Digital Commons Network^™

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 …

Constructing Orthonormal Bases With The Residuals Of Successive Approximations, An Introduction To Multiresolution Analysis, Elijah J. Guptill

Master's Theses

Wavelets and wavelet analysis are used in the study of signal processing, quantum field theory, functional analysis, multifractal analysis, and various other areas of mathematics. Multiresolution analysis provides a framework for building a wavelet basis of $\mathcal{L}^{2}(\mathbb{R})$ from a scaling function $\phi$, whose dyadic dilations and translations, $\{2^{j /2}\phi(2^{j}x-k):j,k\in \mathbb{Z}\}$, approximate $\mathcal{L}^{2}(\mathbb{R})$. One of the key properties of  $\phi$ is that it must satisfy $\phi(x)=\sum_{k\in \mathbb{Z}}{p_{k}2^{j /2}\phi(2^{j}x-k)}$ with respect to the norm on $\mathcal{L}^{2}(\mathbb{R})$. This equation is called a two-scale difference equation. Such equations enforce a regularity on the ordinary generating function $2^{-1 /2}\sum_{k\in \mathbb{Z}}{p_{k}z^{k}}$, known as the quadrature condition. …

Developing A Humpback Whale Vocalization Detector Using Machine Learning Models, Lucas Kantorowski

Master's Theses

Humpback whale songs are notoriously complex. Identification of humpback whale song units requires bioacousticians to tediously listen, analyze, and annotate collected sound data. Even sparse data requires listening to the entirety of the collected acoustic data. In this study, three hours of audio containing over one-thousand humpback whale song units was collected in Monterey Bay, California.

Prior studies have seen success using convolutional neural networks by performing image classification on hundreds of hours worth of spectrograms. Our study uses traditional machine learning models, as they are less computationally demanding, and require less data.

We use time splitting and Mel-frequency cepstrum …

Discovering Differentially Correlated Sets Across Multiple Treatments, Tyler J. Stoen

Master's Theses

When comparing data sampled under several different conditions, we often want to study not only the overall treatment effect but also how treatments influence the relationships among variables. Differential Correlation Mining (DCM) is an existing method for identifying groups of variables whose average pairwise correlation differs significantly between exactly two sampling conditions. We extend this framework to the setting of three or more treatments, where the goal is to identify variable sets whose pairwise correlation structure varies across all conditions simultaneously. Our proposed method, VSAT for three or more treatments, generalizes the DCM search procedure using a multi-treatment hypothesis test …

Deep Learning For Affect Recognition: A Comparative Study Of Physiological Sensor-Based And Facial Image-Based Approaches, Ravi Panchal, Ravi Panchal

Master's Theses

This thesis investigates deep learning approaches for affect recognition using wearable physiological signals and facial image data. The sensor-based component evaluates stress and affect recognition on the WESAD dataset using wrist-based physiological windows and examines multiple temporal modeling strategies, including convolutional, recurrent, hybrid CNN-LSTM, attention-based, ensemble, and time-frequency approaches.

The image-based component evaluates hard-label facial expression recognition on AffectNet+ using pre-trained ResNet-50, EfficientNet-B3, and ConvNeXt-Tiny architectures across Easy, Challenging, and Difficult subsets representing different levels of expression ambiguity.

Experimental results show that the proposed Multi-Branch Attention CNN-BiLSTM (MBA-CNN-BiLSTM) model achieves the strongest wearable stress- and affect-recognition performance among the evaluated …

Movement And Space Use Of Weaned Northern Elephant Seal (Mirounga Angustirostris) Pups During Their First At-Sea Foraging Migration, Katie Saenger

Master's Theses

The northern elephant seal (Mirounga angustirostris) is a marine mammal known for engaging in long foraging migrations at sea. Adult male northern elephant seals follow pathways along the western coast of North America towards Alaska and adult female northern elephant seals follow pathways to open ocean in the North Pacific. However, there is little information on weaned northern elephant seal pup foraging behavior during their first foraging migration. This lack of knowledge is significant because northern elephant seals have a mortality rate of >50% in the first year. This project aimed to better understand the at-sea migratory movement …

Reproducing And Evaluating Charger Surfing: Robustness Of Smartphone Charging-Line Side-Channels, Colby M. Watts

Master's Theses

Smartphones are frequently connected to external, untrusted charging hardware, creating opportunities for side-channel attacks that do not require malware or direct access to device data. Charger Surfing, a recently proposed charging-line power analysis side-channel attack, reported high accuracy in inferring touchscreen input from voltage measurements collected from a smartphone’s charging cable; however, the reproducibility and robustness of these results under different conditions remain unclear. This thesis presents an independent replication and evaluation of Charger Surfing, including the development of an end-to-end data collection pipeline consisting of a modified charging cable, oscilloscope-based recordings, custom Android app, automated trace processing, and convolutional …

