Engineering Commons^™

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 …

Effects Of Print Process Parameters On Droplet-Powder Interaction In Binder Jet Additive Manufacturing, Jacob Lawrence

Theses and Dissertations

Binder jet additive manufacturing (BJ) offers unique advantages, including the ability to produce complex geometries and utilize a wide range of materials, but faces challenges related to part quality and defect formation. This thesis investigates the effects of process parameters on droplet-powder interaction, powder relocation, and line formation in BJ printing. A custom BJ test platform was developed to enable precise control over key process parameters and in-situ monitoring. High-speed synchrotron X-ray imaging revealed modes of powder relocation above and below the powder bed surface. Testing revealed that parameters that increase moisture in the powder bed, such as lower droplet …

Hybrid Feedback Control For Autonomous Robot Navigation With Obstacle Avoidance, Mayur Sanjay Sawant

Electronic Thesis and Dissertation Repository

This thesis provides some hybrid feedback based autonomous navigation algorithms. First, the problem of autonomous robot navigation in planar environments with arbitrarily-shaped convex obstacles is considered. The proposed navigation approach guarantees safe and global convergence to the target location through an appropriately designed switching strategy between two different modes, namely, the move-to-target mode and the obstacle-avoidance mode. A procedure for the implementation of the proposed hybrid feedback controller in a priori unknown environments is provided.

Subsequently, the problem of autonomous navigation in planar environments with non-convex obstacles is considered. An instrumental transformation that modifies (virtually) the non-convex obstacles, in a …

A Comprehensive Review Of Fischer-Tropsch Synthesis Processes To Produce Sustainable Diesel And Aviation Fuel, Joseph C. Steinagel

Honors College Theses

The greatest threat known to humankind today is global warming. It affects every nation on the planet and the natural order of all living things. Consequently, this ongoing crisis necessitates action to scientifically revolutionize important areas of society, including researching modern adaptations of the transportation industry. In that regard, it has been determined that an effective short-term answer to eliminating carbon emissions is to produce sustainable fuels that run cooperatively with the well-established machines of today. Sustainable aviation fuel (SAF) is one such topic of interest, and the Fischer-Tropsch synthesis process is an effective way of producing SAF. To that …

Navigating The Relationships Among Food Waste Practices, Environmental Intentions, And Sustainability Knowledge Of Students, Merri Claire Minshew

Honors College Theses

Colleges and university campuses are among the greatest food wasters in the US due to combined over production and plate waste from consumers. While some schools have developed programs aimed at reducing and sustainably managing food waste, much of it ends up in landfills and produces greenhouse gas emissions. The overall goal of the research was to collect a comprehensive data set on university students’ food waste practices and behavior, environmental and sustainability knowledge, and environmental intentions. For probing relationships among these drivers, a structural equation model and student survey was developed. The survey of 37 questions was collected on …

Effect Of Waste Covid-19 Masks On Compaction Characteristics Of Silty-Clay Soil, Sydney K. Lawson

Honors College Theses

The present study aims to explore the effect of adding shredded waste Covid-19 masks to silty-clay soil on the soil’s compaction characteristics for beneficial use in embankment, the subgrade of roadways, or backfill. This was accomplished by using two different types of masks: blue surgical masks and KN95 masks. Both mask types were hand shredded into half-inch sections using safety-scissors. The maximum dry density (MDD) and optimum moisture content (OMC) are the two most important compaction characteristics, and they were determined by the Standard Proctor Compaction Test (ASTM D698 / AASHTO T99). The change of both the MDD and OMC …

Brain Computer Interface-Based Drone Control Using Gyroscopic Data From Head Movements, Ikaia Cacha Melton

Honors College Theses

This research explores the potential of using gyroscopic data from a person’s head movement to control a DJI Tello quadcopter via a Brain-Computer Interface (BCI). In this study, over 100 gyroscopic recordings capturing the X, Y and Z columns (formally known as GyroX, GyroY, GyroZ) between 4 volunteers with the Emotiv Epoc X headset were collected. The Emotiv Epoc X data captured (left, right, still, and forward) head movements of each participant associated with the DJI Tello quadcopter navigation. The data underwent thorough processing and analysis, revealing distinctive patterns in charts using Microsoft Excel. A Python condition algorithm was then …

