Engineering Commons^™

Evaluating Uav Visual-Inertial Odometry Trajectory Error And Feature-Level Metrics Over Repetitive Floor Patterns, Anass El Mekkoussi

Doctoral Dissertations and Master's Theses

Visual-Inertial Odometry (VIO) is a widely used state estimation technique for Uncrewed Aerial Vehicle (UAV) navigation in environments where Global Navigation Satellite System (GNSS) signals are unavailable. VIO systems that rely on visual feature tracking are susceptible to performance degradation when operating over surfaces containing repetitive visual textures, where visually similar features can produce ambiguous correspondences that introduce errors into the trajectory estimate. Despite the prevalence of repetitive textures in indoor UAV operating environments such as warehouses, manufacturing facilities, and infrastructure corridors, the specific impact of different repetitive pattern geometries on per-surface VIO accuracy has received limited systematic study, and …

Enhancing Nasa Sounding Rocket Capabilities Through Composite Material Adoption, Robert Burth

Mechanical & Aerospace Engineering Theses & Dissertations

Sounding rockets are a suborbital research platform employed by NASA for heliophysics, astrophysics, geospace science investigations, and for technology development. They follow semi-parabolic trajectories and are launched using surplus military, and commercial, solid-propellant rocket motors. NASA sounding rocket payloads are comprised of standard, modular subassemblies, designed to perform specific functions critical to achieving specific mission success criteria.

Since the program’s inception, payload length and mass have trended upwards, limiting the capability of the platform to reach exospheric apogees and decreasing the time above critical altitudes to observe solar and celestial targets. To offset this trend, composite materials may be of …

Modeling And Autonomous Control Systems For A Delivery Drone Application, Dana Helal Alnuaimi

Theses

This thesis focuses on the development of a multi-drone navigation and control system, aiming to enhance payload capacities beyond the limits of single-drone systems. By integrating multiple drones to work collaboratively as a unit, this study addresses the challenges associated with lifting and transporting heavier payloads.

The primary objective is to design and evaluate a multi-drone system capable of working in tandem to transport larger payloads efficiently. The research aims to develop robust control algorithms, supported by system identification for dynamic modeling, and navigation strategies to enable effective coordination between drones.

The study employs a combination of simulation and real-world …

Artificial Intelligence In Human Spaceflight Safety-Critical Systems: A Requirements Framework For Ai-Enabled Computer-Based Control Systems, Liz Bosch

Doctoral Dissertations and Master's Theses

Currently, there is no governing standard that addresses the safe integration of AI into computer-based control systems (CBCS) in human spaceflight. The computer-based control expectations of those safety-critical systems on the International Space Station (ISS) are captured in SSP 50038, Computer-Based Control System Safety Requirements, with one caveat: the standard was not designed with AI applications in mind. SSP 50038 does not cover the probabilistic behavior, opacity, and training-data dependency of modern AI/ML systems. The objectives of this work is to develop an AI taxonomy relevant to safety characteristics (determinism, transparency, data dependency, failure predictability), systematically map AI characteristics against …

Reinforcement Learning - Driven Satellite Attitude Recovery: Unknown Faults, Simulation-To-Processor In Loop, Chinmay Mirji, Saeed A Ahmadi

Student Research Symposium (SRS)

Conventional attitude control algorithms often degrade when faced with actuator faults, sensor noise, or system uncertainties. This work presents a reinforcement-learning (RL) framework for satellite attitude recovery under unknown failures, focusing on real-time deployment through a processor-in-the-loop (PIL) setup. A continuous-control DDPG agent is trained in a high-fidelity Python/Basilisk simulation environment, where domain randomization captures variations in inertia, external torque, and actuator limitations to promote robust policy learning.

Conceptual Exploration Of Film Cooling Techniques In Hydrogen Gas Turbines, Wen Wu

Student Research Symposium (SRS)

Film cooling is a key heat transfer technique that protects gas turbine blades from extreme temperatures, allowing higher turbine inlet temperatures and greater thermal efficiency. It works by ejecting a thin layer of cooler air from the compressor through small holes onto the hot surface, creating a protective film layer that lowers surface temperature and reduces thermal stress on blades. This process is vital in power generation and propulsion systems that operate near material limits. With growing emphasis on sustainability, film cooling has gained new importance in hydrogen-fueled gas turbines. Hydrogen combustion creates water vaper and low-density exhaust gases, which …

Evaluating Runtime Monitoring For Reinforcement Learning-Based Flight Control, Andrew Zubyk

