Digital Commons Network^™

Generalized Model To Enable Zero-Shot Imitation Learning For Versatile Robots, Yongshuai Wu

Master's Theses

The rapid advancement in Deep Learning (DL), especially in Reinforcement Learning (RL) and Imitation Learning (IL), has positioned it as a promising approach for a multitude of autonomous robotic systems. However, the current methodologies are predominantly constrained to singular setups, necessitating substantial data and extensive training periods. Moreover, these methods have exhibited suboptimal performance in tasks requiring long-horizontal maneuvers, such as Radio Frequency Identification (RFID) inventory, where a robot requires thousands of steps to complete.

In this thesis, we address the aforementioned challenges by presenting the Cross-modal Reasoning Model (CMRM), a novel zero-shot Imitation Learning policy, to tackle long-horizontal robotic …

Evaluating The Effect Of Noise On Secure Quantum Networks, Karthick Anbalagan

Master's Theses

This thesis focuses on examining the resilience of secure quantum networks to environmental noise. Specifically, we evaluate the effectiveness of two well-known quantum key distribution (QKD) protocols: the Coherent One-Way (COW) protocol and Kak’s Three-Stage protocol (Kak06). The thesis systematically evaluates these protocols in terms of their efficiency, operational feasibility, and resistance to noise, thereby contributing to the progress of secure quantum communications. Using simulations, this study evaluates the protocols in realistic scenarios that include factors such as noise and decoherence. The results illustrate each protocol’s relative benefits and limitations, highlighting the three-stage protocol’s superior security characteristics, resistance to interference, …

Cost-Risk Analysis Of The Ercot Region Using Modern Portfolio Theory, Megan Sickinger

Master's Theses

In this work, we study the use of modern portfolio theory in a cost-risk analysis of the Electric Reliability Council of Texas (ERCOT). Based upon the risk-return concepts of modern portfolio theory, we develop an n-asset minimization problem to create a risk-cost frontier of portfolios of technologies within the ERCOT electricity region. The levelized cost of electricity for each technology in the region is a step in evaluating the expected cost of the portfolio, and the historical data of cost factors estimate the variance of cost for each technology. In addition, there are several constraints in our minimization problem to …

Diegetic Sonification For Low Vision Gamers, Jhané Dawes

Master's Theses

There are not many games designed for all players that provide accommodations for low vision users. This means that low vision users may not get to engage with the gaming community in the same way as their sighted peers. In this thesis, I explore how diegetic sonification can be used as a tool to support these low vision gamers in the typical gaming environment. I asked low vision players to engage with a prototype game level with two diegetic sonification techniques applied, without the use of their corrective lenses. I found that participants had more enjoyment and experienced less difficulty …

Building Software At Scale: Understanding Productivity As A Product Of Software Engineering Intrinsic Factors, Gauthier Ingende Wa Boway

Master's Theses

During our education at KSU, we have learned about various factors that affect productivity such as schedule, budget, and risks, but those are often controlled outside of what we could learn as software engineering principles, patterns, or practices. On top of that, other off-work factors such as health conditions, emotional distress, or political climate, just to name a few, could drastically affect the productivity of a software engineering team. We see a demarcation between those factors that affect productivity in software engineering but are not inherent to the discipline itself, which we call resistance factors, and the factors that are …

Development Of An In Vitro 3-Dimensional Co-Culture Human Colorectal Cancer Model In Microfluidic Devices, Abby Jens

Master's Theses

Colorectal cancer is the second most common cause of cancer-related deaths in the United States, with the relative 5-year survival rate for distant stage cancer being only 14%. The most common treatment for colorectal cancer is with chemotherapeutic drugs; however, the discovery of these drugs is costly, time-consuming, and often requires the use of animal models that do not yield results that translate to clinical trials. Due to these shortcomings, researchers seek to develop physiologically relevant in vitro tumor models that more accurately mimic the tumor microenvironment for cheaper and faster high-throughput drug screening. The aim of this research was …

Comparison Of Scanning Electron Microscopy And Confocal Laser Microscopy For Tissue Surface Roughness Characterization, Tarnvir Dhaliwal

Master's Theses

It was found that the measurements captured by confocal microscopy and scanning electron microscopy had a statistically significant difference for bovine tissue. There was not a statistically significant for porcine and poultry tissue.

