Digital Commons Network^™

Modeling And Control Of A Vertical Hopping Robot, Bradley Y. Kwan

Master's Theses

Single degree-of-freedom hopping robots are typically modeled as spring loaded inverted pendulums (SLIPs). This simplified model, however, does not consider the overall leg geometry, consequently making it difficult to investigate the optimized inertial distribution of the leg for agile locomotion. To address this issue, the first part of this thesis establishes an accurate mathematical model of a DC-motor-driven, two-link hopping robot where the motors are modeled as torque sources. The equations of motion for the two distinct phases of locomotion (stance and flight) are derived using the Lagrangian approach for holonomic systems. A Simulink/Stateflow model is developed to numerically simulate …

Design And Implementation Of A Modular Human-Robot Interaction Framework, Michael J. Juri

Master's Theses

With the increasing longevity that accompanies advances in medical technology comes a host of other age-related disabilities. Among these are neuro-degenerative diseases such as Alzheimer's disease, Parkinson's disease, and stroke, which significantly reduce the motor and cognitive ability of affected individuals. As these diseases become more prevalent, there is a need for further research and innovation in the field of motor rehabilitation therapy to accommodate these individuals in a cost-effective manner. In recent years, the implementation of social agents has been proposed to alleviate the burden on in-home human caregivers. Socially assistive robotics (SAR) is a new subfield of research …

Analysis And Optimization Of A Colorimetric Nanosensor For Rapid Detection Of Escherichia Coli In Water, Sarah M. Stabler

Master's Theses

Safe drinking water is essential for life, yet at least two billion people around the world consume water contaminated with pathogens among other pollutants. Standard methods like polymerase chain reaction (PCR) and membrane filtration have been developed to detect enteric pathogens in water. However, these methods are limited in their accessibility due to long wait times to obtain results, and the requirements of skilled expertise, electricity, and laboratory equipment. This research has focused on addressing some of these limitations by analyzing the mechanisms of work and optimizing an indirect colorimetric nanosensor developed in previous research. The colorimetric nanosensor investigated herein …

Monte Carlo Stack-Up Tolerance Analysis Of The Hybrid Rf/Optical Antenna Edge Sensors, Kara Hewson

Master's Theses

The Deep Space Network (DSN), located at the Jet Propulsion Laboratory (JPL), is developing an RF/Optical Hybrid Antenna. This antenna concept will support the reception of high-bandwidth optical deep-space communications with simultaneous support of conventional RF uplink and downlink. The optical system on the antenna consists of sixty-four hexagonal mirrors positioned to form a spherical aperture. To align the mirrors, a Position Opto-Electronic Metrology Sensor (POEMS) system is used to measure the position of each mirror relative to one another. The POEMS system consists of a sender called a collimator, which sends collimated light to the receiving component, called a …

The Effect Of Reaction Conditions On The Nucleation And Particle Growth Of A Colloidal Covalent Organic Framework, Brendan Posson

Master's Theses

Covalent organic frameworks (COFs) are a novel class of crystalline materials with regular porosity, high specific surface area, and various linkage chemistries. Conventional chemical syntheses of these materials lead to the formation of bulk powders characterized as polycrystalline aggregates. Synthesizing these materials as colloidal systems is an effective means to prevent aggregation and achieve larger single-crystalline domain sizes. In this thesis, I describe the effect of temperature and transimination catalyst strength on COF particle nucleation and particle growth. Morphology and crystallinity of the COF-300 particles were confirmed using X-ray Diffraction (XRD) and Scanning Electron Microscopy (SEM). The onset of colloidal …

Leveraging Intermediate Artifacts To Improve Automated Trace Link Retrieval, Alberto D. Rodriguez

Master's Theses

Software traceability establishes a network of connections between diverse artifacts such as requirements, design, and code. However, given the cost and effort of creating and maintaining trace links manually, researchers have proposed automated approaches using information retrieval techniques. Current approaches focus almost entirely upon generating links between pairs of artifacts and have not leveraged the broader network of interconnected artifacts. In this paper we investigate the use of intermediate artifacts to enhance the accuracy of the generated trace links – focus- ing on paths consisting of source, target, and intermediate artifacts. We propose and evaluate combinations of techniques for computing …

Development Of The Alice Fit Ft0-A Detector Frame In Root Geometry For Simulation, Jason R. Pruitt

Physics

CERN’s ALICE experiment aims to investigate the strong nuclear force through the study and production of Quark Gluon Plasma via Pb-Pb collisions. ALICE’s Fast Interaction Trigger, a group of several detectors concerned with analyzing collision events, is outfitted with the necessary materials and software for both online and offline data analysis. We simulate the detectors and all the materials in ROOT geometry to understand both machine performance and particle interactions. This allows for the analysis of secondary particle production from collision events, as well as ensuring correct placement and compatibility with other detectors and collision simulation software. This paper describes …

