This work was motivated by the idea of developing a more encompassing collision avoidance system that supported vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications. Current systems are mostly based on line of sight sensors that are used to prevent a collision, but these systems would prevent even more accidents if they could detect possible collisions before both vehicles were in line of sight. For this research we concentrated mostly on the aspect of improving the prediction of a vehicle's future trajectory, particularly on non-straight paths. Having an accurate prediction of where the vehicle is heading is crucial for the system to reliably determine possible path intersections of more than one vehicle at the same time. We first evaluated the benefits of merging Global Positioning System (GPS) data with the Geographical Information System (GIS) data to correct improbable predicted positions. We then created a new algorithm called the Dead Reckoning with Dynamic Errors (DRWDE) sensor fusion, which can predict future positions at the rate of its fastest sensor, while improving the handling of accumulated error while some of the sensors are offline for a given period of time. The last part of out research consisted in the evaluation of the use of smartphones' built-in sensors to predict a vehicle's trajectory, as a possible intermediate solution for a vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communications, until all vehicles have all the necessary sensors and communication infrastructure to fully populate this new system. For the first part of our research, the actual experimental results validated our proposed system, which reduced the position prediction errors during curves to around half of what it would be without the use of GIS data for prediction corrections. The next improvement we worked on was the ability to handle change in noise, depending on unavailable sensor measurements, permitting a flexibility to use any type of sensor and still have the system run at the fastest frequency available. Compared to a more common KF implementation that run at the rate of its slowest sensor (1Hz in our setup), our experimental results showed that our DRWDE (running at 10Hz) yielded more accurate predictions (25-50% improvement) during abrupt changes in the heading of the vehicle. The last part of our research showed that, comparing to results obtained with the vehicle-mounted sensors, some smartphones yield similar prediction errors and can be used to predict a future position.

The Yarlung (India-Asia) suture zone in southern Tibet records Middle Jurassic—Late Cretaceous development of the Lhasa terrane (Eurasian) convergent margin and subsequent India-Asia collision beginning in Paleocene time. This dissertation reports data from field-based geologic investigation of the Yarlung suture zone in the Lopu Range and Lazi Regions, ~600 and ~300 km west of the city of Lhasa, respectively. Field data were combined with new geochronology (detrital and igneous zircon U-Pb, garnet Lu-Hf), thermochronology (white mica Ar-Ar and zircon U-Th/He), and metamorphic petrology data to develop a tectonic model involving multiple episodes of shallow underthrusting, rollback, and breakoff of both oceanic and continental lithosphere. Switches between extensional and contractional deformation along the Yarlung suture zone appear to be controlled by changes in subduction dynamics. If this tectonic model is representative, then the tectonic process of inter-continental collision is responsible for much larger magnitudes of crustal recycling that previously thought. A hornblende-plagioclase-epidote paragneiss block in ophiolitic mélange, deposited during Middle Jurassic time, records Late Jurassic or Early Cretaceous subduction initiation along the Eurasian margin followed by Early Cretaceous forearc extension. Detrital zircons from Xigaze forearc basin strata deposited unconformably atop ophiolitic mélange produced a maximum depositional age of 97 ± 1 Ma, providing a minimum age for establishment of an arc-forearc-trench convergent margin along the southern Lhasa terrane. Metasedimentary rocks that were originally deposited along the Indian passive margin were subducted beneath the Lhasa terrane to upper-mantle depths, reaching high-pressure (HP), low-temperature conditions (≥1.4 GPa at T≤600 °C). Garnet Lu-Hf geochronology indicates that prograde metamorphism of the Indian metasedimentary rocks was ongoing at 40.4 ± 1.4 Ma while white mica Ar-Ar thermochronology indicates exhumation to mid-crustal depths between 39-34 Ma. Gangdese arc magmatism persisted after the onset of India-Asia collision, producing plutons that intruded sedimentary-matrix mélange of the southern Lhasa terrane subduction-accretion complex between 49-37 Ma. These data suggest steep subduction or southward trench retreat immediately prior to shutdown of arc magmatism along the Yarlung suture zone (37 Ma), shortly after the onset of high-pressure rock exhumation. We interpret that these data record a Paleocene—Eocene episode of southward rollback, breakoff, and underthrusting. During Oligocene—Miocene time, nonmarine strata were deposited along the Yarlung suture zone immediately prior to shortening across a system of out-of-sequence, top-north reverse faults. Based on our data and previous work, we interpret that sedimentation was driven by a second episode of rollback and breakoff of Indian continental lithosphere, whereas subsequent contractional deformation was driven by renewed shallow subduction. Compilation of regional thermochronological data and interpretation of seismic reflection data from previous investigations suggests that the top-north reverse faults comprise a foreland-dipping passive roof duplex above the leading edge of a structurally deeper, hinterland-dipping duplex beneath the southern Lhasa terrane. The Yarlung suture zone switched from north-south contraction to east-west extension by ~16 Ma based on a crosscutting relationship between a leucogranitic dike and a normal fault related to a larger horst structure in the Lopu Range region. Tectonic exhumation in the footwall block of the horst drove cooling through zircon (U-Th)/He closure temperature (~180 °C) between 12-6 Ma.

