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Articles 1021 - 1050 of 5375
Full-Text Articles in Engineering
A Cross-Layer Modification To The Dsr Routing Protocol In Wireless Mesh Networks, Mustafa Ramadhan
A Cross-Layer Modification To The Dsr Routing Protocol In Wireless Mesh Networks, Mustafa Ramadhan
Doctoral
A cross-layer modification to the DSR routing protocol that finds high throughput paths in WMNs has been introduced in this work. The Access Efficiency Factor (AEF) has been introduced in this modification as a local congestion avoidance metric for the DSR routing mechanism as an alternative to the hop count (Hc) metric. In this modification, the selected path is identified by finding a path with the highest minimum AEF (max_min_AEF) value. The basis of this study is to compare the performance of the Hc and max_min_AEF as routing metrics for the DSR protocol in WMNs using the OPNET modeler. Performance …
Pole Arrangements That Introduce Prismatic Joints Into The Design Space Of Four- And Five-Position Rigid-Body Synthesis, David H. Myszka, Andrew P. Murray
Pole Arrangements That Introduce Prismatic Joints Into The Design Space Of Four- And Five-Position Rigid-Body Synthesis, David H. Myszka, Andrew P. Murray
Mechanical and Aerospace Engineering Faculty Publications
Although a general five-position, rigid-body guidance problem admits a discrete number of revolute–revolute (RR) dyads, this paper identifies arrangements of five task positions that result in a center-point curve. For these special arrangements, a one-dimensional set of revolute-prismatic (RP) dyads exist to achieve the task positions. Other five-position arrangements are identified where a one-dimensional set of prismatic-revolute (PR) dyads exist to achieve the task positions. For a general case of five task positions, neither PR nor RP dyads are possible. In a general case of four-position rigid-body guidance problems, a unique PR dyad and RP dyad exist. Four-position arrangements are …
Differential Regulation Of Immature Articular Cartilage Compressive Moduli And Poisson's Ratios By In Vitro Stimulation With Igf-1 And Tgf-Β1, Gregory M. Williams, Kristin J. Dills, Christian R. Flores, Michael E. Stender, Kevin M. Stewart, Lauren M. Nelson, Albert C. Chen, Koichi Masuda, Scott J. Hazelwood, Stephen M. Klisch, Robert L. Sah
Differential Regulation Of Immature Articular Cartilage Compressive Moduli And Poisson's Ratios By In Vitro Stimulation With Igf-1 And Tgf-Β1, Gregory M. Williams, Kristin J. Dills, Christian R. Flores, Michael E. Stender, Kevin M. Stewart, Lauren M. Nelson, Albert C. Chen, Koichi Masuda, Scott J. Hazelwood, Stephen M. Klisch, Robert L. Sah
Biomedical Engineering
Mechanisms of articular cartilage growth and maturation have been elucidated by studying composition-function dynamics during in vivo development and in vitro culture with stimuli such as insulin-like growth factor-1 (IGF-1) and transforming growth factor-beta 1 (TGF-β1). This study tested the hypothesis that IGF-1 and TGF-β1 regulate immature cartilage compressive moduli and Poisson’s ratios in a manner consistent with known effects on tensile properties. Bovine calf articular cartilage from superficial-articular (S) and middle-growth (M) regions were analyzed fresh or following culture in medium with IGF-1 or TGF-β1. Mechanical properties in confined (CC) and unconfined (UCC) compression, cartilage matrix composition, and explant …
Manipulation Of Suspended Single Cells By Microfluidics And Optical Tweezers, Nathalie Neve De Mevergnies, Sean S. Kohles, Shelley R. Winn, Derek C. Tretheway
Manipulation Of Suspended Single Cells By Microfluidics And Optical Tweezers, Nathalie Neve De Mevergnies, Sean S. Kohles, Shelley R. Winn, Derek C. Tretheway
Mechanical and Materials Engineering Faculty Publications and Presentations
Chondrocytes and osteoblasts experience multiple stresses in vivo. The optimum mechanical conditions for cell health are not fully understood. This paper describes the optical and microfluidic mechanical manipulation of single suspended cells enabled by the μPIVOT, an integrated micron resolution particle image velocimeter (μPIV) and dual optical tweezers instrument (OT). In this study, we examine the viability and trap stiffness of cartilage cells, identify the maximum fluid-induced stresses possible in uniform and extensional flows, and compare the deformation characteristics of bone and muscle cells. These results indicate cell photodamage of chondrocytes is negligible for at least 20 min for laser …
Wavelet Based Islanding Detection Of Dc-Ac Inverter Interfaced Dg Systems, Mohamed Moin Hanif, Malabika Basu, Kevin Gaughan
Wavelet Based Islanding Detection Of Dc-Ac Inverter Interfaced Dg Systems, Mohamed Moin Hanif, Malabika Basu, Kevin Gaughan
Conference papers
