models With Lane Reversals For Evacuation Planning, Yeh-Ern Poh
Graduate Theses, Dissertations, and Problem Reports (ETD)
In an event of a natural or man-made disaster, an evacuation is likely to be called for to move residents away from potentially hazardous areas. Road congestion and traffic stalling is a common occurrence as residents evacuate towns and cities for safe refuges. Lane reversal, or contra-flow, is a remedy to increase outbound flow capacities from disaster areas which in turn will reduce evacuation time of evacuees during emergency situations. This thesis presents a discrete-time traffic assignment system with lane reversals which incorporates multiple sources and multiple destinations to predict optimal traffic flow at various times throughout the entire planning …
Corrosion Fatigue Crack Propagation Of Oil-Grade Alloy 718 In Nacl Solution, Jared S. Nutter
Corrosion Fatigue Crack Propagation Of Oil-Grade Alloy 718 In Nacl Solution, Jared S. Nutter
Graduate Theses, Dissertations, and Problem Reports (ETD)
Nickel-based alloy 718 was originally developed for use in aircraft gas turbine engines, where there was a need for low cost, high temperature superalloys. Today, alloy 718 has evolved into a special grade (oilgrade) for use in the oil and gas industry for deep sea oil drilling where its good corrosion resistance and customization of mechanical properties via heat treatments are highly sought out. In recent decades, oil-grade Alloy 718 has been directly used in bottom-hole assembly components such as measurement while drilling tools and drill collars, where it applies a combination of good corrosion resistance, high fatigue/corrosion fatigue strength, …
The Effect Of Surgical Guides On Heat Generation During Guided Implant Surgery: An In Vitro Study, Safa Tahmasebi
The Effect Of Surgical Guides On Heat Generation During Guided Implant Surgery: An In Vitro Study, Safa Tahmasebi
Graduate Theses, Dissertations, and Problem Reports (ETD)
Purpose: The purpose of this in vitro study was to evaluate the heat generated in bone by one implant drill system with and without using surgical drill guides. Temperature elevation during guided surgery was compared to that of conventional drilling in bovine femur specimens. Significant differences in temperature elevation between conventional osteotomy and guided surgical osteotomy were examined.;Materials and Methods: Conventional and Surgically guided osteotomies were performed in 117 randomized measurements with K type thermocouples in an in-vitro study using bovine cortical bone. Using an internally and externally irrigated implant system, intermittent drilling at 2- second intervals at a constant …
A Study Of Exploiting Objectness For Robust Online Object Tracking, Raghu Kiran Yalamanchili
A Study Of Exploiting Objectness For Robust Online Object Tracking, Raghu Kiran Yalamanchili
Graduate Theses, Dissertations, and Problem Reports (ETD)
Tracking is a fundamental problem in many computer vision applications. Despite the progress over the last decade, there still exist many challenges especially when the problem is posed in real world scenarios (e.g., cluttered background, occluded objects). Among them drifting has been widely observed to be a problem common to the class of online tracking algorithms - i.e., when challenges such as occlusion or nonlinear deformation of the object occurs, the tracker might lose the target completely in subsequent frames in an image sequence. In this work, we propose to exploit the objectness to partially alleviate the drifting problem with …
Effect Of Delmopinol Hydrochloride On Endodontic Biofilm, Gabriel M. Holley
Effect Of Delmopinol Hydrochloride On Endodontic Biofilm, Gabriel M. Holley
Graduate Theses, Dissertations, and Problem Reports (ETD)
Background: The ideal goal of endodontic therapy is to decrease the microbial load within the root canal system followed by the placement of a hermetic seal of the apical portion of the root. Sodium hypochlorite (NaOCl) has long been considered the gold standard for disinfecting root canals, but, the presence of a persistent intraradicular biofilm in properly cleaned and shaped canals has led to the need of development for adjunct irrigant targeting these complex structures. Objectives: The purpose of this study was to compare the effects on the biofilm of NaOCl and delmopinol hydrochloride (DH), a new FDA approved oral …
Analog Signal Buffering And Reconstruction, Brandon M. Kelly
Analog Signal Buffering And Reconstruction, Brandon M. Kelly
Graduate Theses, Dissertations, and Problem Reports (ETD)