Language And Communication Deficits In Alzheimer’S Disease: A Review Of The Literature On The Progression, Prevention, And Mediation Of Language Barriers Experienced By Individuals With Alzheimer’S Disease, Alexander Deturck, Jasmine Shapiro, Lily Sanz, Danica Lewis

Psychology and Child Development

Alzheimer’s disease (AD) poses a significant societal problem with regard to the quality of life in the aging population worldwide (Alzheimer’s Association, 2021). One ability that is affected early on in the disease is language processing, which can result in feelings of isolation due to its significant impact on one’s relationships, overall communicative ability, and quality of life (Szatloczki et al., 2015). Thus, it is of great importance to identify evidence-based interventions and preventative measures, as well as communication strategies, helpful to patients and their caregivers. In this review of literature, we examined language difficulties pertaining to semantic verbal fluency, …

The Biodegradation Of Certified Compostable Laminate Fruit Labels: In Home Composting Environment, Angus Kojimoto, Benjamin Kohlbush

Materials Engineering

Sinclair International produces certified compostable laminate fruit labels and were interested in the end-of-life period, when disposed of in various settings. The goal of this project was to study and analyze the biodegradation of Sinclair International’s certified compostable labels under home-composting conditions. The labels were sent out to 4 different regions within the United States, including an arid zone (Arizona and New Mexico), mediterranean climate (Atascadero, California), tropical region (Hawaii), and temperate region (Ithaca, New York). The labels were composted for a total of 12 months with samples being collected every 2 months to analyze for possible degradation. The samples …

Pod Stabilization, Lane Matthew Pledger, Becca Stefanich, Ian Mccandless, Patrick Salter, Kirk Kuran

General Engineering

We were tasked by Holmes Solutions to find a way to stabilize their patented SWITCHBACK passenger gondola system. This system is a self-propelled pod that transitions smoothly between cables and rails. The main goal for this project is to dampen side-to-side swing of gondola pods using a modular stabilization system. This device must be within these constraints: it must fit within a work envelope, must be safe for user and operator, must perform a dampening effect, and must be compliant with the current system. We formulated many ideas to achieve the goal, including making the pod more aerodynamic, adding sliding …

Package Insert Conversions Using Topic-Based Writing, Emily M. Debusschere

Liberal Arts and Engineering Studies

Traditional word processing programs, at least for large companies managing controlled documents, are becoming obsolete. The next leap in the field of Technical Writing is employing Content Management Systems (CMSs). Each concept or topic created in a CMS can be referenced by multiple publications and allows for global changes.

At Cal Poly, through the Liberal Arts & Engineering Studies program, I specialized in Industrial Engineering and Technical Writing. For this senior project, I applied interdisciplinary skills to transfer four of Cepheid’s FrameMaker package inserts into an Extensible Markup Language Content Management System (XML CMS) called Vasont Inspire. The end objective …

Consumer-Ready Insulated Solar Electric Cooker, Simon Ford, Sachin Gokhale, Brendan Lynn, Richard Nguyen

Mechanical Engineering

An insulated solar electric cooker, or ISEC, converts solar energy into electricity to cook food, boil water, provide heat or even help charge batteries. In this project, the focus is an ISEC with a phase change material (PCM) that helps store heat when the solar energy input is minimal, such as after the sun has set. Although a successful ISEC already exists that utilizes PCM, this product can be improved in many ways. The specific revisions investigated in this report are the improvement of the thermal efficiency with the implementation of a vacuum-sealed outer pot, the reduction of the overall …

Saver (Surface Autonomous Vehicle For Emergency Rescue), Adam Swarhout, Holly Johnson, Zach Rannalli

Mechanical Engineering

This document serves to introduce the design team and their competition challenge, as well as to detail the progress of the project. The design challenge was presented by NASA Micro-g NExT’s SAVER (Surface Autonomous Vehicle for Emergency Rescue) competition; the goal was to design a self-driving water vehicle capable of delivering supplies to Orion astronauts separated from the rest of their crew in the case of a maritime emergency. However, the team was not selected to go forward in this competition and thus decided to scale down the size of the SAVER vehicle in order to shift the focus of …

Sustainable Energy Storage, Jacob S. Grillo, Alyse C. Coonce, Jack R. Linchey, Nick P. Schnorr

Mechanical Engineering

This Final Design Review document covers the work we, students at California Polytechnic State University – San Luis Obispo, have performed in collaboration with Mr. Harish Bhutani and Dr. Mohammad Noori. The project’s intent is to create an energy storage system for off-grid and developing region applications using alternative technologies to lithium-ion battery storage. We plan to manufacture and assemble a scale model of the energy storage system to prove effectiveness and practicality. This system will store enough energy to power basic appliances and essential devices for a house or community. The chosen design direction will be a flywheel, as …

