Engineering Commons^™

Empirical Evaluation Of Vehicle Detection, Tracking And Recognition Algorithms Operating On Real Time Video Feeds, Yunik Tamrakar

Honors Theses

A traffic surveillance camera system is an important part of an intelligent transportation system.(Zhang et al., 2013) This system is capable of performing useful object detections on the incoming feed. These detected objects can then be used for tracking purposes which forms the basis for monitoring important traffic data such as collisions, vehicle count, pedestrian count and so on. Furthermore, other additional information such as the weather conditions, time of day as well as date can also be extracted from a live feed. (Sun et al., 2004) Different algorithms can yield different results for any given video input. Not only …

Coordinated Autonomy Of Unmanned Aerial Vehicles (Uavs), Paribartan Dhakal

Honors Theses

Unmanned Aerial Vehicles (UAVs) are being extensively used in diverse sectors of the society for various tasks ranging from videography to an extremely sensitive situation such as first responders helping during a disaster. It has been seen that if a fleet of UAVs is deployed, they can perform a task quicker and more efficiently than a single UAV. With an increase in the number of UAVs, a problem arises of handling them with proper control structures. It has been studied that the Behavior Trees (BT) can be a better control architecture to handle the autonomous vehicles, as BTs are more …

Brief Survey And Testbed Development For Blockchain Based Internet Of Things, Aishwant Ghimire

Honors Theses

Blockchain and the Internet of Things are uprising in today’s technology world. Internet of Things or IoT are the devices with unique identifiers that share data or information over the internet whereas, Blockchain is a peer to peer network with a distributed ledger that contains a list of blocks that are linked together by cryptography. Fascinated and motivated by blockchain and Internet of Things (IoT), this thesis provides a review on blockchain based internet of things and also introduces a working testbed that integrates the two together. It also uses IoT device to invoke transactions into the blockchain. The reasons …

Predictive Modeling Of Iphone 7 Charge Rates Using Least Squares Curve Fitting, Grace Cahill

Honors Theses

In a time where individuals depend on their cell phones, the need for a long lasting and quick charging battery life is imperative. As information regarding how long a battery can remained charged is highly advertised, there is no information regarding how long it would take for a dead phone battery to completely charge. This study determined the amount of time it will take an iPhone 7 to charge from 0% to 100% using the standard charging cable under four different charging conditions. The charge percentage was recorded every two minutes until it was fully charged with this process being …

Augmented Reality In A Dynamic Drone Based Environment, Christopher Davis

Honors Theses

Augmented Reality (AR) and Unmanned Ariel Vehicles (UAVs) are fast advancing technologies, and this research seeks to combine them to offer an effective, user friendly approach for monitoring infrastructure. Drones provide a means to easily access otherwise difficult to reach locations and visualize useful information with Augmented Reality. A UAV employs a wide-angle view and, when paired with AR, this will enable the user to better complete their task by effortlessly providing the critical information they need in the most intuitive way possible. This research is particularly applicable for civil applications such as construction and monitoring of difficult to access …

Minet Magnetic Indoor Localization, Michael Drake

Honors Theses

Indoor localization is a modern problem of computer science that has no unified solution, as there are significant trade-offs involved with every technique. Magnetic localization, though less popular than WiFi signal based localization, is a sub-field that is rooted in infrastructure-free design, which can allow universal setup. Magnetic localization is also often paired with probabilistic programming, which provides a powerful method of estimation, given a limited understanding of the environment. This thesis presents Minet, which is a particle filter based localization system using the Earth's geomagnetic field. It explores the novel idea of state space limitation as a method of …

Finding Optimal Input Parameters For Bayeswave, Kelsey M. Rook

Honors Theses

This project involves data analysis for LIGO with the goal of finding optimal input parameters for the BayesWave analysis pipeline, which is an algorithm for the detection of unmodelled gravitational wave transients. To test the BayesWave pipeline, we add binary black hole gravitational waveforms to LIGO noise, and run BayesWave with different combinations of parameters on the resulting signal data to find the best method of separating gravitational waves from noise and glitches. From the results, we calculate various statistical measures for each parameter combination in order to determine which allows for the most accurate classification of gravitational wave transients.