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 …

Design And Analysis Of A Customizable 6-Dof Force/Torque Sensor, Pyeongkang Kim

Master's Theses

This thesis presents the design, development, calibration, and testing of a novel customizable six-degree-of-freedom force/torque sensor, called the Kustom Force/Torque Sensor (KFTS), for use in the Cal Poly Low Speed Wind Tunnel (LSWT). The KFTS was developed as an alternative to commercial multi-axis force/torque sensors that feature fixed specifications. The swappable components and configurable structure of the KFTS enables changes to the sensor sensitivity, sensing range, and frequency response. Experimental testing verified that the sensor behaved as a linear time-invariant system, enabling calibration through the method of least squares and allowing the applied forces and moments to be reconstructed as …

Praxsmith: An Actor-Centric Domain Specific Language For Emergent Narratives In Video Games, Jacob C. Kelleran

Master's Theses

The video game industry is rapidly growing, and interest in game development is growing alongside it. Among this growing interest is a desire to include branching and emergent narratives in games. This subject is understood to be difficult, as every possible trajectory within the story creates exponential complexity. Large studios are sometimes able to create convincing implementations, but that is often with hundreds of developers and writers. Over the years, various solutions have been proposed to create frameworks and languages that aim to tackle this problem, with varying degrees of success. Some frameworks attempt this by placing the focus on …

An Evaluation Of Road Network Structure As A Predictor Of Traffic Volume, Colin M. Mcdonald

Master's Theses

This thesis evaluates the relationships between various graph theory metrics and taxi traffic volume for the cities of San Francisco, California and Porto, Portugal. We also evaluate a modified betweenness centrality metric which incorporates the count of distinct origin-destination pairs from the taxi data as the weight function. This thesis extends a paper by Pengyao Ye, Bo Wu, and Wenbo Fan by reducing circularity through a temporal train-test split and by comparing both line-graph and primal-graph formulations of betweenness centrality.

We found that past traffic volume is almost perfectly correlated with future traffic volume and that the modified betweenness centrality …

Electrical Resistivity Tomography Investigation Of Hard Rock Aquifers In The Salinian Block, Roxanne C. Chambers

Physics

Identifying a productive groundwater source in hard rock terrain is often a challenge. Conventional hard rock aquifer models commonly describe a weathering derived layered system consisting of a laminated layer, an underlying fractured zone, and a competent granitic basement. This study investigates the applicability of this conceptual model at Lockshaw Ranch, a granitic site within the Salinian Block of central California located near the Rinconada Fault.

Previous electrical resistivity tomography (ERT) surveys and time domain electromagnetic (TDEM) data were integrated with a newly acquired ERT profile (ERT-06) are used to characterize the subsurface structure and identify potential groundwater bearing zones. …

Cosmetic Clamper, Daniel Peter Gates, Bruno Roberto Martinez, Samantha Remy, Zachary Joseph Roeber

Mechanical Engineering

Cosmetic Clamper Mechanical Engineering Senior Project was a senior project at California Polytechnic State University, San Luis Obispo in the College of Engineering, Mechanical Engineering Department. The project ran from September 2025 to June 2026. The project developed the Cosmetic Clamper device, an accessibility product designed to help individuals with unilateral upper extremity motor deficits open, use, and close cosmetic containers independently.

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 …

Electrically Evoked Emg Decomposition Using The Perturbative Generalized Series Expansion, William R. Walker

Master's Theses

Electrically evoked electromyography records the muscle's response to nerve stimulation and has been used for clinical assessment of neuromuscular function, as well as treatments such as functional electrical stimulation or stroke rehabilitation. In every muscular contraction, an electrical signal is generated. These signals come from the summation of simultaneously recruited motor units, enabling decomposition techniques to reveal information about motor unit recruitment.  By improving the ability to decompose and analyze these signals, clinical treatments involving neuromuscular electrical stimulation can be optimized and better understood. Much of the research on EMG analysis focuses on voluntary EMG, leaving a gap in the …

Develop & Test Radar Assignments For Future Graduate Curriculum, Thomas Ky Hong, Christopher William Hoferer

Electrical Engineering

With Cal Poly’s switch to semesters, many upper-level electives lack enough depth and structured content for the new 15-week format. In addition, while the Electrical Engineering department currently offers approximately five weeks of RADAR-focused laboratory material within EE 424: Intro to Remote Sensing, this limited exposure is insufficient to provide students with a comprehensive understanding of RADAR theory and practical applications. The semester conversion presents a timely opportunity to expand this existing five-week RADAR segment into a full 15-week course that integrates both lecture and laboratory content. To address the current curriculum gap, we have seamlessly extended the RADAR exercises …

Muon Lifetime: Theory, Experiment, And Simulation, Soren Agustin Munoz

Physics

This senior project investigates the muon lifetime through three complementary approaches: theoretical calculation, laboratory measurement, and computational simulation. The theoretical component develops the necessary background from relativistic field theory to the effective weak interaction, culminating in the leading-order Fermi-theory prediction of τ ≈ 2.2 μs, which explains why the muon lifetime lies on the microsecond scale.