Doctoral Dissertations and Master's Theses

Ensuring safety in adaptive flight controls systems is an ongoing challenge in aviation, especially as advancements in artificial intelligence and machine learning (AI/ML) trend upwards. Reinforcement learning is becoming more common in aerospace applications due to the ability to improve these models through training.  While models such as reinforcement learning enable controllers to learn complex behaviors from interaction with the environment, their unpredictability in novel or disturbed conditions raises severe concerns in safety-critical domains. This research investigates the integration of runtime monitoring, a real-time assurance technique, with reinforcement learning-based flight controllers to ensure safety and reliability during flight. By supervising …

Slender And Nonslender Delta Wing Simulation And Analysis, Aashish Gyawali, Brinda Bhattarai, Nishesh Bista, Sundeep Rao Dr

Journal of Aviation Technology and Engineering

Stability, controllability, and maneuverability are critical factors for aircraft with short takeoff and landing distances, such as modern fighter aircraft and unmanned aerial vehicles. Delta wings are commonly employed in these aircraft due to their efficient aerodynamics, enabling high maneuverability, and performance at both low and high speeds. Nonslender wings are used for low-speed performance and agility, while slender wings offer reduced drag and are suited for high-speed operations. In flight, an aircraft encounters different airflow patterns including vortices that circulate from the higher-pressure lower side of the wing to the lower-pressure upper side, contributing to lift generation. However, as …

Initial Development Of Cooperative Aerial And Ground Vehicles Experimental Testbed, Javier S. Robinson, Morad Nazari

Beyond: Undergraduate Research Journal

Heterogeneous multi-agent systems represents a growing area of research in autonomous vehicles, which involves the real-time cooperation of vehicles operating under different roles or dynamical mod- els. While there is plenty of theoretical work, the existing experimental research focuses on cooperation between physically identical vehicles. This is likely because testing heterogeneous vehicles naturally in- volves more complicated dynamics and communication frameworks to ensure compatibility. The goal of the Cooperative Aerial and Ground Vehicles Experimental (CAGE) testbed is to develop an experimen- tal testbed that involves cooperation of two distinct vehicle models: multiple Crazyflie 2.1 quadcopter drones and at least one …

Mechanical Performance Of Equilateral Triangular Lattices: The Role Of Nodal Fillets, Fakhreddin Emami, Andrew J. Gross

Faculty Publications

Triangular lattices are widely employed for their high strength to weight ratios, yet their mechanical performance is sensitive to geometric features, particularly the nodal geometry. This study investigates the influence of nodal geometry on the mechanical behavior of equilateral triangular lattices across a broad range of relative densities using high fidelity finite element simulations. We characterize the elastic properties, and strength limits as functions of fillet radius. Our results confirm the expected trend that, in stretching-dominated lattices with low relative density, the introduction of fillets reduces both stiffness and buckling resistance. In contrast, at higher relative densities, filleted nodes can …

A Tangible Modeling Language For Systems Engineering, Maissane Aik

Student Research Symposium (SRS)

With the continuous growth of technology and system complexity, systems engineering plays a crucial role in ensuring performance, adaptability, and clarity across interconnected processes. Yet, as modeling tools become increasingly abstract and dependent on digital infrastructures, they have drifted away from the tangible, intuitive ways humans naturally think, communicate, and design. Current modeling approaches often require engineers to navigate numerous diagrams and layers of abstraction. To address the gap, this research will focus on creating a novel systems engineering language that reintroduces tangibility into system modeling. The proposed language will represent system elements as modular blocks that capture structure, behavior, …

Computational Study Of Slosh Dynamics And Active Slosh Damping In Spacecraft Propellant Tanks Equipped With A Magneto Active Propellant Management Device, Priyanshu Savaliya

Student Research Symposium (SRS)

The management of liquid propellant in microgravity remains one of the longest-standing issues in spacecraft design. Traditional passive damping techniques using baffles or diaphragms tend to add structural mass and complexity. The current study proposes a novel active slosh damping device which dynamically adjusts the rheology of the damper fluid using electromagnets, simulated in ANSYS Fluent, to actively manage and dampen slosh in an oscillatory excited cylindrical propellant tank. The electromagnetic fields are modulated through a User-Defined Function (UDF) that responds to force feedback simulated in real time via virtual load cells. In Fluent, the interface dynamics of xenon, fuel, …

Task-Based Analysis Of Augmented Reality In Collaborative Robotic Programming For Manufacturing Assembly, Medhavi Kamran, Snehesh Shrestha, Vinh Nguyen

