Electro-Mechanical Systems Commons^™

Power At Sea Develop Phase, Jake Lauer, Isabella Heinemann, Bailey Gargasz, Zachery Boyer

Mechanical Engineering

This project develops a renewable, wave-powered charging system designed to extend the mission duration of Autonomous Underwater Vehicles by eliminating the need for frequent manual battery replacement. Building upon a prior oscillating water column prototype from the CONCEPT phase, the team redesigned and tested an improved system capable of converting wave-induced air motion into electrical power using a Wells turbine. Key enhancements include doubling the column diameter to increase displaced air volume, integrating a flared inlet and bi-directional nozzle to improve airflow, and selecting corrosion-resistant materials suitable for long-term deployment in marine environments. Multiple prototypes were constructed and evaluated through …

Techno-Economic Analysis Of The Utilization Of Waste-To-Energy In Jakarta Industrial Estate Pulogadung, Wahyu Punjung Pesonagrata, Mohammad Akita Indianto

Journal of Materials Exploration and Findings

Indonesia has a serious waste problem, which ranking second in marine pollution. Due to significant environmental impacts, a solution to overcome the complexity of waste problems is needed. This study took sample on waste management in Jakarta Industrial Estate Pulogadung (JIEP). JIEP is an Industrial area which covers 443 hectares of land in East Jakarta. This study aims to address Indonesia's serious waste problem by exploring the potential utilization of waste in the Jakarta Industrial Estate Pulogadung (JIEP) as Refuse-Derived Fuel (RDF) for a waste-to-energy (WtE) power plant. The proposed method used a steam power plant with RDF as fuel …

Development And Testing Of A Computer Vision Pose Estimation System For Planar Mobile Robots, Andrew Jones

Master's Theses

This thesis details the development and testing of a computer vision-based real-time pose estimation system for differential drive robots. A single camera with a fisheye lens is used to locate ArUco markers placed at fixed locations and attached to robots. Using the OpenCV library, the Perspective-n-Point (PnP) problem is solved to facilitate the transformation of 2-D robot positions in an image to world-frame coordinates. An analytical solution is presented to estimate robot poses based on a single PnP solution, rather than solving the PnP problem for each pose estimate. Pose information is relayed to individual robots using a multi-microcontroller architecture …

Prompt-Driven Tabletop Robotic Manipulation With A Structured Llm Interface And Visual Verification, Tomas Franco

Master's Theses

Creating a tabletop robotic manipulation system that connects language goals to robot actions is a challenging problem. Large language models can interpret mission objectives and reason through actions, but when placed directly in control of hardware they can produce hallucinated commands that result in unsafe behavior without the proper safeguards.

This thesis presents a constrained LLM-guided manipulation system built around the Quanser Qarm, a four degree of freedom manipulator with a mounted Realsense RGB-D camera and a gripper with readable current. Every decision made by the LLM planner is routed through a gated command interface that restricts the model to …

Trajectory-Based Model Predictive Control For Rotary Crane Sway Suppression With Only Horizontal Boom Actuation, Haryson J. Nyobuya

Tanzania Journal of Engineering and Technology (TJET)

Safety is of biggest importance in construction and industrial activities involving rotary cranes. These cranes are huge and responsible of moving large parts or/and materials from different positions. Now operating these cranes tend to be subdue to pay load oscillations when moving the load for which is extremely dangerous when not suppressed. This study proposes the generation of trajectory using Model predictive control approach with reduced control horizon compared to state horizon. Reduced control horizon design reduces computational time for trajectory generation while maintaining the pay-load sways to a minimum. In this approach the complex dynamic model is reduced to …

Ion Irradiation Of Microelectromechanical Resonators, Hengky Chandrahalim, David D. Lynes

AFIT Patents

A method of enhancing an electromechanical coupling coefficient of a microelectromechanical (“MEMS”) device. The method includes applying, to a fully fabricated MEMS device, heavy particle ion radiation to the MEMS device at a fluence of at least 1×10¹⁴ cm.⁻². According to other embodiments of the present invention are directed to a bandpass filter comprising a plurality of MEMS devices fabricated in accordance with the methods provided. The MEMS of the plurality are electronically or mechanically coupled.

