Open Access. Powered by Scholars. Published by Universities.®

Physical Sciences and Mathematics Commons

Open Access. Powered by Scholars. Published by Universities.®

University of Kentucky

Discipline
Keyword
Publication Year
Publication
Publication Type
File Type

Articles 9211 - 9240 of 12195

Full-Text Articles in Physical Sciences and Mathematics

Exploring The Structure And Properties Of Nanomaterials Using Advanced Electron Microscopy Techniques, Yao-Jen Chang Jan 2017

Exploring The Structure And Properties Of Nanomaterials Using Advanced Electron Microscopy Techniques, Yao-Jen Chang

Theses and Dissertations--Chemistry

Nowadays people are relying on all kinds of electronic devices in their daily life. All these devices are getting smaller and lighter with longer battery life due to the improvement of nanotechnology and materials sciences. Electron microscopy (EM) plays a vital role in the evolution of materials characterization which shapes the technology in today’s life. In electron microscopy, electron beam is used as the illumination source instead of visible light used in traditional optical microscopy, the wavelength of an electron is about 105 times shorter than visible light. By taking this advantage, the resolving power and magnification are greatly …


Arsenic Removal With A Dithiol Ligand Supported On Magnetic Nanoparticles, John Hamilton Walrod Ii Jan 2017

Arsenic Removal With A Dithiol Ligand Supported On Magnetic Nanoparticles, John Hamilton Walrod Ii

Theses and Dissertations--Chemistry

Exposure to arsenic (As) in water, the ubiquitous toxin that poses adverse health risks to tens of millions, is the result of both anthropogenic and geochemical mobilization. Despite recent publicity and an increased public awareness, the dangers associated with arsenic exposure rank among the top priorities of public health agencies globally. Existing sequestration applications mainly include reductions and adsorption with zero-valent metals and their oxides. The performance of adsorption media is known to preferentially favor aqueous As(V) over As(III) due to the charge of the dissolved oxyanion. Magnetic nanoparticles (MNP) have been the focus of multidisciplinary research efforts for the …


Heterogeneous Base Metal Catalyzed Oxidative Depolymerization Of Lignin And Lignin Model Compounds, John Adam Jennings Jan 2017

Heterogeneous Base Metal Catalyzed Oxidative Depolymerization Of Lignin And Lignin Model Compounds, John Adam Jennings

Theses and Dissertations--Chemistry

With the dwindling availability of petroleum, focus has shifted to renewable energy sources such as lignocellulosic biomass. Lignocellulosic biomass is composed of three main constituents, lignin, cellulose and hemicellulose. Due to the low value of cellulosic ethanol, utilization of the lignin component is necessary for the realization of an economically sustainable biorefinery model. Once depolymerized, lignin has the potential to replace petroleum-derived molecules used as bulk and specialty aromatic chemicals. Numerous lignin depolymerization strategies focus on cleavage of β-aryl ether linkages, usually at high temperatures and under reductive conditions.

Alternatively, selective benzylic oxidation strategies have recently been explored for …


Compactness Of Isoresonant Potentials, Robert G. Wolf Jan 2017

Compactness Of Isoresonant Potentials, Robert G. Wolf

Theses and Dissertations--Mathematics

Bruning considered sets of isospectral Schrodinger operators with smooth real potentials on a compact manifold of dimension three. He showed the set of potentials associated to an isospectral set is compact in the topology of smooth functions by relating the spectrum to the trace of the heat semi-group. Similarly, we can consider the resonances of Schrodinger operators with real valued potentials on Euclidean space of whose support lies inside a ball of fixed radius that generate the same resonances as some fixed Schrodinger operator, an ``isoresonant" set of potentials. This isoresonant set of potentials is also compact in the topology …


On Independence, Matching, And Homomorphism Complexes, Wesley K. Hough Jan 2017

On Independence, Matching, And Homomorphism Complexes, Wesley K. Hough

Theses and Dissertations--Mathematics

First introduced by Forman in 1998, discrete Morse theory has become a standard tool in topological combinatorics. The main idea of discrete Morse theory is to pair cells in a cellular complex in a manner that permits cancellation via elementary collapses, reducing the complex under consideration to a homotopy equivalent complex with fewer cells. In chapter 1, we introduce the relevant background for discrete Morse theory.

