Digital Commons Network^™

Integration And Testing Of A Quadruped Robot With Ros2, Jeremy S. West

Master's Theses

The Cal Poly Legged Robotics Group has been developing research and teaching platforms for agile legged robotics since 2020. These platforms are expected to provide students with opportunities to develop complete legged-robot systems from low-level control to advanced robotics tasks such as motion planning and decision making. However, the current prototyped quadruped robot lacked the software and sensing capabilities for high-level quadrupedal gaits and advanced robotic research.

To address these challenges, this project developed Switch, a robotic platform that builds upon the previous BRUCE platform with significant hardware and software upgrades. Switch features a modular design that allows individual software …

Development Of A Control System For An 8-Dof Quadrupedal Robotic Research Platform, Jack Butler

Master's Theses

Quadrupedal robots offer a versatile locomotion option that can extend the operating space of a robot into uneven terrains. However, controlling these systems presents significant challenges due to nonlinearities introduced by various factors.

In this thesis, model-predictive control (MPC) is applied to an 8-DOF legged robot developed by Cal Poly’s Legged Robotics group. The MPC framework employs a lumped rigid-body model that treats the robot as a single rigid body with forces applied directly at the foot contact points. The controller is developed within the ROS2 environment, with integration of state estimation and gait-pattern generation, to provide maximum modularity and …

Owl Solar-Powered Link: Duck Radio Mesh For Autonomous Monitoring, Jaden Tran, Shane Williams

Electrical Engineering

The Solar Duck Sensor Node transforms a standard DuckLink into a fully self-sustaining environmental monitor. A compact solar panel / power bank module plugs into the power ports of both the DuckLink and the Raspberry Pi Zero 2 W, keeping them charged through day-night cycles. The Pi Zero 2 W will perform local processing of sensor data. Sensor output will come from the Raspberry Pi AI Camera and its object detection capabilities. This output will be distilled into metadata and advertised over BLE. The DuckLink captures these packets, encapsulates them into LoRa payloads, and forwards them across the ClusterDuck mesh …

Investigating Rattlesnake Social Networks And Improving Their Public Image Through Unobtrusive Technologies And Community Science, Owen M. Bachhuber

Master's Theses

While technology is often blamed for humans’ increasing disconnect with nature, it can also serve as a tool to facilitate empathy and conservation action for wildlife. Snakes are among the most feared animals on the planet, though their understudied social interactions provide opportunities to make scientific discoveries and change public perceptions. Project RattleCam was founded as a camera trap project in 2021 and launched the first off-grid livestream on a den of wild Prairie Rattlesnakes (Crotalus viridis) in 2024. Both camera types captured hundreds of Prairie Rattlesnakes gathering in the summer as they prepared to give birth to pups before …

Building A Sustainable Home On The Central Coast: An Owner’S Perspective, Austin Chase Anderson

Construction Management

As awareness and technology increase, sustainability as a focus in home construction is also increasing. This case study based research project seeks to understand the process of building a home on California’s Central Coast with sustainability in mind. An interview was conducted with an owner who built their home in Templeton in 2019. The interview was in a semi-structured format which included specific qualitative questions but mostly focused on an open-ended discussion which allowed the owner to share their own experience. The key challenges learned from this interview were that the owner believed price to be the main factor that …

A Wearable-Based Approach To Spinal Posture Tracking And Assessment, Sydney Marie Sherman, Noah Jeffery

Biomedical Engineering: Graduate Reports and Projects

This paper describes the design, manufacturing, and testing of a novel spinal posture tracking wearable device with embedded sensors. Currently on the market, most of the spinal posture tracking devices only focus on one segment of the spine and therefore do not track the entirety of human posture. The objective for this project was to create a wearable device in the form of a “smart shirt” that offers insights into posture trends throughout the day by tracking the entire spine. To begin the project, multiple designs were developed for the sensor array and wearable materials. These concepts were compared against …

Design, Modeling, And Testing Of A Novel Inductor For Electric Vehicles: Iron Nitride Soft Magnetic Composites, Macen Wahoske, Jesse Alan Winkel

Materials Engineering

This multi-year project focuses on the design, modeling, and testing of novel inductors for electric vehicles (EVs) using iron nitride (IN) soft magnetic composites (SMCs). This work is a continuation of previous research, with the overarching goal of enhancing EV efficiency by developing inductor cores with improved magnetic properties, leveraging IN's competitive magnetic characteristics.