Sunseeker Solar Car Display And Driver Unit, Conner Mccarthy

Honors Theses

Digital dashboard displays with critical driver information are found in all modern vehicles. Examples of such information available to the driver include a speedometer, odometer, engine RPM, fuel gauge and more. The current 2016 Sunseeker solar car already has numerous displays that can show critical information to the driver, however, there are several problems that exist. Each display itself is less than two inches in size, the text on the screens is difficult to read, and the measurements have no units. Furthermore, these displays were made by a company that no longer exists, thus preventing the solar car team from …

Exploring The Behavior Repertoire Of A Wireless Vibrationally Actuated Tensegrity Robot, Zongliang Ji

Honors Theses

Soft robotics is an emerging field of research due to its potential to explore and operate in unstructured, rugged, and dynamic environments. However, the properties that make soft robots compelling also make them difficult to robustly control. Here at Union, we developed the world’s first wireless soft tensegrity robot. The goal of my thesis is to explore effective and efficient methods to explore the diverse behavior our tensegrity robot. We will achieve that by applying state-of-art machine learning technique and a novelty search algorithm.

Design Of A Model Rocket Flight Logging System And In-Air Deployable Rover, Sirus Negahban

Honors Theses

The goal of the project laid out in this paper is to develop a model rocket range and altitude tracking system and a payload for said rocket which conducts an experiment of some scientific merit. The requirements for the project are defined by the rules of an international model rocket design and build competition for undergraduate and graduate students. This paper presents a design to accomplish the specified goals to the standards of the competition rule set, for use by the Union College Rocket Team at the competition. First, an off-the-shelf flight computer is purchased to implement the range and …

Car Image Classification Using Deep Neural Networks, Mingchen Li

Honors Theses

Image classification is widely used in many fields of study. Deep neural networks are proven to be effective classifier structure due to its massive parameters and training capability. This paper outlines the development of Deep Neural Network in recent years and applied them on a Car image data set in order to compare their performances.

Autonomous Collision Avoidance In Small Scale Vehicles, Justin T. Sharpe

Honors Theses

The undergraduate research performed in this study focused on autonomous collision avoidance in small scale vehicles. The goal of this study was to find equipment to build a fully autonomous small scale vehicle for use in different applications. Radio frequency communication, ultrasonic sensors, and single board computers were used to create an autonomous vehicle for multiple applications. Different communication protocols and sensors were investigated, and an explanation was specified concerning the hardware choice. The main communication protocol tested was Long Range Wide Area Network, and the main electronics tested and used were ultrasonic sensors, First Person View cameras, and the …

Assessing The Mean Neuronal Firing Rate Information Hypothesis Via Mutual Information, Greg W. Zdor

Honors Theses

While it is currently well accepted that the mean neuronal firing rate (MNFR) is a key parameter encoding information about sensory and motor events, in some cases the measured information due to MNFR is not adequate to explain the total neuron signal information content. In this study, several auditory neuron responses and corresponding MNFR--generated surrogates are analyzed using mutual information (MI) as a metric of information content. Results showed that for particular inter-spike gaps (ISG), data MI exceeded two standard deviations of the surrogate MNFR MI, indicating spike spacing and order also encode information.

Role Of Diagnostic Monitoring Software Versus Fault-Tolerant Components In The Development Of Spacecraft Avionics Systems, Andrew Attorri

Honors Theses

In any spacecraft, there are several systems that must work simultaneously to ensure a safe mission. One critical system is the ‘avionics’ system, which is comprised of all of the electronic controls on-board the spacecraft, as well as radio links to other craft and ground stations. These systems are present for both manned or unmanned spacecraft.

