Digital Commons Network^™

End-To-End Autonomous Quadcopter Using Reinforcement Learning, Mohamed Marwan Chawa

Theses and Dissertations

This thesis investigates the potential of Reinforcement Learning (RL) for achieving robust and adaptable quadcopter control, focusing on trajectory and attitude stabilization. We compare state-of-the-art RL algorithms, specifically Proximal Policy Optimization (PPO), against traditional Proportional-Integral-Derivative (PID) controllers across three tasks: hovering, slow trajectory following, and fast trajectory following. To enhance realism, we employ a modified PyFlyt simulation environment with a high-fidelity Crazyflie 2.x model, accounting for motor dynamics, noise, wind disturbances, and aerodynamic drag.

The challenge of operating a quadcopter can be divided into two distinct parts: planning a flight path and actually following that path. Our focus is on …

Failure Depths Of Stope Floors Under Dynamic Loading Induced By Roof Breaking, Huang Qisong, Xu Bo, Feng Junjun, Lin Xiaofei, Cheng Jiulong, Peng Jun

Coal Geology & Exploration

Objective Accurately assessing the failure depths of stope floors is crucial for assessing floor water inrush risks. Conventional theoretical models for calculating the failure depths generally merely consider static loads from the support pressure and confined water's pressure in stopes, leading to large deviations between calculation results and actual situations. Therefore, constructing a more practical computational model that comprehensively considers the coupled effects of multiple force sources on the failure of deep floors can provide a scientific basis for the effective prevention and control of water hazards in deep coal seam floors. Methods Based on the dynamic elasticity theory and …

Hydrochemical Characteristics And Component Sources Of Water In Underground Reservoirs In The Daliuta Coal Mine, Zhang Haitao, Jiang Binbin, Zhang Haiqin, Li Peng, Wu Min, Hao Jingwei, Hu Yutian

Coal Geology & Exploration

Objective Underground reservoirs in coal mines are capable of storing and purifying mine water. A deep understanding of the hydrochemical characteristics and formation mechanisms of water in underground reservoirs is identified as an important prerequisite for large-scale development of technologies for mine water treatment. Methods This study investigated the underground reservoirs in the Daliuta Coal Mine within the Shendong area by testing and analyzing their influent and effluent water samples. Using methods such as the ion ratio method, multivariate statistical analyses (e.g., correlation analysis and principal component analysis (PCA)), and the positive matrix factorization (PMF) model, this study delved into …

Analytical Study On The Intensity Of Surface Urban Heat Island (Suhi) In Kaduna State, Paul Onibaba, Kolade Victor Otokiti, Oluwabukola Grace Ademola, Temitope Mercy Akanle

CSID Journal of Infrastructure Development

Urbanization and climate change are significant drivers of rising Land Surface Temperature (LST) and the formation of Urban Heat Islands (UHIs), which have emerged as pressing environmental challenges in recent decades. This study examines the relationship between Land Use/Cover (LU/C) indices and LST in Kaduna, Nigeria, using multi-temporal Landsat imagery spanning five periods from 2001 to 2021. LST values were derived from the Landsat thermal bands, while LU/C dynamics were identified using the Maximum Likelihood Classifier algorithm. LU/C indices—including the Normalized Difference Vegetation Index (NDVI), Normalized Difference Built-up Index (NDBI), Modified Normalized Difference Water Index (MNDWI), and Soil-Adjusted Vegetation Index …

Digital Twin And Cybersecurity In Additive Manufacturing, Lidong Wang

Journal of Cybersecurity Education, Research and Practice

Additive manufacturing (AM) has been applied to automotive, aerospace, medical sectors, etc., but there are still challenges such as parts’ porosity, cracks, surface roughness, intrinsic anisotropy, and residual stress because of the high level of thermal gradient. It is significant to conduct the modeling and simulation of the AM process and achieve quality products. Digital Twin (DT) can help AM with forecasting defects/errors through simulation and real-time process monitoring. DT is a concept of Industry 4.0, and its digital structure reflects the real-time behaviors of a cyber-physical or physical system. This paper introduces the progress of DT applications in AM, …

Impact Of Logistics Factors On Procurement Of Construction Materials In Lokoja, Kogi State, Muhammed Etudaiye Ohida, Isa Imam, Araoye Olarinkoye Ajiboye

