Engineering Commons^™

Control Of Pneumatically Actuated Drones, Benjamin Scott Jackson

Graduate College Dissertations and Theses

Aerial autonomous vehicles have played a crucial role in assisting humans with safety-critical operations on Earth. Applications include natural disaster response, environment surveillance, and infrastructure inspection. As humans hope to return to the Moon, as per NASA's latest initiatives, autonomous vehicles could serve as a key component in keeping humans out of harm's way. However, many celestial objects lack an atmosphere, making propeller-powered drones inadequate. To address this problem, this thesis presents an optimal control methodology to demonstrate how systems actuated using cold gas thrusters may play the role of drones in space. In place of cold gas thrusters, this …

A Study Of 5g Cellular Connectivity To Unmanned Aerial Vehicles, Jackson Murrin

All Theses

The market of unmanned aerial vehicles (UAVs) has seen significant growth in the past ten years on both the commercial and military sides. The applications for UAVs are endless and options by manufacturers allow users to modify their drones for their specific goals. This industry has opened up the excitement of piloting vehicles in the air, photography, videography, exploration of nature from a different point of view and many other hobbies assisted by the emergence of UAVs. The growth of this industry coincides with the roll out of new 5G cellular network technology. This upgrade in cellular network infrastructure allows …

The Extent Of Drone Education Being Taught In Asc Schools To 4-Year Construction Students, Cheran Teja Dumpati

All Theses

The technology of Unmanned Aircraft Systems (UAS) is growing rapidly in many fields and has become one of the skills in demand in the industry. Universities are one of the primary sources of teaching drone technology with a career-oriented approach. The goal of this study is to investigate the content of the drone curriculum being taught in Associated Schools of Construction (ASC) schools. This includes the topics covered, practical training offered, and the key deliverables taught. This information serves as a foundation for the schools that are looking forward to start drone courses in their department. The research found that …

Machine Learning-Based Drone And Aerial Threat Detection For Increased Turret Gunner Survivability, Nikolas Koutsoubis

Theses and Dissertations

The introduction of aerial drones on the modern battlefield has transformed combat operations, posing a significant threat to ground-based military operations. Detecting drones in safety scenarios is crucial. However, modern machine learning (ML)-based object detectors struggle to detect small objects like drones. This thesis presents three main contributions: (a) data and algorithmic modifications to improve small object detection in YOLO to aid in drone detection, (b) the development of a benchmark drone detection dataset called DyViR, and (c) the implementation of explainable artificial intelligence (XAI) to ensure transparent and trustworthy decision-making. To boost the performance of small object detection, we …

Northrop Grumman Collaboration Project, Nikkia Psomas-Sheridan, Santiago Robles, Ben Elkayam, Benjamin Ulfhake

Mechanical Engineering

The Northrop Grumman Collaboration Project (NGCP) is a collaborative club project sponsored by Northrop Grumman for the students of Cal Poly San Luis Obispo (CPSLO) and Cal Poly Pomona (CPP) to create a fleet of vehicles to aid in the simulated rescue of stranded hiker. The CPSLO club is responsible for delivering an autonomous flight vehicle that can suppress a fire and retrieve a payload. Mechanical Design Team of the CPSLO team was responsible for the design of the frame, electronics housing, and payload and fire suppression systems.

Saver: Surface Autonomous Vehicle For Emergency Rescue, Lucas Je Sandsor, Michelangelo Coltelli, Brian Wong, Sebastion Rivero, Kobe Hayashi

Mechanical Engineering

The design, fabrication, and testing of an unmanned surface vehicle for the NASA Micro-G NExT SAVER challenge. This device features a radio direction finding phase array to autonomously navigate to an emergency distress beacon to deliver emergency supplies.