The increased penetration of distributed generation (DG) often connected to grid through dc-ac interface has made islanding detection an important and challenging issue to power engineers. Several methods based on passive and active detection scheme have been proposed in the literature. While passive schemes have a large non detection zone (NDZ), concern has been raised on active method due to its degrading power quality effect. This paper proposes a wavelet based passive islanding detection scheme with almost zero NDZ for dc-ac inverter interfaced grid connected DGs. The key idea is to utilize the spectral changes in the higher frequency components …
Evaluation Of A Part-Time Engineering Degree Programme That Aimed To Unify And Diversify, Kevin Kelly, Vincent Kenny
Evaluation Of A Part-Time Engineering Degree Programme That Aimed To Unify And Diversify, Kevin Kelly, Vincent Kenny
Conference papers
The School of Electrical Engineering within DIT attempted to address the challenge of increasing diversity in Engineering Education by developing a part-time Electrical Services Engineering degree programme that began as a certificate in 2001 and as a degree in 2003. This four year evening programme had a number of innovations: • Recognition of Prior Learning (RPL) • Application of a Student Centred paradigm • Innovative Curriculum Development using Constructivist principles and Project Based Learning (in part) This paper will be an evaluation of the four year part time degree programme. There are issues deserving investigation with regard to the programme. …
Hamiltonian Theory Based Coordinated Nonlinear Control Of Generator Excitation And Statcoms, Keyou Wang, Mariesa Crow
Hamiltonian Theory Based Coordinated Nonlinear Control Of Generator Excitation And Statcoms, Keyou Wang, Mariesa Crow
Electrical and Computer Engineering Faculty Research & Creative Works
A coordinated controller for generator excitation and STATCOMs is studied based on the Hamiltonian function method. The Hamiltonian realization structure for multimachine power systems including STATCOMs is developed leading to a proposed coordinated scheme of excitation control and STATCOM control. Simulation results illustrate the effectiveness of the proposed control strategy.
Adaptive Quadrant Filter Based Phase Locked Loop System, L. Shi, Mariesa Crow
Adaptive Quadrant Filter Based Phase Locked Loop System, L. Shi, Mariesa Crow
Electrical and Computer Engineering Faculty Research & Creative Works
Phase-Locked-Loop (PLL) is one of the key technologies extensively used in grid connected power electronics system. A good PLL system can detect the grid phase angle and frequency fast and accurately, and additionally it can extract the positive sequence (or fundamental component for single phase system) exactly. In real applications, source signal (voltage or current) sensed for PLL usually includes harmonic distortion, unbalanced components, noises and frequency variations. Conventional PLL strategy cannot solve all the problems, especially the unbalanced and harmonic distortion. There is a trade-off between the dynamic response and phase angle tracking accuracy. Different PLL solutions are proposed …
A Boundary Corrected Expansion Of The Moments Of Nearest Neighbor Distributions, Elia Liitiäinen, Amaury Lendasse, Francesco Corona
A Boundary Corrected Expansion Of The Moments Of Nearest Neighbor Distributions, Elia Liitiäinen, Amaury Lendasse, Francesco Corona
Engineering Management and Systems Engineering Faculty Research & Creative Works
In This Article, the Moments of Nearest Neighbor Distance Distributions Are Examined. While the Asymptotic Form of Such Moments is Well-Known, the Boundary Effect Has This Far Resisted a Rigorous Analysis. Our Goal is to Develop a New Technique that Allows a Closed-Form High Order Expansion, Where the Boundaries Are Taken into Account Up to the First Order. the Resulting Theoretical Predictions Are Tested Via Simulations and Found to Be Much More Accurate Than the First Order Approximation Obtained by Neglecting the Boundaries. While Our Results Are of Theoretical Interest, They Definitely Also Have Important Applications in Statistics and Physics. …
Modeling Initial Response: Firefighter High-Rise Access Time Simulation, Robert Till
Modeling Initial Response: Firefighter High-Rise Access Time Simulation, Robert Till
Publications and Research
Historically, a high-rise building has been described as one which (1) was taller than the reach of fire
service apparatus and, therefore, required interior firefighting, (2) posed the potential for significant
stack effect (vertical interior smoke movement), and (3) required unreasonable time for occupant
evacuation. High-rise buildings require firefighters to access the building and travel to an upper fire
floor by using either stairs or elevators. The fire continues to grow during the time needed to apply
