Engineering Commons^™

Experimental Nonlinear Tracking Control For Nonholonomic Mobile Robots With Input Constraints, Timothy Mclain, Randal W. Beard, Wei Ren, Ji-Sang Sun

Faculty Publications

This paper presents experimental results of nonlinear trajectory tracking controllers for nonholonomic mobile robots with fixed-wing UAV-like input constraints. Programmed to emulate an unmanned air vehicle flying at constant altitude, a nonholonomic mobile robot is assigned to follow a desired trajectory to transition through a sequence of targets in the presence of static and dynamic threats. Two velocity controllers with input constraints are proposed for tracking control. Hardware results using these two velocity controllers are compared to simulation results of dynamic controllers based on nonsmooth backstepping to demonstrate the effectiveness of our approach.

Slides: Tightening Water Supplies, Kay Brothers

Hard Times on the Colorado River: Drought, Growth and the Future of the Compact (Summer Conference, June 8-10)

Presenter: Kay Brothers, Southern Nevada Water Authority.

40 slides.

Slides: "Tightening Water Supplies”: Arizona And The Lower Basin States, Herb Guenther

Hard Times on the Colorado River: Drought, Growth and the Future of the Compact (Summer Conference, June 8-10)

Presenter: Herb Guenther, Arizona Department of Water Resources.

31 slides.

Slides: So What If It’S Called “All-American”, Malissa Hathaway Mckeith, Bob Johnson

Hard Times on the Colorado River: Drought, Growth and the Future of the Compact (Summer Conference, June 8-10)

Presenter: Malissa Hathaway McKeith, Lewis Brisbois Bisgaard & Smith LLP.

Respondent on US-Mexico Issues and Other Lower Basin Matters: Bob Johnson, US Bureau of Reclamation.

15 slides and 12 pages.

Contains references.

Slides: Do The Upper Basin States Have Enough Water To Grow?: Is There Enough Water To Go Around?, Don A. Ostler

Hard Times on the Colorado River: Drought, Growth and the Future of the Compact (Summer Conference, June 8-10)

Presenter: Don A. Ostler, Upper Colorado River Commission.

24 slides.

Slides: Response Of The System To Various Hydrological And Operational Assumptions: Reclamation Modeling Results, Terry Fulp

Hard Times on the Colorado River: Drought, Growth and the Future of the Compact (Summer Conference, June 8-10)

Presenter: Terry Fulp, US Bureau of Reclamation.

43 slides.

Slides: Crss Lite: Screening Model For Operating Policy Evaluation And Negotiation On The Colorado River Basin, Carly Jerla

Hard Times on the Colorado River: Drought, Growth and the Future of the Compact (Summer Conference, June 8-10)

Presenter: Carly Jerla, US Bureau of Reclamation.

17 slides.

Agenda: Hard Times On The Colorado River: Drought, Growth And The Future Of The Compact, University Of Colorado Boulder. Natural Resources Law Center, Western Water Assessment (Program), Colorado Water Conservation Board, Center For Advanced Decision Support For Water And Environmental Systems, Hydrosphere Resource Consultants, Rocky Mountain Mineral Law Foundation, Colorado Foundation For Water Education, Patrick, Miller & Kropf, P.C., William & Flora Hewlett Foundation

Hard Times on the Colorado River: Drought, Growth and the Future of the Compact (Summer Conference, June 8-10)

Sponsors and Contributors: Colorado Water Conservation Board, Center for Advanced Decision Support for Water and Environmental Systems, Western Water Assessment, CU-CIRES/NOAA, Hydrosphere Resource Consultants, Rocky Mountain Mineral Law Foundation, Colorado Foundation for Water Education, Patrick, Miller & Kropf, P.C., William and Flora Hewlett Foundation.

The Colorado River is approaching a crossroads. For the first time in its history, satisfying water demands in one state may require curtailing legally-recognized uses in another. This is not the first instance of water shortages in the region, and conflict among the seven Colorado River states is certainly not new. But the potential shortages on …

Slides: Drought, Climate Change And Water Supply Vulnerability, Brad Udall

Hard Times on the Colorado River: Drought, Growth and the Future of the Compact (Summer Conference, June 8-10)

Presenter: Brad Udall, Western Water Assessment.

66 slides.

Autologous Fibrinogen Purification And Concentration For Use In Fibrin Sealant, Steven M. Alston

Theses and Dissertations

Fibrinogen concentrates are used widely as a sealant during and after surgery to reduce blood loss. Commercially available fibrin sealants are made from pooled human blood, which carries the risk of blood-borne diseases, and are expensive. These concerns have brought to focus the need for autologous fibrinogen concentrates. This need has been addressed by utilizing a unique approach in which fibrinogen is precipitated from plasma with protamine. The physical properties of fibrin sealant prepared from fibrinogen precipitated with protamine were evaluated. The optimal precipitation conditions included a plasma protamine concentration of 10 mg/mL at room temperature. Under these conditions 96% …

System And Method For Differential Data Collection, Jack P. Glas, Vladimir I. Prodanov

Electrical Engineering

The present invention is directed towards a data detector for deriving a data signal from an incoming radio frequency input. The data detector comprises a delay logic which receives an unfiltered signal in quadrature and in-phase components, and applies a delay to each of the in-phase and quadrature phase components of the unfiltered input signal. The detector further comprises a first multiplication logic that multiplies the delayed in-phase component of the unfiltered signal by the quadrature phase component of the unfiltered signal to obtain a first result, and a second multiplication logic that multiplies the delayed quadrature phase component of …