Adaptive Large Neighborhood Search Algorithm – Performance Evaluation Under Parallel Schemes & Applications, Sandip Kumar

Theses and Dissertations

Adaptive Large Neighborhood Search (ALNS) is a fairly recent yet popular single-solution heuristic for solving discrete optimization problems. Even though the heuristic has been a popular choice for researchers in recent times, the parallelization of this algorithm is not widely studied in the literature compared to the other classical metaheuristics. To extend the existing literature, this study proposes several different parallel schemes to parallelize the basic/sequential ALNS algorithm. More specifically, seven different parallel schemes are employed to target different characteristics of the ALNS algorithm and the capability of the local computers. The schemes of this study are implemented in a …

Usage Of Drone For Building Facade Inspection, Sahara Adhikari

Master's Theses (2009 -)

The taller the building the higher the risk caused by pieces breaking off from the building façade. 13 major cities in the USA have regulations that mandate building façade inspected by a certified professional as per regulations imposed by local authority. Conventional ways of inspecting build facades are manual contact methods where a certified professional inspects the building façade with the help of scaffolding, mobile cranes, or monorails. Visual inspections with contact methods face several challenges, including poor safety, productivity, and reliability. The results of visual inspection can be reliable when dealing with small structures with easily visible parts, but …

Northrop Grumman Collaboration Project, Nikkia Rae Psomas-Sheridan, Santiago Robles, Ben Elkayam, Benjamin Ulfhake

Mechanical Engineering

The Northrop Grumman Collaboration Project (NGCP) is a collaborative club project sponsored by Northrop Grumman for the students of Cal Poly San Luis Obispo (CPSLO) and Cal Poly Pomona (CPP) to create a fleet of vehicles to aid in the simulated rescue of stranded hiker. The CPSLO club is responsible for delivering an autonomous flight vehicle that can suppress a fire and retrieve a payload. Mechanical Design Team of the CPSLO team was responsible for the design of the frame, electronics housing, and payload and fire suppression systems.

A Computer Vision-Based Method For Tack Coat Coverage Inspection Using Drone-Collected Images, Aida Da Silva

Graduate Theses, Dissertations, and Problem Reports

Tack coat is a thin asphalt applied between the existing surface and asphalt overlay during road rehabilitation. The uniformity of tack coat coverage plays a vital role in providing adhesive bonding between the two layers in the pavement structures. To ensure tack coat uniformity, the current practice primarily relies on manual inspection during construction by field experts. This process is time-consuming and tedious, and the results can be subjective and error-prone. Drones have emerged as a non-destructive sensing technology in the construction industry for many inspection practices. Unlike other non-destructive inspection technologies, drones offer benefits ranging from accelerating data collection …

Intelligent Autonomous Inspections Using Deep Learning And Detection Markers, Alejandro Martinez Acosta

Open Access Theses & Dissertations

Inspection of industrial and scientific facilities is a crucial task that must be performed regularly. These inspections tasks ensure that the facilityâ??s structure is in safe operational conditions for humans. Furthermore,the safe operation of industrial machinery, is dependent on the conditions of the environment. For safety reasons, inspections for both structural integrity and equipment is often manually performed by operators or technicians. Naturally, this is often a tedious and laborious task. Additionally, buildings and structures frequently contain hard to reach or dangerous areas, which leads to the harm, injury or death of humans. Autonomous robotic systems offer an attractive solution …

Detection, Tracking, And Classification Of Aircraft And Birds From Multirotor Small Unmanned Aircraft Systems, Chester Valentine Dolph

Electrical & Computer Engineering Theses & Dissertations

The ability for small Unmanned Aircraft Systems (sUAS) to safely operate beyond visual line of sight (BVLOS) is of great interest to governments, businesses, and scientific research. One critical element for sUAS to operate BVLOS is the capability to avoid other air traffic. While many aircraft will be cooperative and broadcast their locations using Automatic Dependent Surveillance Broadcast (ADS-B), it is expected that many aircraft will remain non-cooperative – meaning they do not communicate position or flight plan to other aircraft. Avoiding mid-air collisions with non-cooperative aircraft is a critical limitation to widespread sUAS flying BVLOS. Examples of non-cooperative traffic …