water on the fire. This paper demonstrates ways for using Discrete Event Simulation (DES) to estimate
the time for firefighters to access a …
Return-Path, Multiple-Principal-Angle, Internal-Reflection Ellipsometer For Measuring Ir Optical Properties Of Aqueous Solutions, Rasheed M.A. Azzam
Return-Path, Multiple-Principal-Angle, Internal-Reflection Ellipsometer For Measuring Ir Optical Properties Of Aqueous Solutions, Rasheed M.A. Azzam
Electrical Engineering Faculty Publications
A retroreflection (return-path) spectroscopic ellipsometer without a wave plate is described that uses an IR-transparent high-refractive-index hemicylindrical semiconductor substrate to measure the optical properties of aqueous solutions from multiple principal angles and multiple principal azimuths of attenuated internal reflection (AIR) at the semiconductor–solution interface. The pseudo-Brewster angle of minimum reflectance for the p polarization is also readily measured using the same instrument. This wealth of data can also be used to characterize thin films at the solid–liquid interface. Simulated results of AIR at the Si–water interface over the 1.2–11 μm IR spectral range are presented in support of this concept. …
The Relation Between The Arterial Stress And Restenosis Rate After Coronary Stenting, Linxia Gu, Shijia Zhao, Aswini K. Muttyam, James M. Hammel
The Relation Between The Arterial Stress And Restenosis Rate After Coronary Stenting, Linxia Gu, Shijia Zhao, Aswini K. Muttyam, James M. Hammel
Department of Mechanical and Materials Engineering: Faculty Publications
Two commercially available stents (the Palmaz–Schatz (PS) and S670 stents) with reported high and low restenosis rates, respectively, have been investigated in this paper. Finite element models simulating the stent, plaque, and artery interactions in 3 mm stenosed right coronary arteries were developed. These models were used to determine the stress field in artery walls after stent implantation. The material properties of porcine arteries were measured and implemented in the numerical models. The stress concentration induced in the artery by the PS stent was found to be more than double that of the S670 stent. It demonstrated a good correlation …
Mixing Layer Dynamics In Separated Flow Over An Estuarine Sill With Variable Stratification, Stefan A. Talke, Alexander R. Horner-Devine, C. Chris Chickadel
Mixing Layer Dynamics In Separated Flow Over An Estuarine Sill With Variable Stratification, Stefan A. Talke, Alexander R. Horner-Devine, C. Chris Chickadel
Civil and Environmental Engineering Faculty Publications and Presentations
We investigate the generation of a mixing layer in the separated flow behind an estuarine sill (height H ∼ 4 m) in the Snohomish River, Washington as part of a larger investigation of coherent structures using remote and in situ sensing. During increasing ebb flows the depth d and stratification decrease and a region of sheared flow characterized by elevated production of turbulent kinetic energy develops. Profiles of velocity and acoustic backscatter exhibit coherent fluctuations of order 0.1 Hz and are used to define the boundaries of the mixing layer. Variations in the mixing layer width and its embedded coherent …
The Effect Of Tidal Asymmetry And Temporal Settling Lag On Sediment Trapping In Tidal Estuaries, Alexander S. Chernetsky, Henk M. Schuttelaars, Stefan A. Talke
The Effect Of Tidal Asymmetry And Temporal Settling Lag On Sediment Trapping In Tidal Estuaries, Alexander S. Chernetsky, Henk M. Schuttelaars, Stefan A. Talke
Civil and Environmental Engineering Faculty Publications and Presentations
Over decades and centuries, the mean depth of estuaries changes due to sea-level rise, land subsidence, infilling, and dredging projects. These processes produce changes in relative roughness (friction) and mixing, resulting in fundamental changes in the characteristics of the horizontal (velocity) and vertical tides (sea surface elevation) and the dynamics of sediment trapping. To investigate such changes, a 2DV model is developed. The model equations consist of the width-averaged shallow water equations and a sediment balance equation. Together with the condition of morphodynamic equilibrium, these equations are solved analytically by making a regular expansion of the various physical variables in …
Characteristics Of Transitions In Freeway Traffic, Robert L. Bertini, Soyoung Ahn
Characteristics Of Transitions In Freeway Traffic, Robert L. Bertini, Soyoung Ahn
Civil and Environmental Engineering Faculty Publications and Presentations
This research seeks to understand the characteristics of transitions as freeway traffic changes from one state to another. This study addresses the features of two types of transitions; transitions near a merge and transitions along shock waves during the onsets and dissipations of queues at several freeway sites.