The experimental component measures the lifetime of stopped cosmic-ray muons using a plastic scintillator, photomultiplier tube, and analog timing electronics. A binned Poisson likelihood fit to the primary 15-day acquisition run τ = 2.17^+0.03_-0.09 μs, consistent with the accepted value within the …

Validation Of Electromagnetic Shower Development In A Reduced Alice Focal-E Detector Model Using Geant4, Isaac Lara Romo

Physics

This project focuses on the preliminary simulation of a reduced FoCal-E detector model for the ALICE experiment at CERN. Beamline tests were simulated using an electron gun at various incident energies, and the results were compared with those of the FoCal group. The longitudinal charge deposition per sensor layer was compared between the two setups to verify that the reduced model exhibited expected calorimeter behavior. Additionally, the transverse signal across the high-granularity sensor layers was examined to determine whether the reduced model reproduced the expected lateral development of electromagnetic showers. The results obtained from these measurements show that the reduced …

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 …

Compressor Rotor Joints And Interference Fit Study, Isabela Jimenez, Aubrey Perez, Isaiah Guerrero, Jireh Velasquez

Mechanical Engineering

Solar Turbines need a comprehensive study on the effects axial and radial inference fits have on turbine compressor rotor stiffness. The aft weldment of the compressor has press-fit dowel pins and pilot joints to connect one weldment section to another. These fits need to be assessed through a finite element modal analysis, as well as practically tested through modal impacts to investigate how the fits affect the stiffness of the turbine’s connected weldments. The experimental data will be used to validate the finite element analysis (FEA) model.

Mass - Modular Acoustic Suppression System, Julia Megargle, Michael A. Milner, Lucas Kaemmererer, Jonathan Corvera, Gabriel Choi, Emmi Cayer

Mechanical Engineering

The Modular Acoustic Suppression System (MASS) is a mass tuned damper that reverberates a membrane atop a cavity to absorb select acoustic frequencies produced by the Environmental Control and Life Support Systems (ECLSS) within NASA's Artemis Human Lander. The height of the reverberation chamber is adjusted to mitigate a range of varying tonal frequencies within the human lander.

Xylem: A Comparative Analysis Of Gpu Dispatch Pipelines For Large-Scale, Procedural Environments, Srinivas Sundararaman

Master's Theses

The real-time rendering of large-scale, procedural scenes presents a significant performance challenge for traditional CPU-bound rendering pipelines. The high volume of draw calls and the need for complex culling and level-of-detail management create bottlenecks that limit scene complexity and visual fidelity. This thesis investigates the evolution of GPU-driven rendering paradigms via the Xylem renderer within NVIDIA’s Donut rendering framework as a solution to these challenges.

A comprehensive benchmarking framework is developed to implement and quantitatively analyze three distinct rendering strategies for a procedurally generated, parameterizable, large-scale forest scene. The evaluated pipelines include: (1) traditional instanced rendering, (2) compute-driven indirect rendering …

Autonomous Vision-Based Litter Collection Rover, Dante Michael Benedetti, Benjamin Scott Tavares, Nathan Heil

Electrical Engineering

This report documents the design, implementation, and testing of an autonomous litter-collection rover developed as a Senior Project Design Lab (EE 460/463/464) at California Polytechnic State University. The rover integrates autonomy, computer vision, embedded real-time control, mecanum-wheel omnidirectional mobility, and a two-degree-of-freedom robotic arm to detect, approach, and collect small ground-level litter such as bottles, wrappers, and paper fragments.