Wireless sensor networks (WSNs) are capable of a myriad of tasks, from monitoring critical infrastructure such as bridges to monitoring a person's vital signs in biomedical applications. However, their deployment is impractical for many applications due to their limited power budget. Sleep states are one method used to conserve power in resource-constrained systems, but they necessitate a wake-up circuit for detecting unpredictable events. In conventional wake-up-based systems, all information preceding a wake-up event will be forfeited. To avoid this data loss, it is necessary to include a buffer that can record prelude information without sacrificing the power savings garnered by …
Parents' Perspectives, Observations, And Interpretations Of: Cancer-Related Fatigue And How The Symptom Shapes Their Child's Day-To-Day Quality Of Life, Tina Antill Keener
Parents' Perspectives, Observations, And Interpretations Of: Cancer-Related Fatigue And How The Symptom Shapes Their Child's Day-To-Day Quality Of Life, Tina Antill Keener
Graduate Theses, Dissertations, and Problem Reports (ETD)
Fatigue is a common and distressing symptom of childhood cancer that is often viewed as an inevitable part of cancer treatment and under assessed in clinical practice. Yet, cancer-related fatigue can disrupt normal childhood development and family functioning, as well as, signal serious complications of cancer and its treatment. Little is known about fatigue and quality of life among children undergoing cancer treatment in outpatient settings. This qualitative descriptive study explored parents' observations and interpretations of cancer-related fatigue and how it shaped their child's day-to-day quality of life during cancer treatment. Eleven participant interviews were gathered from parents of children …
Development Of Carbonaceous Chemistry For Computational Modeling (C3m) With Application Of Uncertainty Quantification (Uq) Analysis For Coal Gasification Kinetics In Computational Fluid Dynamics (Cfd) Modeling, Kiran P Chaudhari
Graduate Theses, Dissertations, and Problem Reports (ETD)
In association with Department of Energy.s National Energy Technology Laboratory (NETL), a software platform entitled Carbonaceous Chemistry for Computational Modeling (C3M) that can access a variety of kinetic processes and reaction mechanisms typically found in coal gasification, gas clean-up, and carbon capture processes, has been developed to overcome the limitations in terms of applicable operating conditions and fuel types. It interfaces with CFD software such as Multiphase Flow with Interphase Exchanges (MFIX) developed at NETL, ANSYS-FLUENT by ANSYS Inc., and BARRACUDA by CPFD Software and provides relevant parameters to simulate chemical kinetics and/or to replicate laboratory data. The reaction kinetics …
Complete Hamstring Rehabilitation Program For Division I Football Athletes, Caitlin Mcfadden
Complete Hamstring Rehabilitation Program For Division I Football Athletes, Caitlin Mcfadden
Graduate Theses, Dissertations, and Problem Reports (ETD)
Context: Hamstring strains, primarily grade one and two strains, are represented in the literature. However, there is contradicting evidence-based research for rehabilitation of the hamstring as well as limited evidence-based research for preventing de-conditioning of the entire body during the rehabilitation process. Objective: This study combined evidence-based practice and the best clinical experienced to: 1) design a complete program to rehabilitate the hamstring complex and prevent de-conditioning of the entire body with involvement of hamstring researchers, strength and conditioning and athletic training professions; and 2) determine the inclusion of concepts and components of a Five Phase Recovery Process incorporated in …
Chalcopyrite Semiconductors As Sources For Terahertz Spectroscopy, Joseph D. Rowley
Chalcopyrite Semiconductors As Sources For Terahertz Spectroscopy, Joseph D. Rowley
Graduate Theses, Dissertations, and Problem Reports (ETD)
This dissertation summarizes a first effort to address the suitability of chalcopyrite structured semiconductors for efficient and broadband terahertz (THz) pulse emission by optical rectification. The experiments demonstrate that ZnGeP2, a chalcopyrite semiconductor showing improved growth quality in recent decades [1,2], is a promising source for THz spectroscopy while also addressing general fundamental questions concerning the nonlinear generation process in chalcopyrite semiconductors. Beyond ZnGeP2, the potential of other chalcopyrite structured semiconductors for THz emission is examined in the context of calculated phase-matching characteristics, onset pump wavelength of multiphoton absorption, and tabulated second-order nonlinear coefficients. Based on these, CdGeP2 is determined …
Lessons In Modeling, Preventing, And Treating Neural Injury: Improving Bench-To- Bedside Translation, Ryan Coddington Turner
Lessons In Modeling, Preventing, And Treating Neural Injury: Improving Bench-To- Bedside Translation, Ryan Coddington Turner
Graduate Theses, Dissertations, and Problem Reports (ETD)