Whispers Of Ai: Unveiling The Paradox Of Gpt Titans, Faria R. Promi, Qing Qing Zhuo

Publications and Research

The advent of large-scale language models, such as GPT, has sparked a revolution in artificial intelligence, enabling computers to comprehend and generate human-like text with remarkable ease. These models can write articles, answer questions, and even engage in conversations that mimic human speech. While their abilities are impressive, concerns about their societal impact abound. This research project dives deep into exploring the multifaceted aspects of these AI titans. We will investigate the positive aspects of big talking AI models through a thorough examination of existing literature, real-world examples, such as their potential to enhance education, entertainment, and customer service experiences. …

The Use Of Repurposed Whole Textiles To Modify The Mechanical And Hydrogeological Properties Of Green Roof Media And Granular Soils, Angelis Almanzar-Chevalie, Yehya Elfgeeh, Calvin O. Walters Jr.

Publications and Research

This study investigates using repurposed whole textiles to modify the mechanical and hydrogeological properties of lightweight Green Roof media and granular pavement soils.

Green Roof Media Green roofs aim to bring the advantages of suburban agriculture to urban environments while improving energy efficiency and enhancing stormwater management in public, commercial, and residential buildings. Previous studies by City Tech undergraduate research assistants demonstrated significant modification in hydrogeological properties when incorporating textile fabric up to 3% textile by weight (%Tex) at an aspect ratio of 1:1. The effects of mixing repurposed whole textile fiber with Green Roof media is evaluated with regards …

Climate Change Impacts On Bridge Scour Risk In New York State, Alexis Torres

Publications and Research

Bridge scour, the erosion of sediment around bridge foundations, is the leading cause of bridge failure in the United States. This problem is exacerbated by severe storms and the impacts of climate change, which can increase the risk of scour-related bridge failures. Effective prioritization and mitigation of scour risks is crucial for enhancing the resilience of transportation networks. Addressing the level of Scour to abutments that are submerged in large bodies of water caused by climate is a monumental task and operation to facilitate.

Performance-Based Risk Assessment For Large-Scale Transportation Networks, Anteneh Deriba, David Y. Yang

Student Research Symposium

Efficiently assessing the risk of asset failure due to deterioration or extreme events is crucial for transportation asset management. Traditional methods often lack effectiveness in directly evaluating system performance-based risks, facing challenges like the exponential increase in system states and the emergence of low-probability high-consequence events ("grey swan" events). To address these, this paper introduces a novel performance-based risk assessment approach for large-scale transportation networks, inspired by the Transitional Markov Chain Monte Carlo (TMCMC) method. This method transforms the risk assessment problem into a high-dimensional posterior distribution, with system risk acting as the normalization factor (evidence). It also provides risk-based …

Comparative Life Cycle Assessment Of Hydrogen Production Via Various Pv-Assisted Electrochemical Water Splitting Techniques, Achyuth Ravilla

Student Research Symposium

Photoelectrochemical (PEC) and photovoltaic-electrochemical (PV-EC) water-splitting technologies have emerged as cost-effective options for large-scale green hydrogen production in industrial applications. Solar to hydrogen (STH) efficiencies of these technologies have reached up to 20% and several pathways have been explored to drive down the cost of hydrogen using these technologies to less than $2/kg. However, the environmental impact assessment of these technologies for industry-scale deployment has not been explored in previous studies. This study assesses the environmental impacts of PEC and PV-EC technologies by conducting a cradle-to-gate life cycle assessment. The functional unit considered for this assessment is 1 kg of …

Flexible Strain Gauge Sensors As Real-Time Stretch Receptors For Use In Biomimetic Bpa Muscle Applications, Rochelle Jubert

