Evaluate the Effect of Waste Ground Rubber Tire Powder in Hot Mix Asphalt
In the present study, the effect of waste ground rubber tire powder (WGRTP) modifier on various mechanical properties such as Marshall stability, flow, Marshall quotient (MQ), bulk specific gravity, air voids, voids filled with bitumen (VFB) and percent voids in compacted mineral aggregates (VMA) of asphalt mixture has been evaluated. The Marshall tests of the polymer modified asphalt mixture, prepared through dry process, indicated the optimum waste polymer modifier content to be 5% by weight of mix. The waste polymer modified asphalt mix containing 5% WGRTP showed considerable improvement in various mechanical properties of the mix compared to the conventional asphalt mixture. The appropriate amount of the added WGRTP was found to be 5% by weight of aggregate. This percentage results in the maximum level of stability. Keywords—Hot mix asphalt; Waste ground rubber tire powder; Dry process; Marshall test method
OGFC Meets CRM : Where the Rubber meets the Rubber
The Arizona Department of Transportation (ADOT) has used crumb rubber from ground tires since the late 1960's to primarily reduce reflective cracking. In 1988, ADOT started to use crumb rubber mixed with hot asphalt, commonly referred to as asphalt rubber (AR) as a binder in hot mix asphalt (HMA). Typically, these mixes are either open-graded or gap-graded and from half inch to one inch or one inch to two inches in thickness, respectively. Open-graded mixes generally contain 9 to 10 percent AR binder, whereas the gap-graded contains generally 7.5 to 8.5 percent AR binder. To date, field performance has been very good. As an extra benefit, the ground tire rubber from over five and one half million tires in Arizona has been recycled since 1988, in the making of HMA with AR.
L1 Adaptive Controller for Attitude Control of Multirotors
In this work we show an application of L1 Adaptive control theory for attitude control of UAVs. We implement the flight control system on a multirotor to show robustness and precise attitude tracking in the presence of modeling uncertainties and environmental disturbances. We choose backstepping control architecture, since the kinematics and dynamics of multirotors in most cases can be written in strict feedback form. We further exploit the fact that the kinematics of the plant, while free of uncertainties, is nonlinear, which makes it highly suitable for dynamic inversion control at each level of backstepping. On the other hand, plant dynamics is uncertain and is affected by environmental disturbances such as wind gusts, unmodeled dynamics etc. Therefore, we consider 3 variants of the control architecture. The first method uses backstepping to determine the moment demand and augments it with the L1 adaptive controller to account for uncertainties and provide robustness with guaranteed transient performance. The second architecture apply the concept of L1 adaptive backstepping to the same problem; and the third architecture uses L1 backstepping for quaternion representation of the system dynamics, which helps to avoid the singularities associated with Euler angles.