In chapter 2, we define a discrete Morse matching for a family of independence complexes that generalize the matching complexes of suitable "small" grid graphs. Using this matching, we determine the dimensions of the …


A Physics-Based Approach To Modeling Wildland Fire Spread Through Porous Fuel Beds, Tingting Tang Jan 2017

A Physics-Based Approach To Modeling Wildland Fire Spread Through Porous Fuel Beds, Tingting Tang

Theses and Dissertations--Mechanical Engineering

Wildfires are becoming increasingly erratic nowadays at least in part because of climate change. CFD (computational fluid dynamics)-based models with the potential of simulating extreme behaviors are gaining increasing attention as a means to predict such behavior in order to aid firefighting efforts. This dissertation describes a wildfire model based on the current understanding of wildfire physics. The model includes physics of turbulence, inhomogeneous porous fuel beds, heat release, ignition, and firebrands. A discrete dynamical system for flow in porous media is derived and incorporated into the subgrid-scale model for synthetic-velocity large-eddy simulation (LES), and a general porosity-permeability model is …


Real-Time Capture And Rendering Of Physical Scene With An Efficiently Calibrated Rgb-D Camera Network, Po-Chang Su Jan 2017

Real-Time Capture And Rendering Of Physical Scene With An Efficiently Calibrated Rgb-D Camera Network, Po-Chang Su

Theses and Dissertations--Electrical and Computer Engineering

From object tracking to 3D reconstruction, RGB-Depth (RGB-D) camera networks play an increasingly important role in many vision and graphics applications. With the recent explosive growth of Augmented Reality (AR) and Virtual Reality (VR) platforms, utilizing camera RGB-D camera networks to capture and render dynamic physical space can enhance immersive experiences for users. To maximize coverage and minimize costs, practical applications often use a small number of RGB-D cameras and sparsely place them around the environment for data capturing. While sparse color camera networks have been studied for decades, the problems of extrinsic calibration of and rendering with sparse RGB-D …


Orbital Stability Results For Soliton Solutions To Nonlinear Schrödinger Equations With External Potentials, Joseph B. Lindgren Jan 2017

Orbital Stability Results For Soliton Solutions To Nonlinear Schrödinger Equations With External Potentials, Joseph B. Lindgren

Theses and Dissertations--Mathematics

For certain nonlinear Schroedinger equations there exist solutions which are called solitary waves. Addition of a potential $V$ changes the dynamics, but for small enough $||V||_{L^\infty}$ we can still obtain stability (and approximately Newtonian motion of the solitary wave's center of mass) for soliton-like solutions up to a finite time that depends on the size and scale of the potential $V$. Our method is an adaptation of the well-known Lyapunov method.

For the sake of completeness, we also prove long-time stability of traveling solitons in the case $V=0$.


The Partition Lattice In Many Guises, Dustin G. Hedmark Jan 2017

The Partition Lattice In Many Guises, Dustin G. Hedmark

Theses and Dissertations--Mathematics

This dissertation is divided into four chapters. In Chapter 2 the equivariant homology groups of upper order ideals in the partition lattice are computed. The homology groups of these filters are written in terms of border strip Specht modules as well as in terms of links in an associated complex in the lattice of compositions. The classification is used to reproduce topological calculations of many well-studied subcomplexes of the partition lattice, including the d-divisible partition lattice and the Frobenius complex. In Chapter 3 the box polynomial B_{m,n}(x) is defined in terms of all integer partitions that fit in an m …


Global Well-Posedness For The Derivative Nonlinear Schrödinger Equation Through Inverse Scattering, Jiaqi Liu Jan 2017

Global Well-Posedness For The Derivative Nonlinear Schrödinger Equation Through Inverse Scattering, Jiaqi Liu

Theses and Dissertations--Mathematics

We study the Cauchy problem of the derivative nonlinear Schrodinger equation in one space dimension. Using the method of inverse scattering, we prove global well-posedness of the derivative nonlinear Schrodinger equation for initial conditions in a dense and open subset of weighted Sobolev space that can support bright solitons.