Student Research Symposium

This work presents a novel approach to real-time length sensing for biomimetic Braided Pneumatic Actuators (BPAs) as artificial muscles in soft robotics applications. The use of artificial muscles enables the development of more interesting robotic designs that no longer depend on single rotation joints controlled by motors. Developing robots with these capabilities, however, produces more complexities in control and sensing. Joint encoders, the mainstay of robotic feedback, can no longer be used, so new methods of sensing are needed to get feedback on muscle behavior to implement intelligent controls. To address this need, flexible strain gauge sensors from Portland company, …

Characterization Of Chopped Carbon Fiber Reinforced Composites Produced Using Fused Deposition Modeling, Jonathon Tran, Rachel Shubella

Student Research Symposium

Fused deposition modeling (FDM) is an additive manufacturing (AM) process which can create parts with complex geometries in their final shape without need for additional specialized tools or devices. The FDM process builds parts by adding material layer by layer only where it is needed, saving energy, costs, production time for complex parts, and minimizing waste. Fiber reinforcement can significantly enhance the mechanical properties of a polymer material and depends significantly on the fiber length distribution and fiber orientation distribution of the final part. In this research, we investigated the various infill patterns of FDM printed Markforged onyx which is …

Pulse Modulation In Braided Pneumatic Actuators Mimics Contractile Behavior Of Biological Muscles, Mohamad Elzein

Student Research Symposium

Advancements in robotics and bioengineering aim to emulate biological muscle systems through robotic actuators, blending mechanical strength with biological adaptability. A lesser-explored aspect is mimicking the pulse-like control characteristic of biological muscles, which contract in response to action potentials from motoneurons, with muscle contractile force relying heavily on the timing between these potentials. This study explores the effect of pulse lengths and the gaps between pulses on braided pneumatic actuators (BPAs), which mimic the nonlinearity and dynamic response of biological muscles. It hypothesizes that artificial muscles utilizing pulse-based control will exhibit a similar force dependency on the intervals between pulses …

Self-Balancing Robot Leg, Ben Bolen

Student Research Symposium

Research in the Agile and Adaptive Robotics Lab involves the creation of biomimetic robots. To this end, we developed a self-balancing robot leg actuated with braided pneumatic actuators (BPAs)—a type of pneumatic artificial muscle. These BPAs, akin to human muscles, exhibit properties such as high strength-to-weight ratio and tunable passive stiffness. An Inertial Measurement Unit (IMU) was placed on top of the tibia for feedback and the tibia and foot were connected with a hinge joint. The orientation of the ankle joint was controlled with an Arduino microcontroller sending commands to the proportional pressure valves supplying the BPAs. Leg balance …

Reducing Switching Noise And Losses In Two-Stage Electric Power Converters, Abhijeet Prem

Student Research Symposium

Advancements in semiconductor devices are enabling the design of better electrical power converter systems. Wide Bandgap (WBG) switching devices from Silicon Carbide and Gallium Nitride can operate at high temperatures, voltages, and frequencies with faster turn-on/off periods, improving converter performance over silicon devices. However, WBG technology is still new, and the rapid switching transitions of these devices lead to issues such as voltage overshoots, ringing, and electromagnetic interference, which need to be addressed for widespread adoption. This work introduces a new control method for reshaping the switching voltages, which overcomes the disadvantages of fast transition time without increasing the system's …

Plasma Ion Source, Nathan K. Davis

Student Research Symposium

It is well known that a plasma can be created with both high input power and ultra low pressure. The challenge is in creating these same plasma characteristics with both lower power while maintaining a higher pressure. We have developed an ion beam by careful manipulation of magnetic and electric fields. Magnetic fields are used to accelerate ambient electrons to ionize the low pressure gas into a plasma. Electric fields are used to extract the ions into a focused beam. To achieve these initial ionizations, an artificial vacuum is created to reach low enough pressures to ionize the gas. A …

Comparative Life Cycle Assessment Of Recycling Processes For Perovskite Solar Cells, Juan P. Herrera, Jules Freeman, Achyuth Ravilla, Ilke Celik