The translation of therapeutic agents for ischemic stroke and traumatic brain injury from the preclinical laboratory to clinical trials has been fraught with failure as evident by the 1,000+ preclinical studies that have failed to translate to a proven therapeutic clinically. Numerous potential reasons for these shortcomings have been identified and include the use of animal models that fail to capture clinically relevant risk factors or injury parameters, targeting of pathological events occurring rapidly after injury but before the likely time of patient presentation for treatment, emphasis on acute rather than chronic outcome measures, and mismatch in outcome measures used …
Implementation And Evaluation Of A Practice Change Incorporating A Weight Loss Strategy For Adolescent Patients With A Bmi Percentile In The Overweight And/Or Obese Category, Anita C. Fouch
Graduate Theses, Dissertations, and Problem Reports (ETD)
Background: Adolescent obesity has become an epidemic nationwide and globally. In Ohio, rates of obesity among African American, Hispanic and other minority students continues to rise. Adolescent obesity increases the risk of developing co-morbid health issues, such as Type II Diabetes Mellitus (T2DM), hypertension (HTN) and fatty liver disease.;Objective: To implement and evaluate a practice change incorporating a weight loss strategy in a large pediatric gastroenterology clinic for adolescent patients with a body mass index percentile (BMI) in the overweight and/or obese category.;Method: The capstone project practice change involved the use of a nosugaradded beverages weight loss strategy used by …
Evaluation Of The Effectiveness Of Healthy Me A Nutritional And Exercise Program For African American Adolescents In An Urban School Utilizing The Cope/Teen Program, Patricia D Setlow
Evaluation Of The Effectiveness Of Healthy Me A Nutritional And Exercise Program For African American Adolescents In An Urban School Utilizing The Cope/Teen Program, Patricia D Setlow
Graduate Theses, Dissertations, and Problem Reports (ETD)
Background.;Obesity, a preventable and reversible condition, increases the risk of type 2 diabetes, hypertension, and hyperlipidemia, while decreasing both life expectancy and quality of life (U.S. Department of Health And Human Services, 2001). The national obesity rate for adolescents ages 12-19 years was 18.1% in the 2007-2008 period, a significant change from 6.1% in the early 70's (CDC, 2009). According to Barlow (2007) these figures have sounded alarms for all involved in the health care of children and adolescents.;Objectives.;The purpose of this pilot program was to assess the effectiveness of providing nutritional education and exercise opportunities for African American adolescents …
Experimental Investigation Of The Vibrational And Thermal Response Of A Laser Spark Plug, Gregory S. Yoder
Experimental Investigation Of The Vibrational And Thermal Response Of A Laser Spark Plug, Gregory S. Yoder
Graduate Theses, Dissertations, and Problem Reports (ETD)
A study was conducted in order to evaluate the external thermal and vibrational effects on the operation of a laser ignition system for internal combustion (IC) engine applications. West Virginia University (WVU) in conjunction with the National Energy Technology Laboratory (NETL) have constructed a prototype laser spark plug which has been designed to mount directly onto the head of a natural gas engine for the purpose of igniting an air/fuel (A/F) mixture in the engine's combustion chamber. To be considered as a viable replacement for the conventional electrode-based ignition system, integrity, durability and reliability must be justified. Thermal and oscillatory …
Formulation And Evaluation Of A Novel Irrigant For The Disinfection Of Root Canals Using A Candida Albicans Biofilm Model, Dustin S. Reynolds
Formulation And Evaluation Of A Novel Irrigant For The Disinfection Of Root Canals Using A Candida Albicans Biofilm Model, Dustin S. Reynolds
Graduate Theses, Dissertations, and Problem Reports (ETD)
An important goal of root canal therapy is elimination of microorganisms which are usually organized into a biofilm phenotype. Irrigants play an indispensable role in areas inaccessible to mechanical instrumentation. In this study, a novel endodontic irrigant was formulated composed of a penetrating solvent, 70% Dimethyl sulfoxide (DMSO), with a 1:1 molar ratio of an antibiotic (Clindamycin HCl) and antifungal agent (Nystatin). Nuclear Magnetic Resonance Spectroscopy (NMR) stability tests were conducted to prove the mixture was chemically stable. This study compared different concentrations of the novel irrigant to 6% sodium hypochlorite (NaOCl) using a C. albicans biofilm model. Furthermore, it …
Thrombospondin: An Emerging Keystone In Skeletal Muscle Structure And Function, Gerald Nelson Audet