Adaptive Design Strategies For A Dual-Shaft Pvc Shredder, Gavin Balderas

University Honors Theses

This capstone project involved the design and development of a mid-size plastic shredder, created to process strong, ductile PVC sheets up to ½" thick. This application falls between the capabilities of consumer grade plastic shredders and heavy-duty industrial machines. Over 400 million tons of plastic produced annually and less than 10% of it is recycled; there is an ever-growing need for plastic recycling accessibility and infrastructure. This project aimed to create a compact dual-shaft shredder that can shred thick PVC sheets while being powered by a 120V outlet. Research into blade geometry and orientations aided an iterative design process driven …

Formula Sae Planetary Gearbox Characterization Dynamometer, Trevor Marco Toma, Thomas Welden Pierce, Ethan Liu

Mechanical Engineering

This report outlines a custom hub motor dynamometer requested by the Cal Poly Racing FSAE team. The need for this testing platform is to characterize an existing Formula SAE planetary gearbox for a proposed 4WD powertrain. Hub motors, compact electric machines integrated directly into each outboard wheel, offer significant advantages in efficiency, traction, and chassis packaging compared to conventional RWD drivetrains. By mapping torque capacity, efficiency, lubrication method effectiveness, and fatigue life, the team can validate gearbox design and performance.

This senior project group designed and built a dynamometer according to these specifications which will allow for successful testing to …

A Comparative Study Of Model Predictive Control And The Stanley Method For Vehicle Path Tracking Applications, Noah S. Fitzgerald

Master's Theses

This thesis compares a model predictive controller (MPC) and a lateral Stanley controller for vehicle path-tracking applications under simulation-based and perception-driven operating conditions. Both controllers were evaluated in simulation using a nonlinear dynamic bicycle model executing single and double lane change maneuvers. Following simulation-based evaluation, both controllers were implemented on hardware within a perception-driven steering-control pipeline. This pipeline utilized recorded sensor data from the MXcarkit 1/8^th-scale autonomous vehicle platform, incorporating lane instance segmentation and homography-based roadway estimation.

Under idealized simulation conditions, the MPC demonstrated improved trajectory-tracking performance during aggressive maneuvers while requiring greater steering activity and computational effort …

Improving The Reliability And Performance Of A Supersonic Indraft Tube Wind Tunnel, Christian J. Kaml

Master's Theses

Access to supersonic testing is increasing in demand, and wind tunnels remain one of the safest and most cost-effective methods for gathering high-speed flow data. Despite being more economical than alternative options, supersonic wind tunnel facilities often require substantial investment to construct, operate, and maintain.

The novel indraft tube tunnel architecture was conceived as a high-speed flow testbed that incorporates features of both Ludwieg tubes and indraft wind tunnels to maintain costs low enough to be accessible even to small universities. This design was first developed and tested in 2018 at California Polytechnic State University, featuring a cost per test …

Bowl-O-Matic, Nathan Lin, Luis Torres, Jill Worthington, Aiden Foote

Mechanical Engineering

Adaptive physical education presents the unique challenge of accommodating individuals with diverse physical and cognitive abilities. Instructors and program designers must often integrate specialized equipment, fixtures, or features to ensure activities remain safe, inclusive, and user-friendly. Beyond accessibility, adaptive physical education highlights the importance of empowerment— enabling every participant to experience personal growth, confidence, and connection through movement. Friday Club, a local San Luis Obispo program supported by Cal Poly’s Kinesiology Department, embodies these values by providing adaptive physical activities that promote health and well-being for individuals with varying abilities. One of the most popular and regularly held activities is …

Me3329 Modular Phonograph Gearbox, Garrett Andrik Leighton, Preston Robert Hupe, Gavin Carter Ebner, Andrew Renato Reyes

Mechanical Engineering

The Mechanical Engineering Department at California Polytechnic State University, San Luis Obispo (Cal Poly), seeks to develop a laboratory tool allowing students to reinforce concepts of gears for Mechanical Systems Design (ME329). Some current laboratories do not provide students with hands-on interaction, and the department lacks equipment and documentation to support a standardized lab. With ME329 expanding from ten to fifteen weeks, there is an opportunity to create a physical gearbox design lab allowing students to reinforce lecture material in engaging ways, while standardizing student learning. This senior project is presented and sponsored by Professor Alan Zhang. It will be …

Custom Animatronic Puppet, Jake Schuman, Fredy Herrarte, Madison Reedy, Jackson Reynolds

Mechanical Engineering

This project involved the design, fabrication, and implementation of a custom audio-animatronic puppet modeled after Dr. Brian Davis for the California Polytechnic State University Mechanical Engineering Department. The objective was to create an expressive, lifelike character capable of synchronized speech, head movement, arm gestures, and seated-to-standing motion while demonstrating the integration of mechanical design, controls, manufacturing, and artistic fabrication.