Individual vehicle trajectory data were analyzed for studying the transitions near a merge. The length of a transition zone was measured by analyzing the spatial changes in flow, density and speed along kinematic waves near a merge. It was found that the length of transition in terms of flow, density and speed …
User's Guide To Mbc3: Multi-Blade Coordinate Transformation Code For 3-Bladed Wind Turbine, G. S. Bir
User's Guide To Mbc3: Multi-Blade Coordinate Transformation Code For 3-Bladed Wind Turbine, G. S. Bir
Publications (E)
The dynamics of wind turbine rotor blades are conventionally expressed in rotating frames attached to the individual blades. The tower-nacelle subsystem though, sees the combined effect of all rotor blades, not the individual blades. Also, the rotor responds as a whole to excitations such as aerodynamic gusts, control inputs, and tower-nacelle motion—all of which occur in a nonrotating frame. Multi-blade coordinate transformation (MBC) helps integrate the dynamics of individual blades and express them in a fixed (nonrotating) frame. MBC involves two steps: transforming the rotating degrees of freedom and transforming the equations of motion. Reference 1 details the MBC operation. …
Green Power Marketing In The United States: A Status Report (2009 Data), Lori Bird, Jenny Sumner
Green Power Marketing In The United States: A Status Report (2009 Data), Lori Bird, Jenny Sumner
Publications (E)
This report documents green power marketing activities and trends in the United States. Aggregate green power sales data for all voluntary purchase markets across the United States are presented for 2009. The data presented in this report are based primarily on figures provided to NREL by utilities and independent renewable energy marketers. Because data cannot be obtained from all market participants, the estimates presented here likely represent an underestimate of the market size. Key trends identified in this year’s report include:
• In 2009, total retail sales of renewable energy in voluntary markets exceeded 30 million MWh, an increase of …
Liquid-Phase Chemical Sensing Using Lateral Mode Resonant Cantilevers, Luke A. Beardslee, Kemal S. Demirci, Y. Luzinova, B. Mizaikoff, Stephen M. Heinrich, Fabien Josse, Oliver Brand
Liquid-Phase Chemical Sensing Using Lateral Mode Resonant Cantilevers, Luke A. Beardslee, Kemal S. Demirci, Y. Luzinova, B. Mizaikoff, Stephen M. Heinrich, Fabien Josse, Oliver Brand
Civil and Environmental Engineering Faculty Research and Publications
Liquid-phase operation of resonant cantilevers vibrating in an out-of-plane flexural mode has to date been limited by the considerable fluid damping and the resulting low quality factors (Q factors). To reduce fluid damping in liquids and to improve the detection limit for liquid-phase sensing applications, resonant cantilever transducers vibrating in their in-plane rather than their out-of-plane flexural resonant mode have been fabricated and shown to have Q factors up to 67 in water (up to 4300 in air). In the present work, resonant cantilevers, thermally excited in an in-plane flexural mode, are investigated and applied as sensors for volatile …
Comparing Implementations Of Magnetic-Resonance-Guided Fluorescence Molecular Tomography For Diagnostic Classification Of Brain Tumors, Scott C. Davis, Kimberley S. Samkoe, Julia A. O’Hara, Summer L. Gibbs-Strauss, Keith D. Paulsen, Brian W. Pogue
Comparing Implementations Of Magnetic-Resonance-Guided Fluorescence Molecular Tomography For Diagnostic Classification Of Brain Tumors, Scott C. Davis, Kimberley S. Samkoe, Julia A. O’Hara, Summer L. Gibbs-Strauss, Keith D. Paulsen, Brian W. Pogue
Dartmouth Scholarship
Fluorescence molecular tomography (FMT) systems coupled to conventional imaging modalities such as magnetic resonance imaging (MRI) and computed tomography provide unique opportunities to combine data sets and improve image quality and content. Yet, the ideal approach to combine these complementary data is still not obvious. This preclinical study compares several methods for incorporating MRI spatial prior information into FMT imaging algorithms in the context of in vivo tissue diagnosis. Populations of mice inoculated with brain tumors that expressed either high or low levels of epidermal growth factor receptor (EGFR) were imaged using an EGF-bound near-infrared dye and a spectrometer-based MRI-FMT …
Me-Em Enewsbrief, September 2010, Department Of Mechanical Engineering-Engineering Mechanics, Michigan Technological University
Me-Em Enewsbrief, September 2010, Department Of Mechanical Engineering-Engineering Mechanics, Michigan Technological University
Department of Mechanical and Aerospace Engineering eNewsBrief
No abstract provided.