CSID Journal of Infrastructure Development

This study investigates the influence of logistics factors on the procurement of construction materials in Lokoja, Kogi State, aiming to identify and rank the critical elements affecting material procurement in building projects. A total of 250 questionnaires were distributed across nineteen neighborhoods in Lokoja using a random sampling technique. Data were analyzed using descriptive statistics, while the T-test assessed the significance of identified logistics factors. The findings revealed that seventeen logistics factors influence material procurement, with seven factors emerging as the most significant: on-time delivery, transportation challenges, material misdelivery, delivery inaccuracies, order processing, storage capacity limitations, and ineffective information flow. …

Overview Of Nigeria’S Infrastructural Development, Muhammad Onoruiza Audu, Otu Muhammed Adeiza

CSID Journal of Infrastructure Development

This paper offers a comprehensive analysis of Nigeria’s infrastructural development from 2014 to 2023, focusing on significant achievements and recurring challenges. The study examines key projects in transportation, energy, and housing, such as the Abuja-Kaduna and Lagos-Ibadan railways, the Azura-Edo Power Plant, and urban road upgrades. Persistent issues, including insufficient funding, regulatory inefficiencies, regional disparities, and security challenges, are also assessed. Using a mixed-methods approach that incorporates a literature review, data analysis, and stakeholder perspectives, the research evaluates the social and economic effects of these initiatives. The findings provide strategic recommendations to improve infrastructure quality and accessibility, promote sustainable practices, …

Determination Of The Kinetic Parameters Of Cholesterol Oxidation Using Cholesterol Oxidase From Streptomyces Sp., Meka Saima Perdani, Heri Hermansyah, Muhamad Sahlan, Dwini Normayulisa Putri, Teguh Pambudi, Anggi Khairina Hanum Hasibuan

Makara Journal of Technology

Cholesterol oxidase (CO) was successfully produced from Streptomyces sp. via the submerged fermentation method, and 69 U/mL enzyme activity was obtained. This study aimed to determine cholesterol oxidation kinetics and the production of CO as a catalyst. The enzyme was diluted to 0.15, 0.075, and 0.00375 U/mL for the oxidation reaction. The substrate was also prepared in three concentrations: 3.23, 6.46, and 12.93 mM. The optimization of conditions for enzymatic cholesterol oxidation was investigated through measurement of the effect of initial cholesterol and enzyme concentrations. Cholesterol concentration was rapidly measured via high-performance liquid chromatography (HPLC). The kinetics of CO were …

Exploring Blockchain Technology: Applications And Insights Across Multiple Fields, Zarella Valentina Burbano Vallejo, Edgar Dario Obando Paredes

AUIQ Technical Engineering Science

Blockchain is a digital recording technology where each block contains encrypted data linked to previous blocks, forming an immutable and transparent sequence. This review systematically analyzes the applications and evolution of blockchain technology across multiple sectors from 2021–2023. peer-reviewed articles focused on key areas such as finance, healthcare, energy, and supply chain management. The findings highlight blockchain's transformative potential, including its ability to enhance security through encryption and decentralization, improve trust and data integrity, and eliminate intermediaries, enabling faster transactions and cost reduction. However, challenges such as scalability issues, high energy consumption in cryptocurrency mining, privacy concerns due to the …

Evaluation Of Impact Energy In Composites Using Acoustic Emission Sensing Technique, Li Ai, Tanner Mesaric, Sydney Flowers, Sydney Houck, Joshua Widawsky, Paul Ziehl

Faculty Publications

A major challenge faced by composite materials is impact, which can result in unexpected damage and degradation. Impact events can cause significant structural damage that may not be immediately visible, leading to a reduction in the material’s mechanical properties and overall performance. This paper presents an impact assessment method using acoustic emission (AE) sensing technology. The primary goal of this approach is to determine the extent of impact damage on composite components by analyzing AE signals produced under operating stress conditions. An advanced algorithm is proposed to predict the probability that the damage falls into various damage categories, providing a …

In Situ Preparation Of Silver Nanoparticles/Organophilic-Clay/Polyethylene Glycol Nanocomposites For The Reduction Of Organic Pollutants, Amina Sardi, Bouhadjar Boukoussa, Aouicha Benmaati, Kheira Chinoune, Adel Mokhtar, Mohammed Hachemaoui, Soumia Abdelkrim, Issam Ismail, Jibran Iqbal, Shashikant P. Patole, Gianluca Viscusi, Mohamed Abboud

All Works

This work focuses on the preparation and application of silver nanoparticles/organophilic clay/polyethylene glycol for the catalytic reduction of the contaminants methylene blue (MB) and 4-nitrophenol (4-NP) in a simple and binary system. Algerian clay was subjected to a series of treatments including acid treatment, ion exchange with the surfactant hexadecyltrimethylammonium bromide (HTABr), immobilization of polyethylene glycol polymer, and finally dispersion of AgNPs. The molecular weight of polyethylene glycol was varied (100, 200, and 4000) to study its effect on the stabilization of silver nanoparticles (AgNPs) and the catalytic activity of the resulting samples. The results showed that the catalyst with …