The system uses a two-layer compute architecture: an NVIDIA Jetson Orin Nano running ROS 2 for perception, SLAM, and path planning, paired with an STM32L4A6ZG microcontroller for real-time motor control and odometry. The robot is built on a multi-level aluminum frame …

Solving Linearly Constrained Quadratic Programs Using Field Programmable Analog Arrays, Tyler Wynn, Alonzo Arroyo

Electrical Engineering

This paper presents a field-programmable analog array (FPAA) implementation for solving linearly constrained quadratic programs (LCQPs) directly in the analog domain. The solver is based on a continuous-time primal-dual control architecture with integral action, anti-windup compensation, and a piecewise-linear nonlinearity for enforcing affine inequality constraints. A switched-capacitor implementation using three AN231E04 FPAAs is developed, and coefficient scaling methods are introduced to keep internal and output signals within the voltage limits of the hardware. A global scaling factor is used to reduce internal signal excursions, while solution-space scaling is shown to modify the implemented optimization coefficients and alter the local closed-loop …

Estimation And Control For Physical-Ai Aerial Robots, Joshua S. Crain

Electrical Engineering

This project investigates the modeling, control, and state estimation of a Crazyflie 2.0 quadrotor using both a custom nonlinear simulation and the NVIDIA Isaac Lab robotics simulation framework. A twelve-state rigid-body dynamic model was developed to represent the translational and rotational motion of the vehicle, and classical cascaded PID control was implemented for position and attitude stabilization. To improve state awareness in the presence of sensor noise, Kalman Filter (KF) and Extended Kalman Filter (EKF) algorithms were integrated for state estimation. Initial controller development and verification were performed using a custom MATLAB/Python simulation environment based on numerical integration of the …

Lesson Plan: Sr. Levadura (Mr. Yeast), Kali Elise Rye

World Languages and Cultures

This project addresses critical microbiology misconceptions concerning microbes and fermentation. Alongside Nuestra Ciencia’s lesson development team, this activity was researched and tested to demonstrate ideal fermentation conditions for yeast. In addition to the hands-on experiment, this project also required an interactive worksheet to be completed alongside the activity. With feedback from undergraduate students, researchers, and professors, the content was shaped to create an engaging, easily comprehensible activity that introduces microbiological concepts to students. As it has progressed, the Sr. Levadura (Mr. Yeast) activity has been implemented in two quarters of SCM 302 (Learn by Doing Lab) where over 400 elementary …

Semi-Automated Wine Case Palletizer, Ashley A. Corona, Joshan Darji, Russell Williams, Brett Beaudoin

Mechanical Engineering

The Semi-Automated Wine Case Palletizer project was sponsored by Saucelito Canyon Winery to reduce the physical demands of manually palletizing wine cases during bottling operations.

Using customer requirements developed through sponsor meetings and observations, the team designed, manufactured, and tested a semi-automated palletizing system consisting of a rotating carousel platform, pneumatic scissor-lift assembly, airbag jack, and forklift-compatible base. The design allows operators to maintain an ergonomic working height while accessing all pallet locations from a single position.

Engineering analyses, including finite element, fatigue, and buckling analyses, verified the structural integrity of the design. Prototype testing confirmed successful operation of the …

Ai Interview Helper: A Tool For Assisting Search And Rescue Long-Profile Interviews, Dylan P. Starink

Master's Theses

In Search and Rescue (SAR) operations, time pressure and limited interviewer experience can lead to missed opportunities when interviewing a missing person’s friends and family. This thesis presents a real-time, end-to-end system that provides context-aware follow-up question suggestions as interviews unfold. Leveraging large language models (LLMs) and agentic design patterns, the system is intended to support interviewers by helping them identify relevant follow-up questions and pursue potentially overlooked lines of inquiry.

The system was evaluated through three mock interviews with two SAR interviewer participants across two events. Given the limited sample size, the results provide early insights into the feasibility …

Equitable Decompositions: A Gateway To Spectral Theory Through Graph Automorphisms, Daniel Ford

Master's Theses

Graphs with symmetry appear throughout mathematics and its applications, from the structure of molecules and network design to combinatorial game theory. A central question in spectral graph theory is how to compute or characterise the eigenvalues of the matrices associated with such graphs. Classical decomposition methods, such as diagonalisation or Jordan normal form, accomplish this but only once some spectral information is already known. A different approach, introduced by Barrett et al. (2015), uses the automorphisms of a graph to block-diagonalise its adjacency matrix without any prior spectral information. Because one of the resulting summands is always the quotient matrix …

Effects Of Atmospheric Drag On Angles-Only Initial Relative Orbit Determination Accuracy In Low Earth Orbit, Sydney Walsh

Master's Theses

Growing congestion in low Earth orbit is increasing the demand for effective space situational awareness, straining ground station capabilities. Space-based relative orbit determination offers an alternative, using line-of-sight angle measurements from a chaser spacecraft to estimate a target spacecraft's orbit. This research focuses on angles-only initial relative orbit determination (IROD), where no prior target state knowledge is assumed. It investigates how IROD solution accuracy is affected by differential atmospheric drag between the chaser and target spacecraft. A nonlinear batch least squares filter is designed to estimate the target's initial state, which is compared against a truth solution. It was found …