The final system consists of an 18-degree-of-freedom animatronic platform utilizing servo-driven facial and upper-body actuation combined with a pneumatic standing mechanism. A modular aluminum and 3D-printed structural framework was developed using SolidWorks and validated through engineering analysis. Character shells were digitally …

Peltier-Based Hydration Accumulation Terminal (P.H.A.T.), Jenner Mucher, Ethan Pace, Renee Robolledo, Sabrina Luo, Taehoon Lee, Tarsem Pal

Mechanical Engineering

The objective of this project is to design an innovative potable water dispenser capable of safely delivering hot, ambient, and chilled water on demand for human lander missions. The system will support astronauts’ hydration and food rehydration needs while minimizing mass, power, maintenance, and contamination risks in microgravity and partial-gravity environments. Current spacecraft dispensers, such as the International Space Station (ISS) system, provide only heated water and have limited temperature control, cleaning accessibility, and microbial resilience. Building on NASA heritage designs and lessons learned from the ISS Potable Water Dispenser, this project advances a lighter, simpler, and more energy-efficient concept …

Me3328 Buckling Lab, Willem Bitterolf, Samantha Flores, Jacy Gonsalves, Brooke Thompson

Mechanical Engineering

The objective of this senior design project is to design and develop an instructional buckling apparatus (hereafter referred to as a “buckling tester”) to enhance student comprehension of column buckling behavior through direct experimental investigation. The apparatus is specifically intended to bridge the gap between theoretical predictions and observed physical response of structural column members subjected to axial compressive loading. In particular, the system will allow students to examine how column behavior transitions between Euler’s elastic buckling theory, which governs long, slender columns, and the Johnson parabolic formula, which more accurately describes intermediate and shorter columns influenced by material yielding. …

Guitar Pickup Testing Fixture, Koen Graue, Ethan Rezentes, Max Schecter, Timothy Webb

Mechanical Engineering

Small guitar pickup manufacturers and hobbyists have an interest in developing guitar pickups with unique tonal characteristics and responses, but currently lack a reliable way to test these pickups and characterize their sound. I.M. Bohannon Mechanical Design approached the team to develop a solution to this problem. In response, the team researched current technologies, customer needs, and existing products on the market to define the scope and requirements for a guitar pickup testing fixture. This report documents the work completed during the project scope and definition phase of Cal Poly's senior project process. It discusses researched topics and existing solutions, …

Semi-Automated Wine Barrel Filler, Elliot Jason Dejong, Carlo Caesare Deianni, Brady Emerson J. Leib

Mechanical Engineering

The proposed project is a semi-automated wine barrel filler. Currently, there is no streamlined and affordable method for smaller wineries to fill wine barrels without dedicating complete focus to the task. The primary use is controlled filling for white wine fermentation, during which an air gap must be left in the barrel to allow for expansion of the wine during fermentation. Tom Greenough, Saucelito Canyon’s head winemaker, and associate winemaker Bodie Ringhofer are the primary stakeholders in our project and want to consistently fill barrels at their winery to a fluid volume of approximately 50 gallons each. This project serves …

Desktop Dynamometer, Ryan Boister, Zachary Chung, Molly Koretz, Tyler Lum

Mechanical Engineering

This senior project presents the design and development of a desktop dynamometer for measuring the performance of small electric motors. The system integrates torque and speed measurement with data acquisition hardware to calculate power output and evaluate motor performance. The compact and cost-effective design provides a practical platform for engineering education, testing, and performance characterization of small-scale power systems.

Smart Sleeve, Evan Abalos, Bright Jung, Owen Bowling, Wyatt Eberhart

Mechanical Engineering

Quantifying human arm muscle activity is essential for understanding human movements and helping individuals who suffer from motor or neurological impairments such as stroke or traumatic brain injuries. Today, these individuals, as well as clinicians, researchers, and athletes, face many challenges when using the traditional surface electromyography (sEMG) systems to monitor muscle activities, including complex setup, restricted mobility, discomfort, inconsistent placement of electrodes, and lack of accuracy. Therefore, a comfortable EMG sleeve device that accurately measures arm movement without interfering with daily tasks is needed, which the team will be designing, manufacturing, and testing as their senior project. In addition, …

Me3328 Combined Loading Beam Bending Lab, Alejandro Islas, Viswesh Vancheeswaran, Owen Spencer, Henry Andrews

Mechanical Engineering

Serving as a new laboratory experiment for ME 3328 (Design for Strength & Stiffness), strain gauges were adhered, wired, and calibrated on a cantilever beam lab apparatus capable of undergoing pure bending, pure torsion, and combined bending.