Monitoring Inventory Accuracy With Statistical Process Control, Kyle Huschka, John R. English, Todd Easton, Andrew Huschka
Monitoring Inventory Accuracy With Statistical Process Control, Kyle Huschka, John R. English, Todd Easton, Andrew Huschka
11th IMHRC Proceedings (Milwaukee, Wisconsin. USA – 2010)
Inventory accuracy is critical in most industrial environments such as distribution, warehousing, and retail. Many companies use a technique called cycle counting and have realized outstanding results in monitoring and improving inventory accuracy. The time and resources to complete cycle counting are sometimes limited or not available. In this work, we promote statistical process control (SPC) to monitor inventory accuracy. Specifically, we model the complex underlying environments with mixture distributions to demonstrate sampling from a mixed but stationary process. For our particular application, we concern ourselves with data that result from inventory adjustments at the stock keeping unit (SKU) level …
A Real-Time Picking And Sorting System In E-Commerce Distribution Centers, Yeming Gong, Erik M. M. Winands, Rene B. M. De Koster
A Real-Time Picking And Sorting System In E-Commerce Distribution Centers, Yeming Gong, Erik M. M. Winands, Rene B. M. De Koster
11th IMHRC Proceedings (Milwaukee, Wisconsin. USA – 2010)
Order fulfillment is the most expensive and critical operation for companies engaged in e-commerce. E-commerce distribution centers must rapidly organize the picking and sorting processes during and after the transaction has taken place, with the ongoing need to create greater responsiveness to customers. Sorting brings a relatively large setup time, which cannot be well admitted by existing polling models. We build a new stochastic polling model to describe and analyze such systems, and provide approximate explicit expressions for the complete distribution of order line waiting time for polling-based order picking systems and test their accuracy. These expressions lend themselves for …
Investigating Possible Synergies In Intermodal Operations With Truck And Rail, G. Don Taylor, Mia K. Burns, Gary L. Whicker
Investigating Possible Synergies In Intermodal Operations With Truck And Rail, G. Don Taylor, Mia K. Burns, Gary L. Whicker
11th IMHRC Proceedings (Milwaukee, Wisconsin. USA – 2010)
As the trucking industry continues to examine ways to provide better service at lower cost, many companies are more heavily utilizing intermodal (IM) strategies between truck and rail, especially for those loads that are relatively non-critical in terms of delivery time requirements and that have longer lengths of haul. As IM business grows, supporting dray infrastructure naturally develops around IM rail yards. What is unknown is whether it is best to have a dedicated set of drivers performing dray operations or if efficiency and cost savings can result when utilizing a joint driving fleet to concurrently support IM and traditionally …
Modeling Acoustic Scattering From The Seabed Using Transport Theory, Jorge Quijano, Lisa M. Zurk
Modeling Acoustic Scattering From The Seabed Using Transport Theory, Jorge Quijano, Lisa M. Zurk
Electrical and Computer Engineering Faculty Publications and Presentations
Radiative Transfer (RT) theory has established itself as an important tool for electromagnetic remote sensing in parallel plane geometries with random distributions of scatterers, and most recently it has also been proposed as a model for the propagation of elastic waves in layered ocean sediments. In this work the capabilities of this model are illustrated, as the RT method is used to predict backscattering strength from laboratory models of random media. The RT model is characterized by its flexibility on accommodating scatterers in a broad variety of sizes, shapes, and acoustic contrast relative to the background media. Additionally, this formulation …
Application Of Cuda In The Boolean Domain For The Unate Covering Problem, Eric Paul, Bernd Steinbach, Marek Perkowski
Application Of Cuda In The Boolean Domain For The Unate Covering Problem, Eric Paul, Bernd Steinbach, Marek Perkowski
Electrical and Computer Engineering Faculty Publications and Presentations
NVIDIA’s Compute Unified Device Architecture (CUDA) is a relatively-recent development that allows to realize very fast algorithms for several Constraint Satisfaction and Computer Aided Design tasks. In this paper we present an approach to use Graphics Processing Units (GPU) and CUDA for solving Unate Covering Problem, a practical problem related to SAT. In particular we present a CUDA-enabled Petrick Function Minimizer. We compare the performance of a pipeline-processor (CPU) and a parallel processor (GPU) implementation of the matrix-multiplication method for solving unate covering problems.