On P-Adic Fields And P-Groups, Luis A. Sordo Vieira Jan 2017

On P-Adic Fields And P-Groups, Luis A. Sordo Vieira

Theses and Dissertations--Mathematics

The dissertation is divided into two parts. The first part mainly treats a conjecture of Emil Artin from the 1930s. Namely, if f = a_1x_1^d + a_2x_2^d +...+ a_{d^2+1}x^d where the coefficients a_i lie in a finite unramified extension of a rational p-adic field, where p is an odd prime, then f is isotropic. We also deal with systems of quadratic forms over finite fields and study the isotropicity of the system relative to the number of variables. We also study a variant of the classical Davenport constant of finite abelian groups and relate it to the isotropicity of diagonal …


Approximation Of Solutions To The Mixed Dirichlet-Neumann Boundary Value Problem On Lipschitz Domains, Morgan F. Schreffler Jan 2017

Approximation Of Solutions To The Mixed Dirichlet-Neumann Boundary Value Problem On Lipschitz Domains, Morgan F. Schreffler

Theses and Dissertations--Mathematics

We show that solutions to the mixed problem on a Lipschitz domain Ω can be approximated in the Sobolev space H1(Ω) by solutions to a family of related mixed Dirichlet-Robin boundary value problems which converge in H1(Ω), and we give a rate of convergence. Further, we propose a method of solving the related problem using layer potentials.


Determination Of Stellar Parameters Through The Use Of All Available Flux Data And Model Spectral Energy Distributions, Gemunu Ekanayake Jan 2017

Determination Of Stellar Parameters Through The Use Of All Available Flux Data And Model Spectral Energy Distributions, Gemunu Ekanayake

Theses and Dissertations--Physics and Astronomy

Basic stellar atmospheric parameters, such as effective temperature, surface gravity, and metallicity plays a vital role in the characterization of various stellar populations in the Milky Way. The Stellar parameters can be measured by adopting one or more observational techniques, such as spectroscopy, photometry, interferometry, etc. Finding new and innovative ways to combine these observational data to derive reliable stellar parameters and to use them to characterize some of the stellar populations in our galaxy is the main goal of this thesis.

Our initial work, based on the spectroscopic and photometric data available in literature, had the objective of calibrating …


Survival And Cause-Specific Mortality Of White-Tailed Deer (Odocoileus Virginianus) Neonates In A Southeastern Kentucky Population, Joseph R. Mcdermott Jan 2017

Survival And Cause-Specific Mortality Of White-Tailed Deer (Odocoileus Virginianus) Neonates In A Southeastern Kentucky Population, Joseph R. Mcdermott

Theses and Dissertations--Forestry and Natural Resources

Maintaining desired numbers of wildlife species requires an understanding of species-specific population dynamics. For ungulate species such as the white-tailed deer (Odocoileus virginianus), understanding the neonatal survival rate of a population and factors that influence that survival rate, may be two of the most important factors to successful deer management. We examined neonatal survival in an eastern Kentucky population of deer living in relatively low densities (/ km2), with adequate habitat and supposedly poor population growth. Neonates (102) were captured in the summer birth periods of 2014 - 2016 and radio-monitored until the beginning of the …


Oxidative Stress And Proteomic Studies Of Mammalian Models Of Age-Related Metabolic Dysfunction In Neurodegenerative Disorders, Aaron M. Swomley Jan 2017

Oxidative Stress And Proteomic Studies Of Mammalian Models Of Age-Related Metabolic Dysfunction In Neurodegenerative Disorders, Aaron M. Swomley

Theses and Dissertations--Chemistry

Expression proteomics is the field of science wherein proteins that make up the cellular proteome are identified both by name and by fold-change. Depending on the application of proteomics, this change in level could be due to internal cellular stressors or introduction of xenobiotics. Global oxidative stress measures use immunohistochemistry to determine the relative level of oxidative stress of macromolecules within the cell. In this dissertation, both global oxidative stress measures and expression proteomics were used in a variety of mammalian models in order to determine the effects of protein upregulation, intranasal insulin administration, and resveratrol supplementation on the cellular …


Biomimetic Devices To Drive A Thermodynamically Uphill Reaction Using Light And To Degrade Industrial Waste Stream Components, Madison Joanne Sloan Jan 2017

Biomimetic Devices To Drive A Thermodynamically Uphill Reaction Using Light And To Degrade Industrial Waste Stream Components, Madison Joanne Sloan