Orbital rendezvous enables spacecraft to perform missions to service satellites, remove space debris, resupply space stations, and return samples from other planets. These missions are often considered high risk due to concerns that the two spacecraft will collide if the maneuvering capability of one spacecraft is compromised by a fault.<br>In this thesis, a passive safety analysis is used to evaluate the probability that a fault that compromises maneuvering capability results in a collision. For a rendezvous<br>mission, the chosen approach trajectory, state estimation technique, and probability of collision calculation each impact the total collision probability of the mission. This<br>thesis presents a modular framework for evaluating the comparing the probability of collision of rendezvous mission design concepts.<br>Trade studies were performed using a baseline set of approach trajectories, and a Kalman Filter for relative state estimation and state estimate uncertainty. The state covariance matrix following each state update was used to predict the resulting probability of collision if a fault were to occur at that time. These trade studies emphasize that the biggest indicator of rendezvous mission risk is the time spent on a nominal intercept trajectory.

Significant research has been conducted on the physics of ball and bat collisions in an effort to model and understand real-world conditions. This thesis expands upon previous research to determine the maximum distance a ball can travel under ideal circumstances. Bat mass, bat speed, pitch speed and pitch spin were controlled values. These values were selected based on the highest recorded MLB values for their respective category. Specifically these are: Babe Ruth’s largest bat, Giancarlo Stanton’s recorded swing speed and Aroldis Chapman’s fastest fastball. A model was developed for a planar collision between a bat and ball using conservation laws in order to achieve the maximum exit velocity of the ball during a head-on collision. However, this thesis is focused on home runs and long fly-balls that occur from oblique collisions rather than the line drives produced by head-on collisions. The planar collision model results were adjusted to oblique collisions based on data from previous experimental research. The ball and bat were assumed to be moving in opposite directions parallel to one another at the point of impact with the ball slightly elevated above the bat. The post-collision results for the launch angle, spin and final exit velocity of the ball were calculated as functions of the perpendicular distance from the centerline of the bat to the centerline of the ball. Trajectories of the ball were calculated using a flight model that measured the final distance of the ball based on lift and drag forces. The results indicate that the optimum pre-collision parameters described above will maximize the distance traveled by the ball well beyond the farthest recorded home run distance. Experimentally determined factors such as the drag coefficient and coefficient of restitution have a significant impact on the flight of the ball. Implications of the results are discussed.

Particle Collision Electrochemistry (PCE) has gained considerable attention in heterogeneous catalysis, petroleum chemistry and pharmaceutical fields. The PCE refers to a phenomenon in which a particle strikes on an inert electrode surface as a consequence of its Brownian motion and produces a spike of current for the direct oxidation/reduction of the individual particle. This method allows us characterization of individual particles and in-situ study of electrochemical reactions coupled to the particle. Herein, emulsion droplets were studied by PCE where toluene droplets contained hydrophobic tetrachloro-1,4-benzoquinone (Q). This was investigated as a model system to study the molecular effects that arise due to hydrogen bonding reagents (oleic acid, acetic acid) inside and outside of the droplets. The emulsions were prepared by sonicating toluene-quinone solution with the water phase containing an ionic liquid to provide conductivity to the droplet. Each droplet produced a current spike while colliding with the electrode surface that was held at a potential to reduce tetrachoro-1,4-benzoquinone. In bulk acetonitrile and toluene, tetrachoro-1,4-benzoquinone undergoes a two electron reduction process to form the tetrachloro phenolate di-anion (Q2-). It was shown that the hydrogen bonding affinity of Q2- for acetic acid (pKa = 4.8) was higher than for oleic acid (pKa = 9.9) for both bulk systems (as acetic acid is stronger hydrogen bonding donor than oleic acid). However, the reversed trend was observed in emulsified toluene droplets when studied by PCE. This was attributed to the preferential partition of the carboxylic acids between the two phases in the emulsion. Oleic acid stays inside the droplets due its hydrophobic nature and hydrogen bonding with Q2- takes place inside the droplet. In contrast, solvation of acetic acid by the surrounding water, causes the hydrogen bonding with Q2- to occur significantly less inside the droplet. Another redox system studied by PCE was hydrophobic ferrocene (Fc) trapped in the toluene droplet to determine the effect of surfactant on the particle size. The diameter determined electrochemically was compared with Dynamic Light Scattering (DSL) measurements. The presence of nonionic surfactant (triton X-100) was observed to affect the droplet’s size easily monitored by PCE. The mediated oxidation of cysteine by the oxidized Fc inside the droplet was investigated at different concentrations of cysteine.

