Engineering Commons^™

Online Adaptive Optimal Tracking Control Of Uncertain Strict Feedback Discrete-Time Systems With Hardware Verification Using A Quadrotor Uav, Maxwell Geiger, S. Jagannathan

Electrical and Computer Engineering Faculty Research & Creative Works

This article considers the infinite time horizon optimal tracking control problem for discrete time (DT) partially uncertain strict feedback systems with application to quadrotor UAVs. First, the strict feedback DT system is transformed into an equivalent affine nonlinear DT system in terms of tracking error dynamics. The optimal tracking control problem is solved using an augmented system approach, where a horizon of future reference trajectory points are used in the augmented state, as compared to using a single point. The internal dynamics of the original nonlinear strict feedback system and the transformed affine system in terms of error dynamics are …

Ms-Yolo: Infrared Object Detection For Edge Deployment Via Mobilenetv4 And Slideloss, Jiali Zhang, Thomas S. White, Haoliang Zhang, Wenqing Hu, Donald C. Wunsch, Jian Liu

Mathematics and Statistics Faculty Research & Creative Works

Infrared imaging has emerged as a robust solution for urban object detection under low-light and adverse weather conditions, offering significant advantages over traditional visible-light cameras. However, challenges such as class imbalance, thermal noise, and computational constraints can significantly hinder model performance in practical settings. To address these issues, we evaluate multiple YOLO variants on the FLIR ADAS V2 dataset, ultimately selecting YOLOv8 as our baseline due to its balanced accuracy and efficiency. Building on this foundation, we present MS-YOLO (MobileNetv4 and SlideLoss based on YOLO), which replaces YOLOv8's CSPDarknet backbone with the more efficient MobileNetV4, reducing computational overhead by 1.5% …

Pla-Based Bone Tissue Engineering Scaffolds Incorporating Hydroxyapatite And Bioactive Glass Using Digital Light Processing, Engin Gepek, Fateme Fayyazbakhsh, Lev Suliandziga, Vadym Mochalin, Osman Iyibilgin, Yue-Wern Huang, Ming C. Leu

Chemistry Faculty Research & Creative Works

Bone tissue engineering (BTE) aims to repair bone defects using biocompatible materials with tailored geometries and pore structures, providing appropriate mechanical support and control over biodegradation kinetics to promote bone growth. In this study, we utilized digital light processing (DLP) 3D printing to fabricate scaffolds with varying pore sizes using polymer–ceramic slurries composed of polylactic acid (PLA) as the main polymer matrix, incorporated with hydroxyapatite (HA) and bioactive borate glass (BBG) at various ratios. We studied the effect of composition on rheological behavior, printability, mechanical properties, bioactivity, degradation rate, and biocompatibility. While HA increased viscosity and reduced printing accuracy, it …

Mechanical And Thermal Characterization Of Additively Manufactured Carbon/Nylon 12 And Carbon/Peek Composites, Matik Heskin, Bradley Deuser, Thomas P. Schuman, K. Chandrashekhara, John Bayldon, Jeff Degrange, Steven Patterson, Neiko Levenhagen

Chemistry Faculty Research & Creative Works

This study explores additive manufacturing of carbon fiber-reinforced thermoplastic composites using the Composite-Based Additive Manufacturing (CBAM) process. Carbon/Nylon 12 and Carbon/PEEK composites were fabricated and evaluated through mechanical (compression, tensile, flexural, and impact) and thermal (DSC and TGA) tests. Carbon/PEEK exhibited superior mechanical performance, with 97.5% higher tensile strength, 79.8% higher elastic modulus, and 59.6% higher flexural strength compared to Carbon/Nylon 12. Thermal testing showed that Carbon/PEEK had higher thermal stability, beginning degradation at 350 °C versus 298 °C for Carbon/Nylon. These results indicate that CBAM-fabricated Carbon/PEEK composites are suitable for applications requiring high strength and temperature resistance.