Damage Localization In Ambient Vibration By Constructing Proportional Flexibility Matrix, Zhongdong Duan, Guirong Yan, Jinping Ou, B. F. Spencer

Civil, Architectural and Environmental Engineering Faculty Research & Creative Works

Damage Localization Approaches based on Changes of Flexibilities Constitute an Important Technique for Damage Detection. However, the Unavailability of Flexibility Matrix with Output-Only Data Makes Flexibility-Based Approaches Not Really Applicable in the Very Important Cases of Ambient Vibrations. an Algorithm is Presented to Construct a Proportional Flexibility Matrix (PFM) from a Set of Arbitrarily Scaled Tested Modal Shapes and Modal Frequencies. the Constructed PFM is Just within a Scalar Multiplier to the Real Flexibility Matrix, and the Scalar Multiplier is Theoretically the First Modal Mass, Which is Undetermined Before the Mode is Properly Scaled. Instead of Real Flexibilities, the PFMs …

Weathering Effects On Biodegradation And Toxicity Of Hydrocarbons In Groundwater, Marie G. Dreyer, Yarrow M. Nelson, Christopher L. Kitts

Civil and Environmental Engineering

This study examined the effect of weathering on hydrocarbon biodegradation and toxicity at a former oil field near Guadalupe, California. Soil and groundwater at this site contains residual diesel-range hydrocarbons formerly used to dilute the viscous crude oil to facilitate pumping (Lundegard and Garcia, 2001). Natural attenuation is being considered at this site as a means of remediating residual hydrocarbons in soil and groundwater. To provide the lines of evidence required for use of natural attenuation at this site, this research was undertaken to determine if the hydrocarbons continue to be biodegradable after extensive weathering in the field. Observed hydrocarbon …

A Suggested Mortgage System Model For Egypt, Mohamed Mohamed Galal El-Barkouky

Archived Theses and Dissertations

This research tackled various gaps that existed in the Egyptian mortgage practice system pertaining to non-standardized loan underwriting procedure, inefficiency of mortgage brokers and real estate agents, absence of appraisal standards and qualifications, unclear land titles, inefficient procedure of property registration, absence of a qualified mortgage secondary market and lack of credit enhancement tools. Also, nonexistence of various types of mortgage instruments, relatively high mortgage lending rate, inefficient mortgage subsidies, unverified means of foreclosure were major areas of concern in the Egyptian mortgage practice system that were commented on. The study presents recommendations for improvements to the existing Egyptian mortgage …

Fouling Mitigation By Design, J. M. Nesta, C. A. Bennett

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Mathematical Modeling Of Deposition Of Carbonaceous Material From Heavy Hydrocarbon Vapors, Wenxing Zhang, A. Paul Watkinson

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Deposit Formation In The Evaporator Of A Sulphuric Acid Recovery Plant For Tio 2 Pigment Production, H. Müller-Steinhagen, D. Lancefield

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Fouling Behavior Of Pyrolysis Gasoline Over Carbon Steel And Stainless Steel Alloys, Michael Sprague, Patricio Herrera, Andrzej Krzywicki

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Deposition From Crude Oils In Heat Exchangers, A. Paul Watkinson

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Development And Evaluation Of Ni–Cu–P–Ptfe Composite Coatings To Minimize Microbial Adhesion, Q. Zhao, Y. Liu, C. Wang, S. Wang, Hans M. Müller-Steinhagen

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Fouling Mitigation Of A Reboiler By Optimization Of Additive And Operating Conditions, Shinji Isogai, Mitsutaka Nakamura

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Ten Years Of Ebert, Panchal And The ‘Threshold Fouling’ Concept, D. I. Wilson, G. T. Polley, S. J. Pugh

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Particulate Fouling Growth Rate As Influenced By The Change In The Fouling Layer Structure, M. S. Abd-Elhady, C.C. M. Rindt, J. G. Wijers, A. A. Van Steenhoven

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

A Preliminary Study Of The Effect Of Surface Coating On The Initial Deposition Mechanisms Of Dairy Fouling, S. S. Ramachandra, S. Wiehe, M. M. Hyland, X. D. Chen, B. Bansal

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Extraction Of Crude Oil Fouling Model Parameters From Plant Exchanger Monitoring, G. T. Polley, D. I. Wilson, S. J. Pugh, E. Petitjean

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

The Fouling Of Alloy-800 Heat Exchanger Tubes By Nickel Ferrite Under Bulk Boiling Conditions, J. J. Cossaboom, D. H. Lister

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Anti-Fouling Stainless Steel Based Surfaces For Milk Heating Processes, R. Rosmaninho, G. Rizzo, H. Müller-Steinhagen, L. F. Melo

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Blending Effects On Fouling Of Four Crude Oils, Z S. Saleh, R. Sheikholeslami, A. Paul Watkinson

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Analytical Approaches For Calculation Of Shear Stress Enhancement In Laminar Pulsed Flows, M. S. Celnik, M. J. Patel, M. Pore, F. Brahim, W. Augustin, S. Scholl, D. M. Scott, D. I. Wilson

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.

Today’S Techniques For Heat Exchanger Protection Via Particle Filtration, Kathy Colby, Caroline Hoffman

Heat Exchanger Fouling and Cleaning - Challenges and Opportunities

No abstract provided.