Prosthetic Foot Shell, Christopher Menke, Colton Arbuckle, Jacob Rodriguez

Mechanical Engineering

Prosthetic foot shells are designed to fit around lower limb prosthetics to be able to fit shoes and several types of footwear. They are currently designed in a way that they wear through very quickly if used in an active lifestyle. The current designs on the market are designed for geriatric use. The sponsor for this project Mr. Dana Cummings, would like for the team to produce a product that extends current foot shell’s life. This document explains includes the team’s research process, the design process, and the main functions of what the team designed for. It will also show …

Composite Pegboard, Asa J. Cusick, Luis Corrales, Joelle Hylton, Wyatt Pauley

Mechanical Engineering

Many of those with mobility limitations who are told they will need a wheelchair for the rest of their lives can actually begin to stand and walk again given the proper tools and support. The current design for a wheelchair seeking to support this process is overly complex, heavy, and exhibits some features that could potentially pose a serious health hazard to those using it. The scope of this project is to aid in the design of an adaptable composite wheelchair frame that can be both lightweight and strong, while still allowing for physical diversity of potential users. Through research …

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 …

Physics In The Garden, Dae Jin Park, Jiyoun Jung, Tanner Haun Bush

Mechanical Engineering

The Final Design Review (FDR) report explains the initial research, design process, finalized design, manufacturing and assembly methods, and testing done by the senior project group in Mechanical Engineering Department at California Polytechnic State University, San Luis Obispo. For this project, the San Luis Obispo Botanical Garden would like to develop an educational and interactive exhibit that conveys a lesson in physics. The Botanical Garden envisions an exciting feature to educate children on physical science and broaden the appeal of the garden. This document captures the problem’s scope, requirements, initial concept, design research, target demographic, ideation, evaluation processes, and project …

Hands-On 3d Printed Dynamics Activities, Dakota Baker, Jacob Lindberg, Andrew Meyenberg, Junnior Rodriguez

Mechanical Engineering

The advancement of 3D printing has allowed everyday individuals to rapid prototype and manufacture in a more efficient, cost-effective, and timely manner. This has paved the way for a more adaptable educational model, by allowing instructors to easily access alternative instruments for teaching. By providing students with tangible tools, they will better be able to grasp complex principles. Dynamics professors need a way in which they can easily access these academic tools, transport them to and from class, and teach multiple dynamics principles through variations of a single 3D printed kit. Interviews with professors and students were conducted to gain …

Equilibrium Without Statics: The Modern Müller-Breslau Method, Claudia Rene Zapata-Kraft

Architectural Engineering

This senior project is an investigation of the Modern Müller-Breslau Method. The purpose of this senior project was to see how quickly and easily a graduating senior in a structural engineering program could acquaint themselves to the method, as well as create new problems that demonstrate its power in equilibrium without the use of any statics. The focus of this project and paper is determinate structures including beams, axial members, frames, three-hinged arches, and finally three-dimensional trusses. Examples of each type of problem will be shown with explanations along with a reflection on the experience from a student’s perspective on …

Take Heart School, Quentin John Porter

Architectural Engineering

Journeyman International, also known as JI, is a non-profit organization that groups together design and construction students with organizations looking to build humanitarian projects around the world. This pairing is beneficial for both the organization because they get free design and construction expertise, as well as for the students who get real-world experience. The Take Heart School is a planned school and grounds for the region of Migori Kenya. Take Heart Africa is a fair trade store with all profits going to help the impoverished communities of Kenya. The three-acre site will have a school with eight classrooms, offices, a …

Power Line Coupling Power Supply Design, Janine Gian Christii C. Darato, Jeni K. Kawate, Nicholas A. Marta

Electrical Engineering

In this project, a power supply was designed for a startup company, Perch Sensing, to detect wildfires with the use of distributed sensors across power lines. The purpose of the power supply is to provide 15W of power to a microcontroller, which controls the sensor nodes. The power supply hangs from power lines and draws energy by inductively coupling to these lines. Our design starts with a current transformer that steps down the current from the power line, which is fed into a shunting mechanism as a safety precaution when the load is absent, then to the power supply itself. …

Buck Converter With Voltage Foldback Protection, Fabian Aaron Enriquez, Pedro Rincon Rosales

Electrical Engineering

In this work, we implemented the idea of current foldback protection onto a buck converter. Current foldback protection essentially helps reduce the power dissipation which may be caused by a short circuit or overload scenario. To achieve the goal of this project, we used a combination of comparators, operational amplifiers and MOSFETs to create a current foldback sub controller. This controller would then serve as a feedback device between the output of the converter and the main controller to detect if a fault condition has occurred. Following the design, we performed simulation of the current foldback controller using PSpice and …