Determining The Transient Electric Field And The Effect Of Pulse Repetition Frequency On The Field In A Repetitive 10-Ns Pulsed Discharge In A Quiescent Ch₄-Air Mixture, Chunqi Jiang

Bioelectrics Publications

The goal of this research is to understand the underlying physics enabled by nanosecond pulsed power in a discharge initiation and the following physicochemical processes that favor lean-fuel plasma ignition for combustion. The hypothesis of this project is that pulsed power waveforms such as the pulse repetition frequency (PRF), voltage amplitude, and dielectric surface alter the reduced electric field during the initiation of the discharge, resulting in different plasma properties, which will vary the physicochemical processes for efficient and selective radical productions. This is especially important for lean-burn combustion and reducing emission.

Human Perception Of Ai Capabilities At Classifying Perturbed Roadway Signs, Katherine R. Garcia, Jing Chen, Yanru Xiao, Scott Mishler, Cong Wang, Bin Hu

Psychology Faculty Publications

Artificial Intelligence (AI) is crucial to numerous functions required for driving automation systems, including the computer vision techniques used to detect the roadway environment and make real-time decisions. However, the images used as inputs to the AI system may be maliciously perturbed, or manipulated, causing the AI system to make an incorrect classification. In this study, we examined humans’ perception of the AI’s computer vision capability of classifying various road sign images, including the original images, images with two different types of malicious attacks, and images that are scrambled randomly at the pixel level. Our results showed that participants rated …

Tidal Flooding Contributes To Eutrophication: Constraining Nonpoint Source Inputs To An Urban Estuary Using A Data Driven Statistical Model, Alfonso Macías-Tapia, Margaret R. Mulholland, Corday R. Selden, Sophie Clayton, Peter W. Bernhardt, Thomas R. Allen

OES Faculty Publications

In coastal urban areas, tidal flooding brings water carrying nutrients and particles back from land to estuarine and coastal waters. A statistical model to predict nutrient loads during tidal flooding events can help estimate nutrient loading from previous and future flooding events and adapt nutrient reduction strategies. We measured concentrations of dissolved inorganic nitrogen and phosphorus in floodwater at seven sentinel sites during 15 tidal flooding events from January 2019 to September 2020. The study area was the Lafayette River watershed in Norfolk, VA, USA, which is prone to tidal flooding and is predicted to experience more frequent and intense …

A Century Of Sediment Metal Contamination Of Mar Menor, Europe's Largest Saltwater Lagoon, Irene Alorda-Montiel, Valentí Rodellas, Ariane Arias-Ortiz, Albert Palanques, Andrea G. Bravo, Júlia Rodriguez-Puig, Aaron Alorda-Kleinglass, Carlos Green-Ruiz, Marc Diego-Feliu, Pere Masqué, Javier Gilabert, Jordi Garcia-Orellana

OES Faculty Publications

Coastal enclosed ecosystems, such as lagoons, are vulnerable to anthropogenic impacts because they favor the accumulation of contaminants from the surrounding watersheds, particularly in their sediments. Europe's largest saltwater lagoon, the Mar Menor (SE, Iberian Peninsula), is a highly impacted ecosystem and the first in the continent to be granted personhood rights. Based on a high-resolution spatial and temporal dataset, we present the historical reconstruction of metal contamination in this ecosystem during the last century. Our results highlight that sediment metal contamination has been mainly driven by the development of the mining industry in the nearby Sierra Minera de Cartagena-La …

Ensemble Machine Learning Approaches For Bathymetry Estimation In Multi-Spectral Images, Kazi A. Islam, Omar Abdul-Hassan, Hongfang Zhang, Victoria Hill, Blake Schaeffer, Richard Zimmerman, Jiang Li

OES Faculty Publications

Traditional bathymetry measures require a large number of human hours, and many bathymetry records are obsolete or missing. Automated measures of bathymetry would reduce costs and increase accessibility for research and applications. In this paper, we optimized a recent machine learning model, named CatBoostOpt, to estimate bathymetry based on high-resolution WorldView-2 (WV-2) multi-spectral optical satellite images. CatBoostOpt was demonstrated across the Florida Big Bend coastline, where the model learned correlations between in situ sound Navigation and Ranging (Sonar) bathymetry measurements and the corresponding multi-spectral reflectance values in WV-2 images to map bathymetry. We evaluated three different feature transformations as inputs …