Michigan Tech Publications

Augmented Reality (AR) is often promoted as a solution to the cognitive and physical demands of traditional Teach Pendant (TP) programming for collaborative robots. Although prior work has suggested advantages of the AR interface, many evaluations have been limited in scope and may not fully represent the complexities of real-world manufacturing tasks. This study compares the performance of an AR interface to that of a standard TP interface for manufacturing assembly tasks of varying difficulty. In a between-groups study, one group of operators completed standardized assembly tasks using the TP interface, while a separate group used the AR interface instead. …

An Ambient Acoustic Ice-Fracturing Dataset Taken In Shallow Freshwater, John Case, Andrew Barnard, Daniel Brown

Michigan Tech Publications

This paper describes an acoustic dataset collected on a frozen shallow freshwater lake between February and March of 2024. This collection took place over one full week on Portage Lake in the Upper Peninsula of Michigan, USA. The first sub-dataset consists of ambient ice and environmental noises collected by an array of hydrophones, microphones and geophones placed below, above and on the ice respectively. The second sub-dataset consists of instrumented force hammer impacts at a series of locations on the the ice with the corresponding response at each acoustic sensor. All acoustic data were recorded at a sample rate f …

Decentralized Q-Learning Supervisory Control For Coordinated Multi-Loop Tuning In Pump Stations, David Brattley, Wayne Weaver

Michigan Tech Publications

This paper introduces a reinforced learning-based supervisory control architecture that oversees multiple Recursive Least Squares (RLS) based self-tuning pump controllers and determines when each loop is permitted to adapt its gains. The supervisor learns adaptation policies that minimize interaction between loops while preserving responsiveness to changing hydraulic conditions. A two-loop pump station simulation is used to evaluate performance under product changes and transient flow disturbances. The results show that the supervisory layer reduces the number of simultaneous adaptation events by over 70%, leading to a 32% lower pressure-tracking error and 45% fewer gain-induced oscillations compared to conventional independent adaptive control. …

The Role Of Optical And Synthetic Aperture Radar Satellites In Military Intelligence, Khalifa Alnaqbi

Student Research Symposium (SRS)

The objective of this paper is to demonstrate that while optical and Synthetic Aperture Radar satellites are the two most powerful remote sensing tools in military intelligence, neither is sufficient on its own. This research aims to articulate their distinct operational roles and argue that their synergistic integration, together with other intelligence assets such as unmanned aerial vehicles, signals intelligence, and human intelligence, is essential for achieving comprehensive situational awareness in modern warfare. To establish this, the paper will first analyze the role of optical satellites in target identification and Synthetic Aperture Radar satellites in persistent detection and monitoring, detailing …

Demonstration Of Coherent Optical Phase-Shift Keying With A Watt-Class 1550 Nm Tapered Diode Laser Amplifier For Free-Space Optical Communication Applications, Charlotte K. Duda, Aaron Cross, Chadwick Lindstrom, Julie Smith

Space Dynamics Laboratory Publications

High-power semiconductor optical amplifiers (SOAs) are a promising alternative to erbium-doped fiber amplifiers (EDFAs), which typically amplify the weak signals used in free-space optical (FSO) communications. In this work, we demonstrate that an Aura TM SOA operating with 1 W output power can be used to transmit phase-shift key (PSK) protocols required of next-generation FSO communication networks. Firstly, we demonstrate successful transmission of binary phase-shift keying (BPSK) for bit rates up to 50 Gbps. Secondly, we demonstrate successful transmission of quadrature phase-shift keying (QPSK) for bit rates up to 100 Gbps. For both PSK protocols, we demonstrate comparable constellation error-vector …

Investigation Of Material Properties Of Thermoplastic And Thermoset Polymer Materials At Cryogenic Temperatures Using Molecular Dynamics, Swapnil S. Bamane, Sagar Patil, Khatereh Kashmari, Benjamin D. Jensen, Brett A. Bednarcyk, Evan J. Pineda, Jeffery Hinkley, Ozgur Keles, Jin Ho Kang, Gregory Odegard

Michigan Tech Publications

Cryogenic fluids, such as liquid hydrogen and liquid oxygen, are critical for space operations as rocket fuel and life support. The fluids need to be contained in tanks that can withstand the effects of cyclic thermal and pressure loading throughout their lifecycle. Polymer matrix composites (PMCs) are prime candidates for these tanks because of their low mass, which is important for fuel savings. Although advanced PMC systems have been developed for a wide range of engineering applications, insight is still needed to identify optimal polymer matrix materials for cryogenic structural applications. The objective of this study is to use molecular …