Student Research Symposium

Perovskite solar cells (PSCs) have emerged as a promising option for solar energy generation. However, it is essential to consider the environmental impact of these innovative photovoltaic (PV) technologies as the industry moves towards commercialization. Researchers are currently exploring ways to recycle PSCs to recover valuable materials and reduce their environmental impact at the end of their life. To ensure the sustainability of PSCs, this study evaluates and compares the environmental impacts of five recently developed recycling approaches. The Tool for Reduction and Assessment of Chemicals (TRACI) method was utilized to measure environmental impacts in categories such as acidification (kg …

Deriving Analytical Design Constraints For Absolute & Relative Encoding Schemes In Functional Subnetworks, Cody W. Scharzenberger-Braet, Alexander Hunt

Student Research Symposium

As neural networks have become prolific solutions to modern problems, there has been a congruent rise in the popularity of the numerical machine learning techniques used to design them. While they are highly generalizable, numerical methods tend to produce networks that act as inscrutable “black boxes,” making it difficult to interpret their behavior. One solution to the problem of network transparency is to use analytical techniques, but these methods are underdeveloped compared to their numerical alternatives. In order to enhance the viability of analytical techniques, this work extends previous efforts to quantify the impact that non-spiking neural encoding schemes have …

Fabrication Of Two-Dimensional Material-Based Nano-Capacitors Using Bismuth Selenite (Bi2seo5) To Study Its Dielectric Properties, Major Kc

McKelvey School of Engineering Theses & Dissertations

In recent years, the demand for high-performance micro and nanodevices has surged, necessitating the exploration of novel dielectric materials to replace conventional silicon dioxide. Following the continuation of the Moorse law, as device dimensions reduce to nanoscale levels, the properties of silicon dioxide can degrade, leading to issues such as increased leakage current and reduced gate control. Materials with superior electrical properties, such as higher dielectric constant, lower leakage current, and better thermal stability allowing for the development of faster, more efficient, and more reliable devices are in higher demand than ever. Two-dimensional layered semiconductor nanomaterials represented by compounds such …

Integrating Implantable Bci Devices Within Bci2000 Using A Unified Framework And Toolchain For In-Vivo Research, Dhruva Mehta

McKelvey School of Engineering Theses & Dissertations

The field of neurotechnology research has a bright and promising future as more devices are created. However, there are still many gaps in the field as the potential for neuromodulation grows. Devices such as the Micro-Leads StimZ system and the Ripple Grapevine/Summit system help bridge that gap by allowing for a broader variety of closed-loop neuromodulation experiments to be implemented thanks to their portability and versatility. Despite these devices being on the market, however, there needs to be a method to collaborate and interact with them across multiple research institutions. BCI2000 helps to address that by creating a standardized working …

Pso Scoring Instruction Guide, Adrian Gentry, Tiantian Li, Eric Holloway, Kerrie A. Douglas, Julie P. Martin

School of Engineering Education Working Papers

This document is a scoring guide to assist higher-education administrators, faculty, and researchers who wish to use the Professional Skills Opportunities instrument (PSO). There are four aspects, or factors, that the PSO is intended to measure relative to engineering undergraduate students’ opportunities to practice professional skills and an overall PSO score. Detailed scoring instructions are provided. The PSO was developed to assess students’ opportunities to develop and practice a range of professional skills. Utilizing a rigorous instrument development process, the PSO was shown to be a tool that can reliably and validly be used to assess engineering undergraduate students' professional …

Effects Of Magnetite Particle Morphology On Adsorption Of Copper Ions From Aqueous Solutions, Alisa Hashley

Graduate Theses & Non-Theses

Adsorptive processes can be used for metal contaminant removal. This work addresses magnetite, a magnetic iron oxide, as the adsorbent for use in an adsorptive removal system, known as the continuous flow material recovery system (CFMR), developed by Leitzke et al. [1]. Though the system is effective in removing contaminants from aqueous solution, efforts to further improve efficiency are being made. One way to improve the efficiency of the CFMR is to analyze the magnetite particles being used and investigate how the particle properties effect adsorption. The author’s research is presented and discussed here to describe the effects magnetite particle …