Movian: Advancing Human Motion Analysis With 3d Visualization And Annotation, Trudi Di Qi, Isaac Browen, David Zhang, Hector M. Camarillo-Abad, Franceli L. Cibrian

Engineering Faculty Articles and Research

Human motion analysis, including data visualization and annotation, is crucial for understanding human behavior and intentions during various activities, aiding in the development of innovative tools that support independent living. Current wearable sensing technology provides rich 3D spatial movement data but generates multimodal complex datasets that require specialized skills for effective analysis. Despite the need, limited research exists on tools for effective visualization and easy annotation of such complex motion data. MoViAn (Motion Data Visualization and Annotation) is an innovative 3D data analysis system offering enriched visual representations of 3D human motion data (e.g., gaze, hand movements), along with an …

Analyzing Handwriting Legibility In Children Using Smart Vs. Traditional Pen, Franceli L. Cibrian, Lauren Min, Yingying 'Yuki' Chen, Kayla Anderson, Oscar Gutierrez, Lizbeth Escobedo

Engineering Faculty Articles and Research

Handwriting, traditionally acquired through paper, pen, or pencil, is crucial for children’s development, learning, and communication. The legibility of letters holds crucial implications for children’s composition and even self-esteem. In order to ensure legibility, timely input from educators and parents is essential, although it primarily depends on their experience. With current technological advancements, smartpens, augmented with sensing capabilities, could offer a novel approach providing feedback. However, it is unclear if the smartpen’s weight and form factor could affect children’s handwriting legibility is unclearsmartpen’s weight and form factor could affect children’s handwriting legibility. This study involves 16 children aged 9 to …

Towards A Multimodal Approach For Assessing Adhd Hyperactivity Behaviors, Franceli L. Cibrian, Lauren Min, Vitica Arnold

Engineering Faculty Articles and Research

Attention Deficit Hyperactivity Disorder (ADHD) is the most prevalent childhood psychiatric condition that needs an assessment of inattention, hyperactivity, and impulsiveness symptoms. Particularly in young children, hyperactivity-impulsivity stands out as a primary concern. However, those behaviors may or may not be evidenced when a child is in a small room, one-on-one with a single adult. Therefore, Ambient Intelligence technology that supports data collection in a natural setting, paired with expert human decision-making can potentially improve the quality of assessments. In this paper, we conduct a literature review and analysis to align ADHD assessment criteria with potential sensor technologies to collect …

Sloshing Analysis Of An Isothermal Fluid In A Cylindrical Tank For Cryogenic Tank Design Using Smoothed Particle Hydrodynamics, Dillon Freeman

The Plymouth Student Scientist

This paper investigates the capability of Smoothed Particle Hydrodynamics to model the free surface sloshing response of an isothermal fluid in a cylindrical geometry. Eleven frequencies for two horizontal driving amplitudes (0.5 mm & 2.0 mm) were validated against experimental results and the influence of the starting direction of the tanks acceleration on the steady state response was investigated. The SPH results reproduced the overall behaviour of the experimental data closely over the range of frequencies tested, but produced higher amplitudes with greater variance in the region of the tanks natural frequency. Furthermore good symmetry was observed between sidewalls for …

Exploring The Benefits Of Feature Selection Based On Bat Algorithm And Deep Learning In Brain Cancer Diagnosis, Noor Fawzi Shafiq

Al-Esraa University College Journal for Engineering Sciences

Brain cancer is considered one of the most dangerous types that must be treated as soon as possible. Therefore, it is necessary to detect brain cancer in its early stages to enhance the diagnosis of the condition. This study proposes to combine the bat algorithm (BA) with deep learning methods to identify and classify brain tumors in medical images accurately.