Applying Direct Numerical Simulations To Investigate Wave Forcing Against A Vertical Wall, Hunter Boswell, Frank D. Han, Gaurav Savant, Guirong Yan, Wouter Mostert

Mechanical and Aerospace Engineering Faculty Research & Creative Works

Current engineering standards lack the ability to predict the peak impact forces of breaking waves impinging directly upon coastal structures. In this study solitary waves impacting vertical and tapered walls are investigated. To capture the detailed physics of the wave profile that impacts the wall, two-dimensional direct numerical simulations are applied to model the wave traveling over a simplified bathymetry consisting of an initially uniform depth, followed by a uniform beach ramp and then terminating in a uniform depth inshore region and vertical wall. Such an approach can simulate wave runup on land and then the impact with the vertical …

A Scalable Iteration Of The Horizon Simulation Framework Using Multithreading Techniques, Jason E. Beals

Master's Theses

The Horizon Simulation Framework (HSF) occupies a unique space in the modern aerospace modeling landscape, enabling flexible, modular modeling of mission-level agent behavior through an object-oriented, hierarchical design. HSF's hallmark breadth-first search scheduling algorithm explores a "multiverse" of possible mission execution pathways, enabling exhaustive evaluation of schedule combinations against user-defined heuristics.

As aerospace systems become increasingly complex, HSF faces critical challenges in establishing verifiable, deterministic behavior. The framework's core scheduling algorithm had not undergone systematic validation, leaving questions about temporal consistency, state management correctness, and reproducibility across different program executions. Furthermore, the exponential growth of schedule combinations creates computational bottlenecks …

Informing Consumer Product Sound Quality Analysis Using Generative Adversarial Networks, Daniel Jeffery Lesko, Vinh Nguyen

Michigan Tech Publications

Sound quality attributes have been proven important predictors of customer satisfaction with consumer goods and appliances. The results of several studies indicate that level-based, tonal, and temporal aspects of sound influence the perceived quality of consumer products. The current state-of-the-art of inferring consumer satisfaction with sound attributes is based on the jury test methodology. However, product engineers often find the models generated from these studies incomplete, resulting in products that fail to meet consumer expectations. Therefore, this study aims to utilize generative data-driven approaches to create a range of acceptable sound quality attributes given consumer satisfaction requirements. A baseline sound …

Evaluating Regularized Logistic Regression And K-Nn On Mnist Under Increasing Random Missingness, Daniel Markwei

Data Science and Data Mining

This paper investigates the effect of random missingness on the performance of regularized multinomial logistic regression and the k-nearest neighbors (k-NN) classifier for handwritten digit recognition on the MNIST dataset. In particular, we study L1-regularized (LASSO) logistic regression and L2-regularized (Ridge) logistic regression alongside k-NN. Varying percentages of random missingness were introduced into the original dataset, and each model was evaluated in terms of its classification performance. The results show that random missingness degrades the performance of all three classifiers. Overall, k-NN consistently achieves higher accuracy than both L1- and L2-regularized logistic regression across all missingness levels; however, its performance …

A Pathfinder Lunar Construction Mission Concept Using Regolith Filled Bags, Cameron S. Dickinson, Fu Nan Shi, Ketan Vasudeva, Rudranarayan M. Mukherjee, Joshua Blanchard, Steve Dubrule, Paul Van Susante, Et Al.

Michigan Tech Publications

Two challenges that have a permanent presence on the Moon are solar and cosmic radiation, as well as the large surface temperature variation between lunar day and night. To address these problems, we propose a lunar pathfinder mission concept that uses robotic systems to investigate whether regolith-filled bags can be used as a versatile construction medium for lunar surface structures and sensors to obtain data on the lunar regolith. The primary objectives of this mission are as follows: evaluation of the surface and subsurface regolith as fill material, lunar excavation using a robotic manipulator equipped with a bucket scoop, bag …

Rapid-Response Reconnaissance Architecture Design For Planetary Defense With Nested Trajectory Optimization, Adam P. Wilmer, Justin A. Atchison, Marcus J. Holzinger, Robert A. Bettinger

Faculty Publications

Reconnaissance is a vital component in a comprehensive planetary defense mitigation strategy—aimed at preventing or reducing the impact threat posed by celestial objects on close-approach trajectories to Earth. It provides decision-makers with critical information on the physical and orbital properties of a near-Earth object (NEO), enabling better assessment of size, composition, and trajectory. This study investigates how to optimally pre-position a fleet of reconnaissance spacecraft prior to the discovery of a specific hazardous NEO. It evaluates response timelines and mission success rates for combinations of spacecraft launched from Earth and those maneuvering from pre-deployed locations within the Sun-Earth system. A …

Mae Enewsbrief Oct-Dec 2025, Department Of Mechanical And Aerospace Engineering, Michigan Technological University

Department of Mechanical and Aerospace Engineering eNewsBrief

No abstract provided.