Tractor Hacking, Jin Huang, Kyle B. Kesler

Electrical Engineering

Tractor hacking arose from tractor owners' desire for full control over the tractors they purchase. Tractor manufacturers set strict security on the electrical components of their tractors, making it difficult for tractor owners to diagnose and monitor their tractors on their own. The UltraBlue Tractor Hacking project is a solution to this problem, allowing tractor owners to perform diagnostics and monitor the equipment they purchased without having to go through dealerships. From talking to farmers, we found that they valued a diagnostic tool that allows for clearing and resetting Diagnostic Trouble Codes (DTCs), viewing diagnostic data pertaining to a specific …

Portable Ventilator, Bradley C. Weeks, Jack W. Brewer, Sanders Sanabria

Electrical Engineering

The current COVID-19 pandemic has heavily impacted the healthcare system in the United States and elsewhere. The need for patients to have access to a hospital with a ventilator along with a shortage of ventilators for recovery and at-home care as a result of minimal hospital vacancy for patients has been greatly stressed. The presented problem is both an unmet demand and supply of portable and effective ventilators. Existing ventilators have many shortcomings that should be addressed: size, weight, cost, and complexity of current ventilators confines users to stay in a medical facility whilst being monitored by professionals. This both …

Automated Cornhole Score Keeping System, Dominic J. Mingione, Jason D. Chandler

Electrical Engineering

Due to the confusing scoring system and rules of the popular lawn game cornhole, many novice and avid players have difficulty accurately keeping score on a consistent basis. To alleviate this problem, the Automated Cornhole Score Keeping System implements technology that eliminates the need to keep score manually in a game of cornhole. Two cornhole boards, configured with the score keeping system, are able to accurately keep score for both teams throughout the entirety of the game. Each score keeping system communicates through BLE, giving players access to the score of their game from an external scoreboard. Both boards are …

Cultivating Creativity In Aerospace Systems Engineering To Manage Complexity, Kenneth Lucas Dodd

Master's Theses

In recent decades, complexity in aerospace programs has been increasing, leading to large budget and schedule overruns. Many of the risks of complex system development can be attributed to the inadequacy of linear methods when applied to nonlinear domains, i.e., oversimplification in a program amplifies the amount of risk produced when a system behaves unexpectedly. Effectively managing complexity involves responding to the various sources of complexity, whether it appears in the objective behavior of the system itself or in the subjective behavior of the people developing it. Thus, the engineering of complex systems requires nonlinear modeling methods of the system …

Assessing Cryptic Dispersal And Movement In The Lompoc Kangaroo Rat, Katherine A. Belnick

Biological Sciences

Lompoc kangaroo rats (LKR, Dipodomys heermanni arenae) are small rodents that reside in sand dunes from Pismo to Orcutt, including the Oceano Dunes State Vehicular Recreation Area (SVRA), in Oceano, CA. In the SVRA, some of these individuals live in habitat islands, which are habitat fragments of dense vegetation disrupted by empty, bare sand in between them. Recreational vehicle activity is permitted in the Oceano Dunes, which has caused persistence habitat fragmentation. Kangaroo rats are known to disperse between habitat islands and are suspected to do so via a special type of dispersal: cryptic dispersal. This dispersal mode, if it …

Ai Alzheimer's Early Detection Via Mri Processing, Luke Frey, Siddharth Sharma, Arti Jain

Electrical Engineering

Alzheimer’s Disease (AD) is an irreversible, progressive brain disorder that impairs memory, thinking, and language. Known as the most common form of dementia, AD is the 6th leading cause of death in the United States. It is estimated that currently, nearly 6 million Americans suffer from AD and moreover, the prevalence of AD is projected to grow to 13.8 million being diagnosed by 2050. Considering these projections, hospitals are expected to be diagnosing nearly half a million patients a year. This high volume will lead to technological growth within the diagnosis process along with more effective treatments.

As of now, …

Survey And Design Of Microwave Low-Noise Amplifiers, Omri Yaari, Pavin Virdee

Electrical Engineering

This project is a contest entry in the Wide In-band Receiver area of the 2020 International Microwave Symposium, 5G Low Noise Amplifier Competition [1]. The project includes RF transistor selection, single, two-stage, and cascode models, and RF parameter optimization to maximize the IMS Competition figure of merit along with a supplemental figure of merit [2]. 5G technologies (used in cellphones, IoT, etc.), first introduced in 2018, are on the rise in current society. Fifth generation hardware requires extended capabilities in comparison to 4G (5-20MHz bandwidth EU: 0.6-2.6GHz), including the newly allocated sub 6GHz frequency bands (EU: 3.4-3.8GHz) and wider bandwidth …