Throughout the history of spaceflight, there have been several disasters related to avionics failures. To make these systems safer and more reliable, two main strategies have been adopted. The first, more established approach is through use of fault-tolerant components, which can operate under a …

Development Of A Fully Instrumented, Resonant Tensegrity Strut, Kentaro Barhydt

Honors Theses

A tensegrity is a structure composed of a series of rigid members connected in static equilibrium by tensile elements. A vibrating tensegrity robot is an underactuated system in which a set of its struts are vibrated at certain frequency combinations to achieve various locomotive gaits. Evolutionary robotics research lead by Professor John Rieffel focuses on exploiting the complex dynamics of tensegrity structures to control locomotion in vibrating tensegrity robots by finding desired gaits using genetic algorithms. A current hypothesis of interest is that the optimal locomotive gaits of a vibrating tensegrity exist at its resonant frequencies.

In order to observe …

An Empirical Study On The Recovery Speed Of Usb Flash Drives Utilizing Raid-5 Compared To Hdds And Ssds, Joshua Manuel Martins

Honors Theses

Since their creation and implementation, storage drives have undergone and continue to undergo drastic changes in speed, size, and reliability. The original storage drives, known as hard disk drives (HDDs), are constructed using moving parts. The second modern type of storage drives, known as solid state drives (SSDs), are constructed using a series of silicon chips that utilize no moving parts. The third and most recent innovation in storage drives, known as USB flash drives (USBs), use only a single silicon chip to provide storage which grants them the smallest form factor of the three drive types.

This study compared …

Crawling Tor's Hidden Services And Depicting Their Interconnectivity, John-Luke N. Navarro

Honors Theses

The Tor network is a popular online privacy platform that enables anonymous browsing, but is also notorious for the vast number of illicit marketplaces, goods and services available to users. Tor's protocols also secure hosted websites, known as hidden services, against unwanted tracking and location. Tor has attracted the attention of law enforcement agencies, who are interested in hidden service data analysis. However, little large-scale analysis is currently performed. To help address this issue, I constructed two tools. A specialized web crawler downloads bulk page-content from Tor's hidden services. This program crawls the Tor Network broadly, securely, and with more …

An Internet Of Things (Iot) Robotic Light Switch, Arsal Habib

Honors Theses

The purpose of this project was to design and build an Internet of Things (IoT) Robotic Light Switch. This light switch would act as a complementary device to existing toggle switches and equip them with typical smart device features such as remote control (via Wi-Fi), digital voice assistant control, motion-sensing and integration with other smart home solutions (such as IFTTT). All these features would be supported by a dedicated web page that would also be able to view the usage statistics of the device. This device is aimed at offering users an extremely easy-to-install home automation solution that needs no …

Control System For 3d Printable Robotic Hand, Htoo Wai Htet

Honors Theses

Humanoid robotics is a growing area of research due to its potential applications in orthosis and prosthesis for human beings. With the currently available technologies, the most advanced robotic hands used in prosthetics or robotics can cost from $11,000 to $90,000, making it inaccessible to the general population of amputees and robotics hobbyists. Most of the features provided by these expensive technologies are superfluous to many users, creating a great gap in cost and services between users and technology. Using the emerging 3D printing technology, my project is to construct a 3D printed robotic hand that can reproduce as many …

Follow Me Robot, Victoria M. Edwards

Honors Theses

The idea of a personal robotic assistant, while once made up the tales of science fiction, is now moving closer and closer to reality. It is easy for two humans to walk together where one person knows the directions and the other person follows along. However, it is not a trivial problem for a robot to recognize a human, and follow side by side along with them. There are three key parts to this problem: 1.) Detection of a human, 2.) Tracking the human, and 3.) the robot's Motion strategy. Using baseline assumptions, I can simplify the detection process allowing …

Adapting Architectural Models For Visualization Using Virtual Reality Headsets, Bernardo Martinez

Honors Theses

Business contracts represent a main source of income for Architects. Acquiring these contracts requires the latest and most immersive technology that improves their sales against competitors. Virtual reality provides an in-depth experience that allows clients to have a reasonable assurance that the building meets their physical expectations. Videos and photos are detached and mundane; while they provide some visual representation they will not allow the user to compare his physical characteristics (height, length, width) with a 3D model. In this paper, I describe a procedure for automatically importing 3D models from Revit into Unreal4. I also describe the workflow required …