Revitalizing Turtle Creek Park, Michael Hardyway, Ethan Harm, Abbey Jacoby, Casey Stephenson

Final Reports in ENST 411: Environmental Community Projects

We current ENST 411 students, Abbey Jacoby, Michael Hardyway, Ethan Harm, and Casey Stephenson have chosen to work with Jim Knight, East Buffalo Township, the Merrill Linn Land and Waterways Conservancy, and many others in an attempt to revitalize Turtle Creek Park for a plethora of reasons. Three of us are majoring in biology, and two are majoring in environmental science, which makes much of the information and techniques relevant in Turtle Creek applicable to our courses of study. This project included heavy hands on work which allowed us students to leave a memorable and impactful influence on the Lewisburg …

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, …

Evaluating Neuroimaging Modalities In The A/T/N Framework: Single And Combined Fdg-Pet And T1-Weighted Mri For Alzheimer’S Diagnosis, Peiwang Liu

McKelvey School of Engineering Theses & Dissertations

With the escalating prevalence of dementia, particularly Alzheimer's Disease (AD), the need for early and precise diagnostic techniques is rising. This study delves into the comparative efficacy of Fluorodeoxyglucose Positron Emission Tomography (FDG-PET) and T1-weighted Magnetic Resonance Imaging (MRI) in diagnosing AD, where the integration of multimodal models is becoming a trend. Leveraging data from the Alzheimer's Disease Neuroimaging Initiative (ADNI), we employed linear Support Vector Machines (SVM) to assess the diagnostic potential of these modalities, both individually and in combination, within the AD continuum. Our analysis, under the A/T/N framework's 'N' category, reveals that FDG-PET consistently outperforms T1w-MRI across …

Quality Assurance And Quality Control For Reinforced Concrete Inspections, Calvin O. Walters Jr.

Publications and Research

Ensuring the safety and longevity of structures is paramount in concrete construction projects. Cases like the Big Dig ceiling collapse, which occurred on July 10, 2006, when a concrete ceiling panel measuring 20' x 40' and debris weighing 26 short tons (52,000 lb) fell within Boston's Fort Point Channel Tunnel, underscore this importance (Wald, M. L., 2007). Quality Assurance (QA) and Quality Control (QC) are crucial in mitigating such risks. QA ensures that materials and methods meet predetermined performance, design, and reliability standards specified in contracts and customer arrangements. On the other hand, QC is a strategic process businesses use …

Bibliometric Review Of The Landscape And Thematic Structure Of Research On Sustainable Mining In Asean, 1942–2022, Nathatai Janjirawatna, Sirisuhk Rakthin, Philip Hallinger

Journal of Sustainable Mining

This bibliometric review addressed the lack of consolidated information on the current state of sustainable mining in the ASEAN region. The review analyzed bibliographic data associated with 539 Scopus-indexed documents on sustainable mining in ASEAN nations published through the end of 2022. Descriptive statistics identified a great disparity in the scope of research on sustainable mining practices across the ASEAN countries. Surprisingly, a significant portion of the extant research on sustainable mining in the region has been authored by scholars from outside of ASEAN. Keyword analyses highlighted several emerging research topics including life cycle assessment, conservation of natural resources, climate …

Analysis Of Wingtip Vortex Structure Generated By Bio-Inspired Winglets, D'Zahn A. Smith

Doctoral Dissertations and Master's Theses

Bio-inspired winglets were studied with the goal of better understanding the structure of the wingtip vortices they generate. Measurements of the tip vortex were previously carried out using stereoscopic particle image velocimetry (sPIV). The bio-inspired winglet was tested on a rectangular NACA 0012 wing section at a 5-degree angle of attack and at a chord Reynolds number of 900,000. Velocity field measurements were recorded at 0.7 and 2 chord lengths aft of the wing’s trailing edge. Compared to the wing with no attachment and a traditional blended winglet, the bio-inspired winglet’s vortex exhibited significantly less intense flow field properties. These …