This year, the project concentrated on refining fabrication processes to optimize relative permeability (μ_r) and effective IN concentration. Investigations included various mixing vessels, the application of vibration during powder settling, and different pressing methods and pressures across initial IN concentrations of 75, 80, and …

Seconds From Impact: Anticipatory Vehicular Crash Prediction Using Video Vision Transormers, Ryan P. Geisen

Master's Theses

Vehicular collisions represent a significant public health concern, necessitating re search into advanced emergency notification systems. While deep learning has shown promise in accident detection, a research gap persists in applying state-of-the-art transformer architectures to the task of anticipatory, real-time crash prediction from video. This thesis addresses this gap by developing and evaluating a Video Vision Transformer (ViViT) for the binary classification of imminent vehicular collisions. Utilizing a curated dataset of 1,493 unique collision sequences, this study systemati cally investigates the impact of temporal context by comparing the ViViT against a single-frame Vision Transformer (ViT) baseline and conducting comprehensive exper …

Creating And Re-Energizing Communities Of Meaning Throughout A Course, Nancy A. Heise, Anum Ahmed

Feminist Pedagogy

We propose a feminist course approach wherein instructors build what Amie Macdonald (2002) called "communities of meaning" in their classrooms (p.120). Through an intentional focus on supporting students' 1) individual identities, 2) holistic well-being, and 3) epistemic "buy-in" to classroom content, students will connect more deeply not only to themselves and their classmates, but also to the course material. We suggest four community-building touchpoints as a starting point for instructors looking to integrate this course approach. We start with an activity to lessen awkwardness around first-day name pronunciation. We emphasize the importance of creating collaborative classroom expectations with students, and …

Choose Your Own Reading Assignment: A Strategy To Diversify Perspectives In Class Discussion, Breena J. Brockmann

Feminist Pedagogy

This activity reimagines course reading assignments by offering students a choice between multiple texts that work together to explore a shared theory or theme. Students are invited to select readings that align with their interests or learning goals. This activity embraces the feminist pedagogical principle of collaborative learning and uses the active learning strategy of learning through teaching by asking students to work in groups to create mini lessons that teach their classmates about their selected reading. Through their discussion of multiple case studies, the class develops an understanding of feminist theory as “geographically, historically, and culturally grounded (Mohanty, 2003, …

Evaluation Of Antibiotic Testing Protocols For Biofilm-Forming Escherichia Coli In A Microfluidic Platform, Caleb R. Telander

Master's Theses

Catheter-associated urinary tract infections remain an ongoing clinical problem due to biofilm persistence and antibiotic resistance. Standard antibiotic susceptibility testing cannot accurately reproduce flow conditions and the spatial complexity of the in vivoenvironment and is thus questionable in relevance to device-related infections. This study examines a microfluidic device designed to simulate physiologically relevant wall shear stress and antibiotic gradients in Escherichia coli biofilms. The polydimethylsiloxane-based system integrates a 16-well culture chamber with a gradient generator. Biofilm growth was observed using fluorescence microscopy of green fluorescent protein-labeled bacteria. Simulations performed using COMSOL Multiphysics software estimated the appropriate range of wall …