Classifying System Call Traces Using Anomalous Detection, William Doyle

Honors Theses

We used data mining techniques to detect intrusions among system call traces and have outlined our results. Recent work at the intersection of security and machine learning has lead to better understanding of anomalous intrusion detection. There is a need to more thoroughly understand how anomaly detection can be used because of its potential applications and advantages over current standard methods. In this thesis, we report on a new approach of anomalous detection using system call traces. Our goal is to be able to create a system that can accurately detect hacking attacks by analyzing the sequences of system calls …

Dynamically Reconfigurable Miniature Golf Course, James Lind

Honors Theses

The purpose of this report is to inform the reader of the Senior Design Project lead by 3 students in the Electrical and Computer Engineering department at Western Michigan University. The project is in needed for use within the ECE department as a tool for showcasing to prospective students the attributes of electrical and computer engineering.

At the heart of the project lies an Arduino microcontroller acting as the commanding brain of the system. Its task is to manipulate various types of obstacles throughout the playing field with a goal of delivering a dynamic experience to the player(s). Additionally, a …

Evolving Soft Robots With Vibration Based Movement, Andrew Danise

Honors Theses

Creating effective designs for soft robots is extremely difficult due to the large number of different possibilities for shape, material properties, and movement mechanisms. Due to the lack of methods to design soft robots, previous research has used evolutionary algorithms to tackle this problem of overwhelming options. A popular technique is to use generative encodings to create designs using evolutionary algorithms because of their modularity and ability to induce large scale coordinated change. The main drawback of generative encodings is that it is difficult to know where along the ontogenic trajectory resides the phenotype with the highest fitness. The two …

Position Tracking Using Wifi, Nathan Conrad

Honors Theses

Position tracking using WiFi is needed as a more accurate method of intra-building tracking due to Global Positioning System’s (GPS) lack of accuracy in buildings. The main application of this project is to provide a safety system, which may be either tracking employees within a building and allowing them to send an emergency message through a device, or to track objects throughout a building. The devices can send simple messages to a central location. These messages will include position information and which emergency has been selected. The devices consist of two buttons and two LEDs, and with a button press, …

Position Tracking Using Wifi, Tyler Bayne

Honors Theses

Position tracking using WiFi is needed as a more accurate method of intra-building tracking due to Global Positioning System's (GPS) lack of accuracy in buildings. The main application of this project is to provide a safety system, which may be either tracking employees within a building and allowing them to send an emergency message through a device, or to track objects throughout a building. The devices can send simple messages to a central location. These messages will include position information and which emergency has been selected. The devices consist of two buttons and two LEDs, and with a button press, …

Design And Development Of A Low-Cost Handheld Picoammeter, Malcolm Stagg

Honors Theses

No abstract provided.

Designing A Self-Powered Device To Aid In Fencing Training And Scoring, Zak Smolen

Honors Theses

The purpose of this project is to redesign a currently available electric training tool for the sport of fencing in order to fix several existing faults such as cost and power use. The second stage of this project uses this new low-power design to explore small-scale energy harvesting by integrating a charging mechanism into the device to generate power from the movements of the fencer. This goal of this project is to research and explore modern low-power device design, at both the hardware and software levels, and then to apply those techniques to improve a real-world product. The final result …

The Design Of A Maneuverable Rolling Robot, David Carabis

Honors Theses

The purpose of this project was to design, fabricate, and test a maneuverable rolling robot. Although some other rolling robots were researched for this project, a novel approach was taken to design a unique, cheap robot that could turn and was fully enclosed by a rotating outer shell. The design and research phase of this project included the evaluation of several designs, the development of a mathematical model detailing forward motion of the robot, and the derivation of several design equations. Of the possible designs, an interior counterweight was chosen to provide a torque to the outside shell and move …

Union Advanced Educational Robot, Erik Skorina

Honors Theses

Our project was the design and construction of a medium sized (approximately 40 kg when fully loaded) mobile robot for educational and research use. This robot was designed to provide a strong baseline chassis with sensors, actuators and necessary software to allow for easy integration with existing robotic equipment, software and curricula. In particular, it was designed for use in intermediate and advanced undergraduate robotics courses and undergraduate research projects in robotics.