The intent of the study is to perform a comparative study to examine efficacy of two distinct technologies for a singular purpose: tissue surface roughness characterization. The two technologies compared are a confocal reflectance microscope and a scanning electron microscope. The comparison was made by comparing two surface roughness parameters [Ra and Rq] within ImageJ.

The study examined three different animal species [porcine, bovine, and poultry] to …

Insights Into Cellular Evolution: Temporal Deep Learning Models And Analysis For Cell Image Classification, Xinran Zhao

Master's Theses

Understanding the temporal evolution of cells poses a significant challenge in developmental biology. This study embarks on a comparative analysis of various machine-learning techniques to classify cell colony images across different timestamps, thereby aiming to capture dynamic transitions of cellular states. By performing Transfer Learning with state-of-the-art classification networks, we achieve high accuracy in categorizing single-timestamp images. Furthermore, this research introduces the integration of temporal models, notably LSTM (Long Short Term Memory Network), R-Transformer (Recurrent Neural Network enhanced Transformer) and ViViT (Video Vision Transformer), to undertake this classification task to verify the effectiveness of incorporating temporal features into the classification …

Finite Element Analysis Of The Bearing Component Of Total Ankle Replacement Implants During The Stance Phase Of Gait, Timothy S. Jain

Master's Theses

Total ankle replacement (TAR) implants are an effective option to restore the range of motion of the ankle joint for arthritic patients. An effective tool for analyzing these implants’ mechanical performance and longevity in-silico is finite element analysis (FEA). ABAQUS FEA was used to statically analyze the von Mises stress and contact pressure on the articulating surface of the bearing component in two newly installed fixed-bearing total ankle replacement implants (the Wright Medical INBONE II and the Exactech Vantage). This bearing component rotates on the talar component to induce primary ankle joint motion of plantarflexion and dorsiflexion. The stress response …

A Comparison Of Western And Eastern Soft Systems Approaches, John L. Anaya, John L. Anaya, John L. Anaya

Master's Theses

Soft System Approaches have been developed worldwide to help problem-solvers and decision-makers develop solutions to complex problems, such as aerospace systems. Soft System Approaches were designed to help lower the disorder of developing a complex system by increasing understanding of a situation. Four Soft System Approaches were investigated, two from the West and two from the East. Within the context of the paper, the West refers to thought patterns associated with thinkers and scientists in Europe and North America, and the East refers to those from and around China. The two from the West are Peter Checkland’s Soft Systems Methodology …

A Study Of Random Partitions Vs. Patient-Based Partitions In Breast Cancer Tumor Detection Using Convolutional Neural Networks, Joshua N. Ramos

Master's Theses

Breast cancer is one of the deadliest cancers for women. In the US, 1 in 8 women will be diagnosed with breast cancer within their lifetimes. Detection and diagnosis play an important role in saving lives. To this end, many classifiers with varying structures have been designed to classify breast cancer histopathological images. However, randomly partitioning data, like many previous works have done, can lead to artificially inflated accuracies and classifiers that do not generalize. Data leakage occurs when researchers assume that every image in a dataset is independent of each other, which is often not the case for medical …

A Sindy Hardware Accelerator For Efficient System Identification On Edge Devices, Michael Sean Gallagher

Master's Theses

The SINDy (Sparse Identification of Non-linear Dynamics) algorithm is a method of turning a set of data representing non-linear dynamics into a much smaller set of equations comprised of non-linear functions summed together. This provides a human readable system model the represents the dynamic system analyzed. The SINDy algorithm is important for a variety of applications, including high precision industrial and robotic applications. A Hardware Accelerator was designed to decrease the time spent doing calculations. This thesis proposes an efficient hardware accelerator approach for a broad range of applications that use SINDy and similar system identification algorithms. The accelerator is …

Evaluation Of Polyvinyl Alcohol (Pva) For Electrospinning Utility In The Blood Vessel Mimic (Bvm) Lab, Logan Vandenbroucke