Theses and Dissertations--Chemistry

Given the amount of industrial waste produced each year, as well as the accruing amount of greenhouse gases in our atmosphere produced by the burning of fossil fuels, it is imperative that humanity develop environmentally-sustainable sources of energy and methods of remediation. Nature achieves both of these by use of enzymes as catalysts, inspiring interest in designing biomimetic systems capable of harnessing clean energy and remediating industrial waste. This study examined the ability of enzymes in electrochemical and convective flow systems to achieve these tasks. The first portion studied the incorporation of enzymes into an electrochemical system to drive the …


Application Of High-Resolution Accurate Mass (Hram) Mass Spectrometry For Analysis Of Lignin Model Compounds And The Post-Pretreatment Products, Fan Huang Jan 2017

Application Of High-Resolution Accurate Mass (Hram) Mass Spectrometry For Analysis Of Lignin Model Compounds And The Post-Pretreatment Products, Fan Huang

Theses and Dissertations--Chemistry

Lignin, one of main components in the woody cell walls, is a complex heterogeneous biopolymer, which provides structural support and transportation of water in plants. It is highly recalcitrant to degradation (both chemically and environmentally) and protects cellulose from being degraded/hydrolyzed. Due to the structural complexity of native lignin, complete characterization and elucidation of lignin’s structure remains very challenging. The overarching goal of this work is to develop mass spectrometry based analytical methods to contribute to a better understanding of lignin structures.

This dissertation will focus on the development and application of High-Resolution Accurate-Mass (HRAM) Mass Spectrometry (MS) as main …


Formation Of The Ether Bridge In The Loline Alkaloid Biosynthetic Pathway, Minakshi Bhardwaj Jan 2017

Formation Of The Ether Bridge In The Loline Alkaloid Biosynthetic Pathway, Minakshi Bhardwaj

Theses and Dissertations--Chemistry

Lolines are specialized metabolites produced by endophytic fungi, such as Neotyphodium and Epichloë species, that are in symbiotic relationships with cool-season grasses. Lolines are vital for the survival of the grasses because their insecticidal and antifeedant properties protect the plant from insect herbivory. Although lolines have various bioactivities, they do not have any concomitant antimammalian activities.

Lolines have complex structures that are unique among naturally occurring pyrrolizidine alkaloids. Lolines have four contiguous stereocenters, and they contain an ether bridge connecting C(2) and C(7) of the pyrrolizidine ring. An ether bridge connecting bridgehead C atoms is unusual in natural products and …


Mechanisms Of Heterogeneous Oxidations At Model Aerosol Interfaces By Ozone And Hydroxyl Radicals, Elizabeth A. Pillar-Little Jan 2017

Mechanisms Of Heterogeneous Oxidations At Model Aerosol Interfaces By Ozone And Hydroxyl Radicals, Elizabeth A. Pillar-Little

Theses and Dissertations--Chemistry

Atmospheric aerosols play an important role in climate by scattering and absorbing radiation and by serving as cloud condensation nuclei. An aerosol’s optical or nucleation properties are driven by its chemical composition. Chemical aging of aerosols by atmospheric oxidants, such as ozone, alters the physiochemical properties of aerosol to become more hygroscopic, light absorbing, and viscous during transport. However the mechanism of these transformations is poorly understood. While ozone is a protective and beneficial atmospheric gas in the stratosphere, it is a potent greenhouse gas in the troposphere that traps heat near the Earth’s surface. It also impacts human heath …


Photoluminescence Mechanism And Applications Of Graphene Quantum Dots, Yiyang Liu Jan 2017

Photoluminescence Mechanism And Applications Of Graphene Quantum Dots, Yiyang Liu

Theses and Dissertations--Chemistry

Graphene quantum dots (GQDs) are small pieces of graphene oxide whose physical dimensions are so confined (a few to a few tens nm) that they have a finite bandgap due to a quantum confinement effect. The finite bandgap of GQDs grants them pronounced absorption bands and a substantial photoluminescence. These optical properties are rarely observed in traditional carbon materials, since most of carbon materials are metallic with a near-zero bandgap and thus have broad absorption spectra with no photoluminescence. The unique optical properties of GQDs, along with GQDs’ inherited advantages from carbon material family (cheap, abundant, non-toxic), make GQDs an …


Deconvolving The Steps To Control Morphology, Composition, And Structure, In The Synthesis Of High-Aspect-Ratio Metal Oxide Nanomaterials, Lei Yu Jan 2017

Deconvolving The Steps To Control Morphology, Composition, And Structure, In The Synthesis Of High-Aspect-Ratio Metal Oxide Nanomaterials, Lei Yu