Modeling Multi-Criteria Decision-Making Problems With Applications In Last Mile Delivery And School Safety Assessment, Ayat Alrahahleh

Theses and Dissertations

The last-mile delivery option has become a focal point of academic research and industrial development in recent years. Multiple factors such as increased demands on delivery flexibility, customer requirements, delivery urgency, and many others are enforcing to adopt this option. For fulfilling this paradigm shift in delivery and providing additional flexibility, drones can be considered as a viable option to use for last-mile delivery cases. Numerous drones are available in the market with varying capacities and functionalities, posing a significant challenge for decision-makers to select the most appropriate drone type for a specific application. For this purpose, this study proposes …

Intention To Complain About Unmanned Aircraft System Noise: A Structural Equation Analysis, Robert Brents

Doctoral Dissertations and Master's Theses

Aircraft noise has a long and documented history as a source of public annoyance and a driver of noise complaints. The impending large-scale use of unmanned aircraft systems (UAS)s could expose a broader cross-section of the public to a new type of aircraft noise. Recent research notes some reactions to UAS noise, but no rigorous analyses of public intention to complain about UAS noise have been found.

Due to the potential proliferation of UASs and their attendant noise, understanding public reaction could advise both government and industry. Governments at all levels could apply the results to inform policies related to …

Precise Landing Of Vtol Uavs Using A Tether, Jeremy W. Rathjen

Graduate Theses, Dissertations, and Problem Reports

Unmanned Aerial Vehicles (UAVs), also known as drones, are often considered the solution to complex robotics problems. The significant freedom to explore an environment is a major reason why UAVs are a popular choice for automated solutions. UAVs, however, have a very limited flight time due to the low capacity and weight ratio of current batteries. One way to extend the vehicles' flight time is to use a tether to provide power from external batteries, generators on the ground, or another vehicle. Attaching a tether to a vehicle may constrain its navigation but it may also create some opportunities for …

Autonomous Payload Design With Systems Engineering, Michael Downs, Christopher James Liebhart 2nd

Williams Honors College, Honors Research Projects

The design will be an autonomous payload consisting of auto deployment of a drone running an autonomous mission of mapping the terrain around a grounded rocket. The project is part of the Akronauts payload project for the 2022 Spaceport competition. It will include the development of a ground station for monitoring and controlling the drone and the transfer of live data to the station and a computer on board the rocket. The project will aim to use system engineering techniques to accomplish this in the hope of providing documentation and thus insight into the best way to develop a multi-disciplinary …

Drone Location And Scheduling Problems In Humanitarian Logistics., Zabih Ghelichi

Electronic Theses and Dissertations

Unmanned Aerial Vehicles (UAVs), commonly referred to as drones, are a promising technology for the last-mile delivery of medical and aid items in humanitarian logistics. In emergency scenarios, like disasters, where transportation networks are destroyed and people are stranded, drones can accelerate the delivery of urgently needed items, e.g., food and water, insulin shots and blood pressure pills, to those trapped in the disaster-affected areas. Drones can also provide logistics services in many non-emergency situations by delivering medical items, e.g., vaccine shots and lab specimens, to remote communities and hard-to-access locations. The contribution of using UAVs goes beyond merely having …

Uav For Medical Equipment Distribution, Richard Barakat, Logan Christensen, Brandon Halebsky, Justin Slavick

Mechanical Engineering

This Final Design Review report documents the senior project participating in the Vertical Flight Society’s 38th Annual Student Design Competition sponsored by The Boeing Company. The goal of this project and competition is to develop an unmanned vertical lift for medical equipment distribution capable of safely delivering a 50 kg payload over distances up to 200 km. This system must be autonomous and have a backup plan to land if any part of the system malfunctions. We discuss the research and justification that drove the selection of the aircraft configuration, a winged quadcopter with a rear propeller. Furthermore, we document …

Proposal For Purchase Of In-House Drone For Cal Poly’S Construction Management Department, Angel Sanchez