Master's Theses

Electrospinning has provided the opportunity to create extracellular matrix (ECM) mimicking scaffolds for the development of tissue-engineered constructs. Within Professor Kristen Cardinal’s Blood Vessel Mimic (BVM) Lab, at Cal Poly, there exists a constant demand for innovation and the expansion of polymer types and electrospinning capabilities for its BVM model. Along these lines, the BVM Lab has recently acquired two new electrospinning systems: the Spinbox, a commercially graded electrospinning system, and the Learn-By-Doing system, which was part of a recently completed thesis conducted by Jason Provol. Additionally, recently published literature has demonstrated polyvinyl alcohol (PVA) as a viable option for …

Optimization Of Hydraulic Cylinder Positioning For Wind Tower Hydraulic Erection System, Anbesh Rawal

Master's Theses

Wind produced electricity is a rapidly growing field with wind towers serving as critical components. Conventionally, special cranes are commonly used for wind tower erection. This study explores the use of hydraulic cylinders for small-scale wind tower erection. The thesis aims to find the optimal position of hydraulic cylinder connections in a hydraulic erection system for safe and energy-efficient tower erection and retraction and to enhance the performance and longevity of the system.

Structural analysis was conducted to investigate various hydraulic cylinder positioning configurations, ensuring minimal force exertion while maintaining structural integrity. The study included the selection of locally available …

Effects Of Beet Supplements On Cardiovascular Response Using A Noninvasive Blood Pressure Cuff, Nicholas M. Hughes

Master's Theses

A Calibrated Cuff Plethysmography device was built, tested for verification, and used to experiment on human subjects to measure the cardiovascular response of consuming a beet supplement, specifically looking at arterial compliance and pressure-area curves. Each subject was tested four times. A baseline was measured under normal conditions and after five-minute hyperemia conditions. 10 subjects were given 6 ounces of water mixed with either purple Kool-Aid (control), a SuperBeets supplement, or a SuperBeets Sport supplement and after 45 minutes, measurements were taken undergoing normal and hyperemia conditions once more. The verification testing demonstrated the calibration of the device was effectively …

An Analysis On Wildfire Mitigations Employed By Utilities In California, Evan Luu

Master's Theses

As climate change continues to worsen, environmental effects are felt by many people around the world. In California, some of its most damaging wildfires have been found to be started by utilities. As the state continues to suffer from worsening wildfire conditions, the utilities need to implement a variety of wildfire mitigations to help reduce the risk of wildfires that can affect the state and its residents. This paper analyzes the effectiveness of four mitigations employed across three California utilities and suggests potential ways for the mitigations to be used together. The technologies evaluated are covered conductor, rapid earth fault …

Development Of Load Measurement Technique For Arbitrary Shapes, Quintin J. Cockrell

Master's Theses

Obtaining aerodynamic forces and moments about all three orthogonal axes for arbitrary shapes at arbitrary orientations in a fast manner via a measurement technique specific to Cal Poly’s low-speed wind tunnel to continually obtain the forces and moments under quasi-steady conditions is explored. A Continuous Rotation Technique (CR) uses a 6-DOF load cell and stepper motor to rotate an object about an axis for a complete rotation. The forces and moments acting upon the object pass through the stepper motor and interface plates and recorded by the load cell as the object is rotated continuously a finite number of rotations. …

Brunet: Disruption-Tolerant Tcp And Decentralized Wi-Fi For Small Systems Of Vehicles, Nicholas Brunet

Master's Theses

Reliable wireless communication is essential for small systems of vehicles. However, for small-scale robotics projects where communication is not the primary goal, programmers frequently choose to use TCP with Wi-Fi because of their familiarity with the sockets API and the widespread availability of Wi-Fi hardware. However, neither of these technologies are suitable in their default configurations for highly mobile vehicles that experience frequent, extended disruptions. BRUNET (BRUNET Really Useful NETwork) provides a two-tier software solution that enhances the communication capabilities for Linux-based systems. An ad-hoc Wi-Fi network permits decentralized peer-to-peer and multi-hop connectivity without the need for dedicated network infrastructure. …

Deep Ocean Vehicle Applications And Modifications, Nichole "Nikki" T. Arm

Master's Theses

This project had two primary goals: (1) to explore opportunities to further a deep-ocean vehicle’s reach using alternative pressure spheres, and (2) to implement an existing deep-ocean vehicle (lander) in active scientific research.