Understanding energy transfer processes is an essential prerequisite for the deep understanding of all chemical processes. This thesis investigates the process of vibrational relaxation (or deexcitation) of highly vibrationally and electronically excited molecular iodine (I2) induced by very low energy collisions in a supersonic free jet with six foreign gases. In an investigation of the state-to-field relaxation of I2 (B 3II+ou, v = 16) induced by collisions with He at temperatures of 2 to 12 K we find that the absolute relaxation rates are an order of magnitude smaller than those at 300 K and that the explanation of the magnitudes of these rates does not require enhancement due to low energy orbiting resonances. We find that the rates scale well with estimated collision encounter rates that account for the attractive part of the intermolecular potential. A second investigation with a much wider scope explores vibrational relaxation from v = 21 to 24 with six foreign gases: He, Ne, Ar, H2, D2 and N2. For this investigation a new type of experimental procedure has been designed and implemented that records a detailed and complete map of the fluorescence from B3II+ouI2 that is resolved with respect to both fluorescence frequency and time. These not only yield state-to-field rates, but coupled with a novel deconvolution method for growth curve fitting, yield absolute state-to-state rates for vibrational relaxation processes with Av=-1, -2, -3 and -4. The dependence of the relaxation rates on the collision partner, temperature and Av are discussed. An exponential dependence on the vibrational energy gap may be adequate to characterise the Av dependence of vibrational relaxation. The frequency resolution of the experimental data also reveals that some of the energy released by vibrational de-excitation is transferred to the rotation of the I2 molecule. We find this process is best characterised by an exponential dependence on the change of I2 angular momentum and that its extent scales with the mass of the collision partner. Measurements of the low-energy collision-induced quenching of B 3II+ouI2 are also reported for all six foreign gases. The possibility arises from the rates that the mechanism for quenching by H2 and D2 at low temperatures is different to that of the other gases and to that for H2 and D2 at high temperatures.

An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 revolute joints is described. It solves the problem for four degree of freedom pick and place operations. Examples are given of paths found by the algorithm in tightly cluttered workspaces. The algorithm first describes free space in two ways: as freeways for the hand and payload ensemble and as freeways for the upperarm. Freeways match volumes swept out by manipulator motions and can be "inverted" to find a class of topologically equivalent path segments. The two freeway spaces are searched concurrently under projection of constraints determined by motion of the forearm.

A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a moving object with two translational and one rotational degrees of freedom.

This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning of manipulator transfer movements, i.e. the motions to grasp a part and place it at some destination. This paper presents algorithms for planning manipulator paths that avoid collisions with objects in the workspace and for choosing safe grasp points on objects. These algorithms allow planning transfer movements for Cartesian manipulators. The approach is based on a method of computing an explicit representation of the manipulator configurations that would bring about a collision.

This thesis proposes the methodology and guidelines for community-based macro-level CPM transferability to do road safety planning applications, with models developed in one spatial-temporal region being capable of used in a different spatial-temporal region. In doing this. the macro-level CPMs developed for the Greater Vancouver Regional District (GVRD) by Lovegrove and Sayed (2006, 2007) was used in a model transferability study. Using those models from GVRD and data from Central Okanagan Regional District (CORD), in the Province of British Columbia. Canada. a transferability test has been conducted that involved recalibration of the 1996 GVRD models to Kelowna, in 2003 context. The case study was carried out in three parts. First, macro-level CPMs for the City of Kelowna were developed using 2003 data following the research by GVRD CPM development and use. Next, the 1996 GVRD models were recalibrated to see whether they could yield reliable prediction of the safety estimates for Kelowna, in 2003 context. Finally, a comparison between the results of Kelowna’s own developed models and the transferred models was conducted to determine which models yielded better results. The results of the transferability study revealed that macro-level CPM transferability was possible and no more complicated than micro-level CPM transferability. To facilitate the development of reliable community-based, macro-level collision prediction models, it was recommended that CPMs be transferred rather than developed from scratch whenever and wherever communities lack sufficient data of adequate quality. Therefore, the transferability guidelines in this research, together with their application in the case studies, have been offered as a contribution towards model transferability to do road safety planning applications, with models developed in one spatial-temporal region being capable of used in a different spatial-temporal region.