Thrombospondin: An Emerging Keystone In Skeletal Muscle Structure And Function, Gerald Nelson Audet
Graduate Theses, Dissertations, and Problem Reports (ETD)
Our objective was to elucidate the effects of TSP-1 on skeletal muscle structure and function, and its potential role in the progression of skeletal muscle dysfunction. The central hypothesis was that TSP-1 is a critical negative regulator of skeletal muscle angiogenesis. In chapter 3, we used a TSP-1 mimetic delivered by mini osmotic pumps to show that TSP-1 can reduce capillarity across three distinct muscle types. We found that those given the mimetic had a 35% decrease in soleus capillarity, a 20% decrease in the gastrocnemius, and an 11% decrease in the plantaris. This confirmed the critical role that TSP-1 …
Emulation Of Equal Open Access And Competition Creation In The Wireline Telecommunications Local And Last Mile Market Segments, Daniel L. Van Epps
Emulation Of Equal Open Access And Competition Creation In The Wireline Telecommunications Local And Last Mile Market Segments, Daniel L. Van Epps
Graduate Theses, Dissertations, and Problem Reports (ETD)
Expanded telecommunications was deemed a serious need for end users. The "Local Market" and "Last Mile" market segments have largely consolidated into "natural utilities". Competition and access problems occur if new providers enter the local market and desire competitive access and service to end users. Local and last mile telecommunications market structures are believed to be significantly responsible for inhibiting achievement of a more perfect marketplace. The purpose of this study was to examine potential solutions from laboratory network emulation results addressing the research question "Can equal open access and competition for all users be created in the telecommunications local …
Examining Ohv User Displacement At The Oregon Dunes National Recreation Area: A Ten Year Trend Study, Candice J. Riley
Examining Ohv User Displacement At The Oregon Dunes National Recreation Area: A Ten Year Trend Study, Candice J. Riley
Graduate Theses, Dissertations, and Problem Reports (ETD)
Off-highway vehicle (OHV) use has become an increasingly popular form of recreation among users in national forest land in recent years. This increased use of OHVs on National Forest land has led to numerous environmental and social impacts, leading land managers to resort to restrictive management policies to contend with the impacts. The purpose of this research is to combine data from three cross-sectional surveys (2002, 2006, and 2011) to examine OHV user displacement and other trends at ODNRA/Sand Lake. This paper uses Descriptive statistics, Chi Square, Analysis of Variance, and Structural Equation Modeling to determine relationships between the following …
The Involvement Of Sigma Receptor Modulation In The Antidepressant Effects Of Ketamine And The Neurotoxic Actions Of Methamphetamine, Matthew J. Robson
The Involvement Of Sigma Receptor Modulation In The Antidepressant Effects Of Ketamine And The Neurotoxic Actions Of Methamphetamine, Matthew J. Robson
Graduate Theses, Dissertations, and Problem Reports (ETD)
Depression is estimated to affect at least 30% of the world's population at some point during their lives. Currently marketed antidepressants require a period of at least 2 to 3 weeks to display any antidepressant effects in clinical populations and rates of clinical resistance to the antidepressant effects of these drugs are high. Ketamine is an N-methyl-D-aspartate (NMDA) antagonist and dissociative anesthetic that has been shown to display rapid acting and prolonged antidepressant activity in smallscale human clinical trials. Ketamine also binds to sigma receptors, which are believed to be protein targets for a potential new class of antidepressant medications. …
Development Of An Integrated Intelligent Multi -Objective Framework For Uav Trajectory Generation, Jennifer Nicole Wilburn
Development Of An Integrated Intelligent Multi -Objective Framework For Uav Trajectory Generation, Jennifer Nicole Wilburn
Graduate Theses, Dissertations, and Problem Reports (ETD)
This thesis explores a variety of path planning and trajectory generation schemes intended for small, fixed-wing Unmanned Aerial Vehicles. Throughout this analysis, discrete and pose-based methods are investigated. Pose-based methods are the focus of this research due to their increased flexibility and typically lower computational overhead.;Path planning in 3 dimensions is also performed. The 3D Dubins methodology presented is an extension of a previously suggested approach and addresses both the mathematical formulation of the methodology, as well as an assessment of numerical issues encountered and the solutions implemented for these.;The main contribution of this thesis is a 3-dimensional clothoid trajectory …