Fault Tree Analysis For Robust Design, Jonathan Degroff, Gene Jean-Win Hou

Mechanical & Aerospace Engineering Faculty Publications

The objective of this research is to incorporate system failure into a robust design formation and solution process. The system failure referred to here will be built using fault tree analysis (FTA), which will take all lower-level failure events into consideration. Two examples are investigated here. One will directly treat the probabilities of the basis events as design variables, The other will be formulated in five different models: deterministic design optimization, the reliability index-based, the “and” gate-based, the “or” gate-based and the “inhibit” gate-based robust design. Their corresponding optimization solutions will be compared with each other. The post-optimality analysis of …

Polarized Positrons At Ce⁺Baf, A. Ushakov, J. Benesch, M. Bruker, L. Cardman, J. Conway, S. Covrig Dusa, P. Degtiarenko, Y. Enomoto, S. Gessner, P. Ghoshal, S. Gopinath, J. Grames, C. Gulliford, S. Habet, G. Hays, C. Hernández-García, A. Hofler, R. Kazimi, M. Kostin, V. O. Kostroun, F. Lin, V. Lizárraga-Rubio, K. Mahler, Y. Morikawa, S. Nagaitsev, S. Ogur, G. Palacios-Serrano, N. Raut, B. Rimmer, Y. Roblin, A. Seryi, K. Smolenski, M. Stutzman, R. Suleiman, A. Sy, N. Taylor, D. Turner, A. Ushakov, C. Valerio-Lizarraga, E. Voutier, S. Wang, Y. Zhang

Mechanical & Aerospace Engineering Faculty Publications

A baseline concept for a continuous wave (CW) polarized positron injector was developed for the Continuous Electron Beam Accelerator Facility (CEBAF) at Jefferson Lab [1]. This concept is based on positron beam generation by a high current polarized electron beam (1 mA, 120 MeV, >85% polarization) irradiating a rotating water-cooled tungsten target or liquid metal target. The update on the development of the Ce⁺BAF injector concept including the polarized electron source, the development of high power targets, simulations of positron capture, the design of the transport line from the positron injector to the CEBAF North Linac and the planned experiment …

Revealing Spatiotemporal Neural Activation Patterns In Electrocorticography Recordings Of Human Speech Production By Mutual Information, Julio Kovacs, Dean Krusienski, Minu Maninder, Willy Wriggers

Mechanical & Aerospace Engineering Faculty Publications

Background

Spatiotemporal mapping of neural activity during continuous speech production has been traditionally approached using correlation coefficient (CC) analysis between cortical signals and speech recordings. A prior study employed this approach using electrocorticography (ECoG) data from participants who underwent invasive intracranial monitoring for epilepsy. However, CC cannot detect nonlinear relationships and is dominated by the correspondence between periods of silence and of non-silence.

New Method

We introduce the mutual information (MI) measure, which can capture both linear and nonlinear dependencies. We validated CC and MI on the sub-second spatiotemporal brain activity recorded during continuous speech tasks. To refine the results, …

An Analytical Model Of Motion Artifacts In A Measured Arterial Pulse Signal—Part Ii: Tactile Sensors, Md Mahfuzur Rahman, Subodh Toraskar, Mamun Hasan, Zhili Hao

Mechanical & Aerospace Engineering Faculty Publications

This paper, the second of two parts, presents an analytical model of motion artifacts (MA) in measured pulse signals by a tactile sensor, which contains a deformable microstructure sitting on a substrate. While the tissue-contact-sensor (TCS) stack and the sensor are both treated as a 1DOF (degree-of-freedom) system, tissue–sensor contact joins their mass together to form a 1DOF system with springs and dampers on both sides. MA on the sensor substrate causes baseline drift and time-varying system parameters (TVSP) of the TCS stack simultaneously. An analytical model is developed to mathematically relate baseline drift and TVSP to a measured pulse …

Mass-Adaptive Admittance Control For Robotic Manipulators, Hossein Gholampour, Jonathon E. Slightam, Logan E. Beaver

Mechanical & Aerospace Engineering Faculty Publications

Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in realtime. In this paper, we present a novel approach that enables a six-degrees-of-freedom robotic manipulator to reliably follow waypoints while automatically estimating and compensating for unknown payload weight. Our method integrates an admittance control framework with a mass estimator, allowing the robot to dynamically update an excitation force to compensate for the payload mass. This strategy mitigates end-effector sagging and preserves stability when handling objects of unknown weights. We experimentally validated our approach in …