Discovery Of Dynamical Structures Mapping Chaotic Transport Pathways In The Earth–Moon Cr3bp, Tyler J. Kapolka, Christina E. Paljug, Robert A. Bettinger, Rachel Oliver, Bruce A. Cox, Jeremiah A. Specht

Faculty Publications

Chaos; Deterministic chaos; Earth–Moon system; Poincaré map; Quasi-chaotic; Surface of section /// For the Circular Restricted 3-Body Problem (CR3BP), the topologies present within a Poincaré map enable the extraction of useful information regarding periodic, quasi-periodic, and chaotic trajectory behavior. Aside from the prominent topologies that follow distinct concentric patterns around fixed points, indicative of the periodic and quasi-periodic motion that is often the central focus of CR3BP research, there are also many “dusty” regions on the Poincaré map that appear random without an apparent structure and are indicative of chaotic motion. This paper, for the first time in literature, identifies …

Flow Over A Cylinder With A Small Triangular Bump, Jack Elliott, Alex Nielson, Barton L. Smith

Integrated Engineering Department Publications

The surface pressure distribution over a circular cylinder with a small, full-span, triangular bump is examined. The geometry of the bump is an isosceles triangle, the height of which is varied from 1.33 % to 5.33 % of the diameter of the cylinder and positioned between 60° and 120°. The Reynolds number (Re=V∞ D/ν, where V∞ is the velocity of the freestream, D is the diameter of the cylinder and ν is the kinematic viscosity) is varied between 1.1×105 and 1.8×105. The lift and drag are estimated through the surface integral of pressure over the cylinder. The results show that …

Flexible Fault-Tolerant Multi-Die Fpga-Based Architectures For Varying Space Environments, Yosof Ali Seif El Din Ali Maklad

Theses and Dissertations

It is well-known fact that spacecraft’s electronic components operate in an extreme harsh and varying space environments, beside changing orbit or passing through Van Allan Belts during orbital course results of radiation levels change. This thesis focuses on SRAM-based FPGA systems on-board of such spacecrafts, that are commonly utilized in space applications’ critical applications due to their capabilities and flexibility to reconfigure, since these systems are vulnerable to frequent negative impacts of ionizing radiation, thus inducing soft and hard errors leading to disastrous failures that could jeopardize the entire spacecraft. The soft errors’ effects are frequent yet can be mitigated, …

Polar Reconnaissance & Imagining Survey (Polaris), Max Brooks, Zion Carpenter, Isabel La Coss

Student Research Symposium (SRS)

In preparation for the permanent human presence on the lunar south pole as part of the ARTEMIS Accords, planned human excursions will conduct science on regions of interest to locate resources for sustained habitation. The objective of the Polar Reconnaissance & Imaging Survey simulation is to take a predetermined region sized image of a planned astronaut excursion site to identify terrain features and threats. This shall be a satellite mission control (MCC) simulation with four Earth-based satellite console operators, and one moon-based EVA encompassing.

Uav-Deployable Open-Source Sensor Nodes For Spatial And Temporal In Situ Water Quality Monitoring And Mapping, Matthew Burnett, Mohamed Abdelwahab, Joud N. Satme, Austin Downey, Gabriel Barahona Smith, Antonio Fonce, Jasim Imran

Faculty Publications

Cost efficient, spatially resolved water quality monitoring is essential for managing pollution and protecting aquatic ecosystems. This study presents a low-cost (approximately USD 200), open-source, unmanned aerial vehicle (UAV)-deployable in situ sensor node for real-time assessment of surface-water conditions. The system integrates sensors for pH, turbidity, temperature, and total dissolved solids (TDSs), with onboard data logging and real-time clock (RTC) synchronization. Bench validation of the sensor package yielded mean absolute percentage errors of 1.34% for pH, 5.23% for TDS, and 0.81% for temperature, and the device operated continuously for 42 h. Field deployment demonstrated its ability to resolve spatial gradients, …