Theses and Dissertations--Chemistry

Metal oxides are of interest not only because of their huge abundance but also for their many applications such as for electrocatalysts, gas sensors, diodes, solar cells and lithium ion batteries (LIBs). Nano-sized metal oxides are especially desirable since they have larger surface-to-volume ratios advantageous for catalytic properties, and can display size and shape confinement properties such as magnetism. Thus, it is very important to explore the synthetic methods for these materials. It is essential, therefore, to understand the reaction mechanisms to create these materials, both on the nanoscale, and in real-time, to have design control of materials with desired …


Interactions Of Compounds Containing Group 12 And 16 Elements, Daniel Burriss Jan 2017

Interactions Of Compounds Containing Group 12 And 16 Elements, Daniel Burriss

Theses and Dissertations--Chemistry

The focus of this dissertation is on the interactions of compounds containing group 12 and 16 elements. This work is presented in three major parts. First, the interaction of the synthetic dithiol N,N’-bis(2-mercaptoethyl)isophthalamide), abbreviated BDTH2, with selenite. Second, the interaction of cysteine with Cd(II) and the biologically relevant Cd-Cysteine crystal structure. Third, the green synthesis of CdSe quantum dots (QDs).

The interaction of BDTH2 with selenite is different from the interactions with other metals and metalloids previously studied. Under ambient conditions, BDTH2 is oxidized to the disulfide, BDT(S-S), while selenite is reduced to elemental selenium. However, …


Semiconductor Photocatalysis: Mechanisms, Photocatalytic Performances And Lifetime Of Redox Carriers, Ruixin Zhou Jan 2017

Semiconductor Photocatalysis: Mechanisms, Photocatalytic Performances And Lifetime Of Redox Carriers, Ruixin Zhou

Theses and Dissertations--Chemistry

Photocatalytic reactions mediated by semiconductors such as ZnS, TiO2, ZnO, etc. can harvest solar energy into chemical bonds, a process with important prebiotic and environmental chemistry applications. The recycling of CO2 into organic molecules (e.g., formate, methane, and methanol) facilitated by irradiated semiconductors such as colloidal ZnS nanoparticles has been demonstrated. ZnS can also drive prebiotic reactions from the reductive tricarboxylic acid (rTCA) cycle such as the reduction of fumarate to succinate. However, the mechanism of photoreduction by ZnS of the previous reaction has not been understood. Thus, this thesis reports the mechanisms for heterogeneous photocatalytic reductions …


Epigenetic Modifications To Cytosine And Alzheimer’S Disease: A Quantitative Analysis Of Post-Mortem Tissue, Elizabeth M. Ellison Jan 2017

Epigenetic Modifications To Cytosine And Alzheimer’S Disease: A Quantitative Analysis Of Post-Mortem Tissue, Elizabeth M. Ellison

Theses and Dissertations--Chemistry

Alzheimer’s disease (AD) is the most common form of dementia and the sixth leading cause of death in the United States, with no therapeutic option to slow or halt disease progression. Development of two characteristic pathologic lesions, amyloid beta plaques and neurofibrillary tangles, in the brain are associated with synaptic dysfunction and neuron loss leading to memory impairment and cognitive decline. Although mutations in genes involved in amyloid beta processing are linked to increased plaque formation in the inherited familial form of AD, the more common idiopathic form, termed sporadic AD, develops in the absence of gene mutations. In contrast, …


Evaluating Soil Physical And Chemical Properties Following Addition Of Non-Composted Spent Coffee And Tea For Athletic Fields, Shuang Zhou Jan 2017

Evaluating Soil Physical And Chemical Properties Following Addition Of Non-Composted Spent Coffee And Tea For Athletic Fields, Shuang Zhou

Theses and Dissertations--Plant and Soil Sciences

Physical and chemical properties of non-composted spent coffee (CF) and tea (T) suggest they may have applications as soil amendments for improving poor soils. Studies were conducted to determine 1) the effect of amendments on grass growth and soil properties, 2) the effect of incorporation versus surface application of amendments on soil properties, and 3) the effect of amendment application frequency on grass growth and soil properties. In the first study, amendments were mixed with sand and planted to bermudagrass. Treatments included CF, T, and peat moss (PM) mixed with sand, and 100% sand as a control. In the second …