Balance Assessment Of Disc Golf Players By A Smartphone, Joshua Paul Kannankunni

Master's Theses

Disc golf is an underrepresented sport in biomechanics research, even though it could have effects on gait and balance. Forward and side lunges performed while throwing discs can improve static and dynamic balance. The purpose of this study was to explore the effects of playing disc golf on various static and dynamic balance metrics. Static and dynamic balance experiments were done on 20 disc golf players and 20 control participants to record their RMS of acceleration during the double leg, tandem, and single leg static poses, as well as their gait speed, cadence, stride length, right step length, left step …

Video Game Hacking, A General Problem With Generalized Solutions, Luke Rowe

Master's Theses

As video games continue to get more popular and lucrative, the number of malicious actors seeking to exploit them grows with it. As this industry expands, so does the importance of securing games against cheating and abuse. This thesis aims to educate developers to help mitigate the abuse of video games by these malicious actors. The goal of this thesis is to provide a foundational framework for thinking like a hacker and how to make games harder to abuse once a hacker bypasses conventional anti-cheat software.

This thesis outlines some of the most common cheating methods and provides general context …

Optimizing Microfluidic Murine Fibroblast And Human Epidermal Keratinocyte Cell Culture In 70Μm Microwells, Christian Navarro

Master's Theses

Cell culture is an essential technique utilized in biotechnology and medicine to remove systemic influences to study cellular behavior and morphological development of individual cell lines. However, conventional cell culture is two-dimensional and static meaning it can’t easily mimic in vivo conditions such as multicellular cell to cell interactions, fluid perfusion, or 3D structures which might alter cellular behavior and morphology. Microfluidic cell culture allows for the incorporation of in vivo conditions such as perfusion and chemical gradients allowing for more physiologically accurate models. The goal of this study is to develop a protocol for testing a microfluidic chip designed …

Transitioning The Cal Poly Quarter Horse Enterprise Curriculum: From Quarters To Semesters, Jacquelyn R. Huebner

Agricultural Education: Graduate Internship Reports

The Cal Poly Quarter Horse Enterprise began in 1978, when student riders brought Cal Poly-bred horses to futurity events to sell them. In 1996, Gene Armstrong brought the sale to Cal Poly, and ever since, the annual performance horse auction has broken records as one of the highest grossing collegiate horse sales in the nation. This sale not only provides funding for the care of over one hundred horses housed at the Equine Center for educational use, but also provides an opportunity for students to gain experience in starting and training young horses, as well as putting on a dynamic …

Dairy-To-Go: An Informal And Formal Education Model On Milking Dairy Cattle, Elizabeth Ann Marie Kostalnick

Agricultural Education: Graduate Internship Reports

Within California, 360 schools have FFA programs; however, there are still over 2,000 high schools within the state. This equates to only 18% of California high schools having access to FFA. That number may be greater than 10%, however, access to agricultural curriculum is still limited. Considering US crop production is concentrated predominantly in California and the Midwest (USDA-ERS 2017), high schools in California, regardless of location and proximity to a farm, should have access to an agricultural curriculum. The purpose of this project was to create a curriculum where middle school and high school educators can show the process …

Improvements To Cal Poly's Hybrid Ac/Dc House, Brandon Ng, Andrew Nguyen, Logan Tom

Electrical Engineering

This senior project details the improvements made to Cal Poly’s Hybrid AC/DC House project. The previous state of the house experienced issues with proper reading of the current power being drawn from the connected AC sources, as well as with the system’s multiple-input single-output converter, where thermal overheating of specific FETs prevented the system from reaching its maximum output power. The updates made to the AC/DC house include improved code to prevent faulty readings and display failure and a cleaned-up power monitoring board that removes noisy signals and allows for the correct power implementation to be displayed. In addition, the …

A Battery Charging System From A Spinning Dc Generator, William L. Robey, Darcy A. Eliasi, Kalel Gadduang, Ella Blecher