I gained a greater understanding of the limitations and design choices made for existing pressure spheres using Finite Element Analysis (FEA). My simplified FEA model predicted sphere failure for the existing 30% Fiber Glass 70% Nylon injection molded spheres at an external pressure of 3,954psi or 2,690m ocean-depth (only a 7.38% error compared to the tested minimum failure depth), so I determined it a valid model. I …

The Tidal Prism, Viable Eelgrass Habitat, And The Effects Of Sea Level Rise In Morro Bay, Kaden A. Caliendo

Master's Theses

The tidal prism, or the volume of water exchanged from the sea to an estuary from mean low to mean high tide, influences system hydrodynamics and ecological functioning. Since 1884, the tidal prism in Morro Bay, California has been estimated to be decreasing over time due to sedimentation from upstream practices. What is the current tidal prism in Morro Bay and how will that change with sea level rise? How will eelgrass respond to rising sea levels?

For this study, inexpensive tidal gauges were deployed at four locations in Morro Bay from March to August 2023 to measure spatially varying …

Decentralized Machine Learning On Blockchain: Developing A Federated Learning Based System, Nikhil Sridhar

Master's Theses

Traditional Machine Learning (ML) methods usually rely on a central server to per-
form ML tasks. However, these methods have problems like security risks, data
storage issues, and high computational demands. Federated Learning (FL), on the
other hand, spreads out the ML process. It trains models on local devices and then
combines them centrally. While FL improves computing and customization, it still
faces the same challenges as centralized ML in security and data storage.

This thesis introduces a new approach combining Federated Learning and Decen-
tralized Machine Learning (DML), which operates on an Ethereum Virtual Machine
(EVM) compatible blockchain. The …

Improvement Of Rotation Capacity Of Composite Beam-To-Hss Column Connections Using External Horizontal Stiffeners, Mahdi Afshar Arjmand

Master's Theses

Improvement of Rotation Capacity of Composite Beam-to-HSS Column Connections Using External Horizontal Stiffeners

Mahdi Afshar Arjmand

This thesis focuses on the analysis of out-of-plane deformation (OOP) in column flange located in the panel zone of composite beam-to-column steel connection, as a critical aspect of steel structural engineering. This type of connection is an integral component of steel structures, and understanding their behavior is essential for ensuring safety and performance. The investigation involves examining the causes, factors influencing, and potential mitigation strategies for out-of-plane deformation of HSS flange column in these connections. Beam-to-column connections play a vital role in transferring loads …

Discourse Analysis In Engineering: Investigating Patterns In Brainstorming Conversations, Aimee Chiem

Master's Theses

Brainstorming is a critical part of the engineering design process and can have a significant impact on the outcomes of the overall project. While research has studied the outcomes of brainstorming and the ideas that teams generate, the role that language and conversation play in these activities is still relatively underexplored. Observing the different ways people use specific types of discourse can reveal how conversations can affect brainstorming itself. To that end, this research aims to answer the following questions:

1) What are the different kinds of discursive moves that students make during engineering brainstorming activities?

2) What patterns or …

Launch Vibration Attenuation For In-Space Assembly Cargo, Jered Bell

Master's Theses

This thesis investigates the implementation of a passive isolator with a pressurized air cushion for spacecraft payloads in mission architectures implementing in-space assembly technologies. A pressurized air bed capable of briefly surviving the space environment for cargo delivery was prototyped and experimentally evaluated for launch vehicle vibration dynamics resulting in a 72%, 93%, and 88% reduction in experienced GRMS loads for the X-Axis, Y-Axis, and Z-Axis, respectively. A preliminary Total Mass Loss evaluation of the Low-Density Polyethylene Film utilized for the air bed resulted in a mass loss of 0.7%, indicating that commercial off-the-shelf films might require minimal modification for …