Sql Querie Recommendations: A Query Fragment-Based Approach, Jayad Akbarnejad, Magdalini Eirinaki, Suju Koshy, Duc On, Neoklis Polyzotis
Sql Querie Recommendations: A Query Fragment-Based Approach, Jayad Akbarnejad, Magdalini Eirinaki, Suju Koshy, Duc On, Neoklis Polyzotis
Faculty Publications
Relational database systems are becoming increasingly popular in the scientific community to support the interactive exploration of large volumes of data. In this scenario, users employ a query interface (typically, a web-based client) to issue a series of SQL queries that aim to analyze the data and mine it for interesting information. First-time users, however, may not have the necessary knowledge to know where to start their exploration. Other times, users may simply overlook queries that retrieve important information. In this work we describe a framework to assist non-expert users by providing personalized query recommendations. The querying behavior of the …
Personal Vs. Social, Magdalini Eirinaki
Personal Vs. Social, Magdalini Eirinaki
Faculty Publications
The last few years we witnessed an impressive growth in social networks and in applications that add value to their amassed information. At the same time, the continuing expansion of mobile platforms and applications (e.g. iPhone), combined with the overwhelming supply of information and services, makes effective personalization and context-awareness much required features. One may consider "personal" and "social" data management as comprising two distinct directions with conflicting characteristics. However, it can be argued that they complement each other and that in future applications they will ultimately converge. This "personal vs. social" predicament presents a number of interesting topics that …
Online Drift Compensation For Chemical Sensors Using Estimation Theory, Thomas H. Wenzel, Arnold Kweku Mensah-Brown, Fabien Josse, Edwin E. Yaz
Online Drift Compensation For Chemical Sensors Using Estimation Theory, Thomas H. Wenzel, Arnold Kweku Mensah-Brown, Fabien Josse, Edwin E. Yaz
Electrical and Computer Engineering Faculty Research and Publications
Sensor drift from slowly changing environmental conditions and other instabilities can greatly degrade a chemical sensor's performance, resulting in poor identification and analyte quantification. In the present work, estimation theory (i.e., various forms of the Kalman filter) is used for online compensation of baseline drift in the response of chemical sensors. Two different cases, which depend on the knowledge of the characteristics of the sensor system, are studied. First, an unknown input is considered, which represents the practical case of analyte detection and quantification. Then, the more general case, in which the sensor parameters and the input are both unknown, …
Development Of A Small And Inexpensive Terrain Avoidance System For An Unmanned Aerial Vehicle Via Potential Function Guidance Algorithm, Shane Alan Wallace
Development Of A Small And Inexpensive Terrain Avoidance System For An Unmanned Aerial Vehicle Via Potential Function Guidance Algorithm, Shane Alan Wallace
Master's Theses
Despite the first unmanned aerial vehicle (UAV) mission being flown on Aug 22 1849 to bomb Venice UAVs have only recently began to modernize into sophisticated tools beyond simple aerial vehicles. With an increasing number of potential applications, such as cargo delivery, communications, search and rescue, law enforcement, and homeland security, the need for appropriate UAV technology advancement also arose. Here, the development of a low-cost collision avoidance system is described. Hardware was tested and selected based on predetermined constraints and goals. Additionally, a variety of potential functions were explored and assessed at their effectiveness in preventing a collision of …