Electrical Engineering

This project presents the design and construction of a battery charging system powered by a wind energy emulator. An adjustable-speed DC motor drive coupled to a DC generator was used to imitate a wind turbine rotating at different speeds, supplying a variable DC voltage to a custom PCB with an LTC4020, a four-switch buck-boost converter and battery charger. The converter steps up or down the input voltage, ranging from 12 to 24 volts, to safely charge a lithium-ion battery using a constant current constant voltage charging cycle (CC/CV). The system highlights the practicality and increasing use of renewable and wind-powered …

Field Deployable Mobile Manipulator For Autonomous Apple Harvesting, Gabriel K. Basus, Antonio Bowen, Andrew Daouda

Electrical Engineering

Increasing labor costs and agricultural demands have created a need for automated apple harvesting. However, automated apple harvesting via robotic manipulation must overcome certain challenges to be an effective and efficient method. First, the system must compete with or perform better than manual human labor. Second, it must safely and accurately navigate an apple orchard autonomously. Third, the robotic manipulator must be able to securely grasp and pick apples without causing damage. To address these challenges, this project utilizes a Husky UGV equipped with a 2D LiDAR sensor, an RGB-D camera, an IMU, an OpenManipulator-X robot arm, and a soft …

Open-Source Cubesat Flight Software And Simulation, James Gruber

Computer Engineering

An open-source FreeRTOS-based flight software framework for CubeSats, with an example flight software package and simulation demonstrating real-time attitude control.

Aerospace Fastener Installation Tool, Anthony I. Berghout, Matthew K. Eggers, Liam Dunsmore, Jose Pardo

Mechanical Engineering

Contamination, particularly in aerospace manufacturing environments, is a significant concern, especially with fastener designs that incorporate torque-rated breakaway pieces for easier installation. These breakaway pieces are also known as pintails. Howmet has tooling that can collect loose pintails during installation, but they have small capacities and are not ergonomic for aerospace technicians. Their current need is for a light and ergonomic tool capable of installing a wide variety of Ergo-Tech® fasteners while having a large capacity to collect pintails and improve aerospace manufacturing methods. For this Critical Design Stage, we have finalized a design that allows Pintails to pass through …

2-Axis Solar Panel Tracker, Danica Wong, Oliver Barnaal, Anton Orme

Mechanical Engineering

Solar panels generate energy from sunlight. To do this it’s important that they remain pointed at the sun throughout the day. The Cal Poly Micro Grid Lab runs a class that uses a student made solar panel and tracking mount as an instructional tool. This project is beginning to show signs of wear from outdoor use and is unable to run without constant input due to some significant design flaws. The lab needs a new version of the mount to be made that is significantly more reliable and easier to use.

Custom Low-Profile Vacuum Valve, Aiden A. Theocheung, Nate R. Greco, Gavin T. Weber, Nate A. Ferrari

Mechanical Engineering

In Autometrix’s proprietary gantry style cutting table, a vacuum pulled through a channel array creates suction to hold soft materials firmly in place. To provide modularity for their customers a unique valve must be designed to segment the transverse channels in two or more sections. The solution must use minimal fasteners, maximize longevity, prove affordable, and be easily manufacturable.

Kinetic, Wind-Driven Metal Sculpture, Irene Songhee Han, Aiden Brown Largay, Madeline Vang Xiong

Mechanical Engineering

The Interdisciplinary Senior Design Team “Flying Flora” from Cal Poly’s College of Engineering has been tasked with designing and building a wind-driven dynamic metal sculpture for the San Luis Obispo Botanical Garden. The botanical garden wants to fill a large, centrally located vacant space with a kinetic sculpture to attract and welcome visitors. The final design, as approved by the garden’s directors, features a large metal California poppy below a stained-glass and metal butterfly. The flower rotates smoothly in typical wind conditions, drawing the attention of visitors to the sculpture. The butterfly is stationary, positioned at an angle from the …

Aluminum Boat Rotation Fixture, Kevin W. Heiskell, Nathaniel M. Conway, James S. Knowles, Austin J. Kehl