In this paper, the bat algorithm was used to select distinctive features from the input brain images. The Bat Algorithm (BA) is a metaheuristic optimization algorithm that mimics the echolocation behavior of bats. It efficiently explores the feature space to …

A Comprehensive Usability And Economic Analysis Of Heat-Related Wearable Technologies: Applications To Occupational Health, Ryan T. Cannady

Theses & Dissertations

The purpose of this research was to analyze the usability and economic considerations of real-time wearable technologies that are implemented in occupational settings to assess risk of heat stress and heat strain. The study population included current agriculture workers and Department of Energy (DOE), Environmental Management (EM) contractors. We employed a mixed-methods approach to comprehensively analyze the usability and economic considerations of heat-related technologies. Specifically, our approach assessed three distinct aspects the applications of these technologies in occupational settings to comprehensively address our research objective: (1) worker perceptions of heat-related wearable technologies, (2) field-based assessment of these heat-related wearable technologies, …

A Clustering-Based Location Allocation Method For Delivery Sites Under Epidemic Situations, Yaqiong Zhou, Junqi Chen, Weishi Li, Sihang Qiu, Rusheng Ju

Journal of System Simulation

Abstract: To address the poor performance of commonly used intelligent optimization algorithms in solving location problems—specifically regarding effectiveness, efficiency, and stability—this study proposes a novel location allocation method for the delivery sites to deliver daily necessities during epidemic quarantines. After establishing the optimization objectives and constraints, we developed a relevant mathematical model based on the collected data and utilized traditional intelligent optimization algorithms to obtain Pareto optimal solutions. Building on the characteristics of these Pareto front solutions, we introduced an improved clustering algorithm and conducted simulation experiments using data from Changchun City. The results demonstrate that the proposed algorithm outperforms …

Mems 411: A Diving Surface Breaker The Jetcycle, Amanda Mclaughlin, Nicholas Harris, Alice Hu, Steven Xiao

Mechanical Engineering Design Project Class

Create a diving surface breaker for the WashU swimming and Diving team.

Mems 411: Timed Mosquito Egg Container, Daniel Nordquist, Preston Gee, Stephanos Mavrommatis

Mechanical Engineering Design Project Class

To aid in the war against mosquitoes, PHD candidate Lauren Johnson tasked this groups with developing a device to help study egg laying patterns. The goal is to create a device that can cut off access to tea water (an attractive breeding site) at specified time intervals in order to observe the effects of daylight and temperatures on mosquito egg laying behavior.

Mems 411: The Ez-Push Fsae E-Assisted Pushbar, Ian Snider, Hunter Tate, Erik Lillegard, Maxwell Wrasman

Mechanical Engineering Design Project Class

WashU Racing needs a device that will help them transport their Formula SAE car to and from their garage/paddock during events and testing when the car is unable to move under its own power. Pushing the car is very exhausting and requires at least 2 pairs of people, rotating in and out, to push the car. An electronically assisted push bar would only require two people to push the car and wouldn't experience exhaustion due to pushing the car. This device will function similarly to a shopping cart tug while also functioning as a rear jack for the vehicle that …

An Intelligent System Using Deep Learning For Healthcare Monitoring In Light Of The Covid-19 And Future Pandemics Based On Iot, Sara Salman Qasim, Rajaa J. Khanjar, Jamal Nasir Hasoon, Baesher Abdullateff Abad, Ali Hussein Fadil, Shajan.M. Alsowaidi

Al-Esraa University College Journal for Engineering Sciences

Recently, the Internet of Things has become a compelling research field as a new topic of research in various disciplines, particularly in the field of healthcare, because the Internet of Things is rebuilding modern healthcare systems by integrating technology, economics, and social perspectives. The development of healthcare systems from traditional to more personalized systems in which patients can be easily diagnosed, monitored and treated and many people can be helped. People are treated and cared for remotely and this is what some people need in the crisis the world has been through like COVID-19. This epidemic is caused by the …

Measurement Of The Mechanical Properties Of Blood Vessels Using A Vascular Simulation Rig, Jack Lockyer

The Plymouth Student Scientist

Understanding the mechanical properties of blood vessels is crucial for reconstructive surgeons who connect donor tissue flaps to recipient sites. This paper describes the development of a vascular simulation test rig that delivers pulsatile flow to a blood vessel sample while continuously monitoring system pressure and sample diameter. These measurements allow for the calculation of the viscous coefficient, an important mechanical property for comparing blood vessels. A pilot test using the rig demonstrates its ability to measure pressure and diameter and highlights necessary improvements to enhance data quality. The pilot test shows that the current rig can measure 5 mm …

Investigation Of The Use Of Nanotechnology In Food Packaging, Ollie-May Woodland

The Plymouth Student Scientist

This review discusses topics related to the use and development of nanotechnology and nanomaterials in food packaging applications. The accelerated use of these technologies brings about relevant safety, environmental, ethical and legislative/ regulatory concerns and as such the aim of this work is to assess the viability of the use of current commercialised nano-enabled packaging and to evaluate the potential future trends in the progression of these technologies against public opinion and potential risk(s). The data for this report was collected through comprehensive research of nanotechnology and its applications, specifically the packaging industry in the food sector. An online survey …