A Numerical Modeling Analysis Of The San Francisco Bay And Sacramento-San Joaquin Delta: Riverine, Tidal, And Wind Processes, Drake A. Abrahamsson

Master's Theses

The primary motivation of this study is to analyze the 1D-2DH hydrodynamic model of the San Francisco Bay and Sacramento-San Joaquin Delta (SFBD) outlined in Nederhoff et al. (2021). I compared model water level data to 70 tidal records from the National Oceanic and Atmospheric Association (NOAA), the United States Geological Survey (USGS), the California Data Exchange Center (CDEC), and from local municipalities throughout the Bay Area to investigate how the model captures water levels and tidal constituent amplitudes. While the Nederhoff et al (2017) model analyzed an extended time period from 1950-2019, I analyzed M2 amplitude and tidal water …

Parametric Optimization Of A Wing-Fuselage System Using A Vorticity-Based Panel Solver, Chino Cruz

Master's Theses

Aerodynamic topology optimization is a useful tool in the aerodynamic design pro-
cess, especially when looking for marginal gains within a design. One example is
a turboprop racer concept aircraft that is designed with the goal of breaking world
speed records. An optimization framework was developed with the intention of later
being applied to this design. In the early design stages, the optimization framework
must focus on quicker methods of drag estimation, such as a panel codes. The large
number of design variables in topology optimization can exponentially increase func-
tion evaluations and thus computational cost. A vorticity-based panel solver …

Fabrication Of Alumina Membranes From Uv Resin– Alumina Particle Slurries, Dominique Henry Porcincula

Master's Theses

Ceramics membranes are made in a wide variety of different techniques using a wide variety of different materials. However, many of the common techniques utilize a slurry of ceramic particles, additives, and either organic solvent or water that is shaped into a membrane, left to dry, and then sintered together. Drying is a time consuming process, often requiring several hours for the liquid medium to evaporate. Defect formation caused by development of partial pressures across the drying membrane, including cracks and warpage, also typically occurs during the drying process. To address this, slurries of ceramic particles made with a low …

Novel Method Of The Quantification Of Turbulent Fluid Flow In Silicone Artery Phantoms Using Acoustic Analysis, Julia Wong

Master's Theses

Cardiovascular disease is the leading cause of death globally and is responsible for taking 17.9 million lives per year. Despite the use of clinical treatments and detection methods, there remains a large population of individuals that suffer from CVD whose symptoms are left undetected and untreated prior to a life-threatening cardiac event. This highlights a need for an early detection method that can prevent the manifestation and worsening of the disease as well as address limitations of current early detection methods. An area of interest for early detection of CVD is subclinical atherosclerosis, which is the long, early, asymptomatic stage …

Development Of An Angiogenic Tissue-On-A-Chip Microenvironment, Eric Stuehr

Master's Theses

Preclinical testing is necessary to investigate the safety and efficacy of novel therapeutics before moving to clinical trials, yet approximately 90% of these therapies fail once tested in humans. This has led to increased interest in developing robust preclinical models that accurately mimic the complex human in vivo physiology. Microfluidic devices that can introduce dynamic conditions to 3D cell/organoid cultures, also known as tissue-on-a-chip, have emerged as physiologically relevant in vitro preclinical models that can achieve high throughput screening of therapeutics. The research presented here aimed to develop an angiogenic environment within a novel microfluidic device to stimulate formation of …

Design And Scale Model Of Wave Generator For The Testing Of Wave Energy Conversion Devices, Amanda Olla

Master's Theses

As the climate crisis draws more concern, research and development in wave energy as a renewable energy source has increased. Devices such as wave energy converters (WECs) are being researched, tested, and implemented to make wave energy a competitive power source. Testing of these devices is limited due to environmental concerns such as weather, location, and other issues. WECs require testing in a marine environment, however, performing testing in the actual environment may be difficult due to weather, access, mounting, and other issues. To eliminate environmental unknowns from testing, a wave simulator device can mimic wave behavior without the need …