Mechanical Engineering

Aluminum fishing boats are widely used for various water-based activities, including fishing, transportation, and recreation. Their lightweight construction makes them ideal for maneuverability, particularly in regions like Australia. However, the manufacturing process presents challenges, specifically the need to weld both the interior and exterior seams of the hull. As the boat’s weight increases during assembly, flipping it becomes difficult and potentially hazardous. Traditional methods such as cranes or forklifts are inefficient and pose safety risks. To address this, our team developed a rotating fixture that secures the boat at two connection points, one at the bow and one at the …

Blow Down Air Knife System, Gunnar Glickert, Jacob Hambel, Chris Jacques, Jackson Koempel

Mechanical Engineering

GAF is encountering a problem with their manufacturing line where fiberglass mats are produced as a base layer for roofing shingles. As the fiberglass mat comes out of the curing oven, there is a possibility that it will stick to the conveyor belt and follow along the return route if a loss of tension downstream occurs. When the fiberglass mat follows the return route, it wraps around the rollers causing substantial damage and downtime for the plant. The goal of this project is to eliminate that problem.

Reverse Engineering Bring Up And Profiling Of Multi-Fpga Systems, Henry A. Evans

Master's Theses

FPGAs have long been used for prototyping and verifying high-speed digital designs in industry and in academic research. As ASIC designs have grown in complexity and size, prototyping those designs on FPGAs has required multiple FPGAs that sometimes span multiple servers. Western Digital donated multiple FPGA-based systems to Cal Poly in 2023. These servers contain multiple high-end AMD FPGAs that are ideal for prototyping large high-speed digital designs, however the full documentation on how to use the servers and how the servers work was not provided. The servers did not come with any information on how to program the FPGAs, …

Griddle: A Novel Hardware Based Matrix Multiplier Architecture, Seth Kiefer

Master's Theses

Matrix multiplication is a computational cornerstone in modern artificial intelligence and scientific computing, yet general-purpose processors struggle to perform these operations efficiently at scale. This thesis presents Griddle, a novel hardware architecture for matrix multiplication implemented on a Xilinx Artix-7 FPGA. Griddle focuses on flexibility and scalability by adopting a purely iterative approach that supports arbitrarily shaped input matrices without requiring padding or strict dimensional constraints. The architecture uses computational pipelines to execute a multiplication operation. Each pipe consists of a multiplication core and accumulation buffer that compute matrix products in parallel. The multiplication core contains a set of multiplier …

Streamlined Intelligence: Resource-Efficient Machine Learning For 5g Nr V2v Channel Equalization, Jacqueline G. Radding

Master's Theses

As autonomous vehicles continue to evolve, reliable and efficient real-time communication between vehicles is essential for safety and performance. This thesis explores Streamlined Intelligence: Resource Efficient machine learning for 5G NR V2V Channel Equalization, focusing on lightweight random forest decision tree models to address the challenges of channel equalization in 5G New Radio (NR) vehicle to vehicle (V2V) systems. Using orthogonal frequency division multiplexing (OFDM) with QPSK modulation, the study simulates data transmission in nonlinear channels characterized by obstructions, Doppler shifts, and fading. Decision trees are proposed as a computationally efficient alternative to other machine learning methods while being compared …

Coherent Synchronization For Distributed Digital Phased Arrays, Zachary C. Numa

Master's Theses

Distributed digital phased arrays are rising technologies that help enable applications such as search and rescue operations, wireless communication, radar navigation, and military operations, among many others. Due to their improved angular resolution, digital phased arrays offer superior direction-finding capabilities compared to traditional analog phased array systems. However, this improvement comes at the cost of increased complexity—specifically, the need for precise synchronization of phase, time, and frequency across physically separated nodes. Without synchronization, the distributed phased array's gain and direction-of-arrival (DoA) estimations deteriorate significantly.

There are multiple aspects to implementing and synchronizing a non-stationary distributed digital phased array. This research …