Real-Time Control (Rtc)-Based Urban Flood Risk Assessment Framework For Arid And Semi-Arid Regions, Sulaiman Altami

Dissertations - ALL

Global climate change has recently increased Flood Risk (FR) disasters in arid and semi-arid regions, particularly in Gulf countries, such as the Kingdom of Saudi Arabia (KSA). Arid regions generally face low rain on average during a year, but flash floods occur during rainfall of longer return periods due to urbanization and climate change. Flood Risk Assessment (FRA) outcomes enable municipalities (planners and decision-makers) in arid urban areas to develop flood management strategies and mitigate the issues of drainage systems, which may otherwise affect the quality of life. FRA is an effective tool for not only identifying high-risk areas but …

Wood-Plastic Composites Integration For Triboelectric Nanogenerator Electricity Generation, Hanbyeol Park, Razamala Yashna F. Dimaporo, Sophia Maureen A. Emperado, Anton Jefferson L. Pangilinan, Juan Carlo T. Gumangan

Sinaya: A Philippine Journal for Senior High School Teachers and Students

Access to electricity in underdeveloped communities is particularly crucial in improving the living standards of people and alleviating poverty by promoting sustainable development. This study deals with the exploration of incorporating wood-plastic composite (WPC) – specifically wood pulp (W) and high-density polyethylene (H) – into triboelectric nanogenerator (TENG) flooring system to convert mechanical energy to electrical energy, promoting sustainable energy, reducing greenhouse gas emissions, improving the quality of life, and serving as feasible flooring tiles. Two types of TENG tiles were prepared by using different WPC ratios: 30W:70H and 70W:30H. A static bending test was conducted to assess the flexural …

Investigating Catalytic Conversion Of Lignin To Valuable Products, Jialiang Zhang

McKelvey School of Engineering Graduate Student Theses & Dissertations

Lignin is a complex, random, and heterogeneous biopolymer in lignocellulosic biomass. It has significant potential for conversion into valuable chemicals and fuels. However, its natural recalcitrant structure has made selective depolymerization challenging. This dissertation presents a detailed investigation into the mechanisms of lignin disassembly and structural evolution under various catalytic and solvent conditions. The research spans three key studies. In Chapter 2, operando magic-angle spinning (MAS) solid-state nuclear magnetic resonance (NMR) spectroscopy was employed to study reaction pathways and kinetics of lignin model polymers during catalytic hydrogenolysis. We used a Ni-Al2O3 catalyst in methanol under high temperature and pressure, and …

Investigating Catalytic Conversion Of Lignin To Valuable Products, Jialiang Zhang

McKelvey School of Engineering Graduate Student Theses & Dissertations

Lignin is a complex, random, and heterogeneous biopolymer in lignocellulosic biomass. It has significant potential for conversion into valuable chemicals and fuels. However, its natural recalcitrant structure has made selective depolymerization challenging. This dissertation presents a detailed investigation into the mechanisms of lignin disassembly and structural evolution under various catalytic and solvent conditions. The research spans three key studies. In Chapter 2, operando magic-angle spinning (MAS) solid-state nuclear magnetic resonance (NMR) spectroscopy was employed to study reaction pathways and kinetics of lignin model polymers during catalytic hydrogenolysis. We used a Ni-Al2O3 catalyst in methanol under high temperature and pressure, and …

Information Management Plan – Delivery Team, Robert Moore

Tools

Information Management Plan – Delivery Team is a support in a spreadsheet format that contains a number of delivery team (tenderers) templates that ISO 19650 recommend the delivery team (tenderers) should consider when responding to a tender to deliver a project for an Asset.

Build Digital has created Industry templates to allow organisations work in accordance with ISO 19650. These templates start to address the information requirements in the ISO 19650 series of standards. The templates are also in accordance with CEN-TR17654-2021” Guideline for the implementation of Exchange Information Requirements (EIR) and BIM Execution Plans (BEP) on European level based …

Local Food System Planning On Multiple Governance Scales: A Grounded Theory Analysis, Decker Ure

Theses and Dissertations

Local food systems (LFS) comprise the people, policies, infrastructure and practices of food production, distribution, and consumption in localized areas. LFS are becoming an increasingly important part of urban sustainable development and have recently gained significant traction in the urban planning and sustainable community spheres. Worldwide shocks to global food systems such as the COVID-19 pandemic and the Ukraine-Russia war have further elevated global interest in LFS, bringing local food to the forefront of many communities as they try to insulate themselves and their food supply from future risk. However, despite this growing interest in and policy momentum for local …