Construction Management

Over the years, the construction industry has been steadily seeing an influx of new technology and innovation that has potential to improve the industry in many ways. One form of technology that has been introduced into the construction industry is Unmanned Aerial Systems (UAS). UAS technology includes drones, photogrammetry capabilities, and the software that links field data to analytic tools. In the past decade, drones in construction have seen a considerable amount of growth and the uses for drones in construction, therefore new job opportunities in construction have been created that require knowledge of UAS technology. As the construction industry …

Development Of Collision Resilient Drone For Flying In Cluttered Environment, Al Mahmud

Graduate Theses, Dissertations, and Problem Reports

The use of multi-rotor aerial vehicles, also known as drones, has increased significantly in the last decade due to their ease of use and applicability to an extended range of functions. Therefore, the importance of making these vehicles safe, for both themselves and the people around them, has also increased. A clear solution to this problem is the development of algorithms that generate collision-free paths using different sensors. However, even with such onboard computation, avoiding a collision is not always possible. Thus, the use of a protective structure (cage) around the aerial vehicle is a solution to keep it safe …

Dji Drone Modification, Sean Lacey, Seth Mancuso, Bryce Mckenzie

Williams Honors College, Honors Research Projects

For this project, we set out to create a lightweight carrying case that would be mounted to a DJI Phantom 3. This case is designed to transport small packages, such as medications, from a delivery vehicle to their final destination. Based on our maximum drone lifting capacity of 600 grams, our case, servomotor, and contents had to weigh less than or equal to that value. The coronavirus pandemic has led to an increase in contactless delivery options along with the push for immunocompromised people to avoid contact with people that may be sick. Our product would help transport necessary supplies …

Self-Describing Fiducials For Gps-Denied Navigation Of Unmanned Aerial Vehicles, Amanda J. Strate

All Graduate Theses and Dissertations, Spring 1920 to Summer 2023

Accurate estimation of an Unmanned Aerial Vehicle’s (UAV’s) location is critical for the operation of the UAV when it is controlled completely by its onboard processor. This can be particularly challenging in environments in which GPS is not available (GPS-denied). Many of the options previously explored for estimation of a UAV’s location without the use of GPS require more sophisticated processors than can feasibly be mounted on a UAV because of weight, size, and power restrictions. Many options are also aimed at indoor operation without the range capabilities to scale to outdoor operations. This research explores an alternative method of …

Autonomous Drone-Based Sensor Package Deployment To The Underside Of Structures, Sabrina Rose Carroll

Theses and Dissertations

The objective of this project is to design, develop and experimentally test an Unmanned Aircraft System (UAS, commonly known as a drone) for the deployment of sensor packages to the underside of structures. This work begins with an in-depth review of existing automation techniques for various drone applications focusing on applications requiring interaction with the environment. Further reviewed is the impact of structures above the UAS during flight on the behavior of the aircraft.

Considering these topics, the development of a custom drone is presented to address the difficulties of delivering a package to the underside of a structure. Starting …

Using Drone-Based Fully Convolutional Network For The Determination Of Construction Site Elevations, Sisi Han

Master's Theses (2009 -)

This thesis presents the research results of using the Fully Convolutional Network (FCN) model to densely match pixels and accurately determine elevations utilizing low-high ortho-images on a construction site. The research project has three major tasks. First, this researcher developed the FCN model to build up the relations between the reference pixels’ patches from the low-ortho-image and the target pixels’ patches from the high-ortho-image, which are approximate 2:1 scale relations. The developed FCN model has two convolutional blocks and one max-pooling layer in the middle. 286,292 samples of well-matched reference patches and target patches were collected for training the FCN …

Determination Of Elevations For Excavation Operations Using Drone Technologies, Yuhan Jiang

Dissertations (1934 -)