Soil Hydraulic Property Estimation Under Major Land-Uses In The Shawnee Hills, Trinity Joseph Baker Jan 2017

Soil Hydraulic Property Estimation Under Major Land-Uses In The Shawnee Hills, Trinity Joseph Baker

Theses and Dissertations--Plant and Soil Sciences

The ability to map soil moisture is becoming more important with changing climates and modeling these effects depends on reliable estimations of hydrologic soil properties under different land managements. This study: 1) tests the application of existing soil hydraulic property estimation methods against in-situ values of six catenas under two covers (forest and grass); 2) validate Random Forest Algorithm (RF) estimates informed from the six catenas on two separate catenas; 3) identify Rapid Carbon Assessment (RaCA) sites within the Shawnee Hills Region that represent different land-uses (Crop, Conservation Reserve Program (CRP), Forest, and Pasture); 4) apply RF learning tree informed …


Colorings Of Hamming-Distance Graphs, Isaiah H. Harney Jan 2017

Colorings Of Hamming-Distance Graphs, Isaiah H. Harney

Theses and Dissertations--Mathematics

Hamming-distance graphs arise naturally in the study of error-correcting codes and have been utilized by several authors to provide new proofs for (and in some cases improve) known bounds on the size of block codes. We study various standard graph properties of the Hamming-distance graphs with special emphasis placed on the chromatic number. A notion of robustness is defined for colorings of these graphs based on the tolerance of swapping colors along an edge without destroying the properness of the coloring, and a complete characterization of the maximally robust colorings is given for certain parameters. Additionally, explorations are made into …


Nonparametric Compound Estimation, Derivative Estimation, And Change Point Detection, Sisheng Liu Jan 2017

Nonparametric Compound Estimation, Derivative Estimation, And Change Point Detection, Sisheng Liu

Theses and Dissertations--Statistics

Firstly, we reviewed some popular nonparameteric regression methods during the past several decades. Then we extended the compound estimation (Charnigo and Srinivasan [2011]) to adapt random design points and heteroskedasticity and proposed a modified Cp criteria for tuning parameter selection. Moreover, we developed a DCp criteria for tuning paramter selection problem in general nonparametric derivative estimation. This extends GCp criteria in Charnigo, Hall and Srinivasan [2011] with random design points and heteroskedasticity. Next, we proposed a change point detection method via compound estimation for both fixed design and random design case, the adaptation of heteroskedasticity was considered for the method. …


Using Student Characteristics, Student Spatial-Content Knowledge, And Teacher Spatial-Content Knowledge To Predict Student Spatial-Content Knowledge Of Lunar Phases, Kyle A. Curry Jan 2017

Using Student Characteristics, Student Spatial-Content Knowledge, And Teacher Spatial-Content Knowledge To Predict Student Spatial-Content Knowledge Of Lunar Phases, Kyle A. Curry

Theses and Dissertations--Science, Technology, Engineering, and Mathematics (STEM) Education

Student demographic characteristics of gender and race/ethnicity, students’ spatial-content knowledge as measured by pre-instructional performance on the Lunar Phases Concept Inventory (LPCI) (Lindell & Olsen), and post-instructional performance on the Purdue Visualization of Rotations Test (PSVT) (Bodner & Guay, 1997), and teachers’ spatial-content knowledge as measured by the two assessments were considered to predict students’ overall understanding of lunar phases as measured by post-instructional results on the LPCI. A mixed modeling approach was used in a hierarchal manner to evaluate the student learning outcomes. Results showed that student gender was not a significant predictor of post-instructional student performance, but students …


Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven Jan 2017

Autonomous Quadrotor Collision Avoidance And Destination Seeking In A Gps-Denied Environment, Thomas C. Kirven

Theses and Dissertations--Mechanical Engineering

This thesis presents a real-time autonomous guidance and control method for a quadrotor in a GPS-denied environment. The quadrotor autonomously seeks a destination while it avoids obstacles whose shape and position are initially unknown. We implement the obstacle avoidance and destination seeking methods using off-the-shelf sensors, including a vision-sensing camera. The vision-sensing camera detects the positions of points on the surface of obstacles. We use this obstacle position data and a potential-field method to generate velocity commands. We present a backstepping controller that uses the velocity commands to generate the quadrotor's control inputs. In indoor experiments, we demonstrate that the …