Using deep learning technology to rapidly estimate depth information from a single image has been studied in many situations, but it is new in construction site elevation determinations, and challenges are not limited to the lack of datasets. This dissertation presents the research results of utilizing drone ortho-imaging and deep learning to estimate construction site elevations for excavation operations. It provides two flexible options of fast elevation determination including a low-high-ortho-image-pair-based method and a single-frame-ortho-image-based method. The success of this research project advanced the ortho-imaging utilization in construction surveying, strengthened CNNs (convolutional neural networks) to work with large scale images, …

Automated Drone Calibration System, Jackie Kelly Jong-Mee Paik, Zach Nathan Richter, Tyler Wilson Van Den Berg, Ryan Alexander Zhan, Matthew Ward Carlson

Mechanical Engineering

The final design review of the Inspired Flight Calibration Team senior project will detail the process used to complete a verification prototype of a drone calibration device and discuss lessons learned and suggestions for improving this device. Going from brainstorming and conceptual prototyping all the way through verification prototyping and testing, we were able to design a gyroscopic device that met Inspired Flight’s needs for the flight sensor calibration of their drones. The mechanical design involved comprehensive CAD models and hands-on manufacturing. The mechatronics side of the project worked heavily with electrical wiring and writing custom software to communicate and …

Diseño De Un Protocolo De Recolección, Procesamiento Y Análisis De Imágenes Vis Y Satelitales Para Aforar Sedimientos En Suspensión Aplicado Al Río Negro, Nicolas Mateo Gomez Benavides, Natalia Vanessa Gil Medina

Ingeniería Civil

Actualmente la cuantificación de sedimentos en suspensión demanda la extracción de muestras en campo y su procesamiento en laboratorio, lo cual implica restricciones logísticas y económicas, que con este trabajo pretendieron ser superadas, utilizando técnicas de visión artificial para determinar la carga de sedimentos a partir de fotografías. El protocolo propuesto para la captura y escalado de imágenes tomadas con drone durante vuelos entre 1 y 150 metros de altura, permite cuantificar su carga sólida y caracterizar morfológicamente el rio. Mediante un modelo potencial que relaciona el área que se captura en la imagen respecto a la altura de vuelo …

Development Of A Tailored Flight Test Approach For Small Unmanned Aircraft Systems, Neil A. Wolfe

Master's Theses

This document contains the details of a study conducted to determine an effective performance flight test approach specifically for small Unmanned Aircraft Systems (sUAS). This was done by taking proven procedures and documentation from the FAA and the Air Force for manned aircraft and tailoring them specifically for use with sUAS flight test programs. A ‘sUAS Flight Testing Handbook’ was created from the proceedings to aid commercial organizations and recreational developers conducting sUAS research without access to flight test experience. A performance flight test program was conducted with the AeroVironment RQ-20 Puma sUAS using the developed approach to verify that …

Uav Catapult, Sean Drew Huxley, Benjamin Richard Lacasse, David Matthew Garcia, Jordan Joseph Cearns

Mechanical Engineering

This document outlines the Senior Design Project proposed by Dr. Aaron Drake that was assigned to a team of Mechanical Engineering students at California Polytechnic State University, San Luis Obispo. The purpose of this project was to design, build, test, and finalize a launching system for two small, fixed wing, unmanned aerial vehicles (UAVs) owned by Dr. Drake and Cal Poly. The goal was to create a system that was both portable and reliable to use, only requiring a two-person team to use effectively in the field. The most important design requirements were determined to be the launch speed, assembly …

Documentation Of Concrete Slabs Prior To Pours, Peter D. Riley

Construction Management

Concrete slabs in multi-level commercial building projects contain many components that become no longer visible once concrete has been poured. As building designs advance and continue to locate components in concrete, it is important to document what these slabs contain in order to verify accurate craftsmanship and allow for improved future construction workflows and building modernizations. This paper explores current industry needs for proficient documentation as well as practices to achieve this. A case study was conducted, testing four devices that analyzed feasibility factors for realistic implementation by a contractor such as cost, interoperability, and level of skill required for …