Optimal Manipulation Motion Action Planner Enabled By Physics Informed Neural Networks, Jonathon E. Slightam, Logan E. Beaver

Mechanical & Aerospace Engineering Faculty Publications

Autonomous robotic manipulation in unstructured environments faces many challenges and is hindered by capabilities that bridge the gap between perception and acting on the world. Action plans that are centric to object motion rather than end-of-arm tooling behavior may aid this. This paper presents an autonomous action planner for a feedback linearizeable system comprised of three base motions that can be leveraged on their own or in combination to give custom motion plans. The optimization routine for the three different types of motion are presented, which are integrated into physics informed neural networks. A component of this is the autonomy …

Insights In Cybersecurity Of A Smart Campus - A Review, Mircea Ţălu

Journal of Cybersecurity Education, Research and Practice

The profound impact of the Internet of Things (IoT) on various fronts, is driven by technological advancements, the ubiquitous spread of information, and the emergence of transformative events. IoT presents a diverse array of possibilities within university environments, fostering a more connected and enhanced educational experience. This research undertakes a comprehensive review of existing literature to provide context to the IoT and underscore its crucial significance in the realm of smart campuses. Additionally, the paper explores the intricate connections between IoT and key concepts such as cybersecurity and wireless sensor networks to present a holistic perspective. It delves into the …

Applying Machine Learning Methods To Generate Understandings Of Differential Item Functioning In A Flu Knowledge Assessment, William L. Romine, Tanvi Banerjee, Derrick Cox

Computer Science and Engineering Faculty Publications

Current influenza trends, including the severity of the 2025 flu season and the prevalence of H5 bird flu in livestock, necessitate efforts to better understand how to educate students about its transmission. Although validated assessments of influenza knowledge exist, these have not been evaluated for affective and demographic biases. We explore differential item functioning (DIF) effects in four items focused on specific aspects of flu transmission derived from a validated influenza knowledge assessment. In doing so, we introduce and utilize a machine learning framework for exploration of DIF which offers greater flexibility than traditional statistical approaches in terms of studying …

Conference Report Of Wmu Maritime Affairs Conference 2025 : Transforming A Maritime Future : Digitalization And Decarbonization, World Maritime University

Conference Papers

No abstract provided.

Every Publication Needs An Author Verified Tl;Dr Statement, Sarah Oerther, Daniel B. Oerther

Civil, Architectural and Environmental Engineering Faculty Research & Creative Works

No abstract provided.

Lead Bioaccessibility And Commonly Measured Soil Characteristics (Detroit, Mi, Usa) Phase Ii, Conor T. Gowan, Sabrina R. Good, Allison R. Harris, Patrick Crouch, Shawn P. Mcelmurry

Open Data at Wayne State

Urban soil contaminated with anthropogenic sources of Pb is a major contributor to child Pb exposure. To assess the Pb risk in urban areas, composite samples were collected from 142 voluntary privately owned 142 residential parcels in Detroit, Hamtramck, and Highland Park, Michigan. Samples were collected at two time periods, before and after treatment applied for those denoted as treatment sites. Samples were collected from areas covered with turf grass on the parcels from the front, middle and rear sections. Soils were collected with a bulb planter at approximately 10cm depth and were cleaned with a tap water-Liquinox detergent solution …

Future Of Bse Days 2025: Growing A Regenerative Bse, Derek M. Heeren, Santosh Pitla, Jennifer R. Keshwani, Mark Stone

Department of Agricultural and Biological Systems Engineering: Presentations and White Papers

The Future of BSE Days 2025: Growing a Regenerative BSE brought together over 150 faculty, staff, students, and partners to envision the next quarter-century of the Department of Biological Systems Engineering. The event emphasized regeneration—not only of resources and ecosystems, but also of ideas, learning models, and relationships. Across seven major sessions—three Spark Talks and four Pillar Workshops—participants explored how BSE can thrive amid technological disruption, demographic change, and societal transformation.

Key Outcomes

Redefining Impact: This session challenged participants to evolve from counting outputs to valuing relationships, collaboration, and community well-being.

Adaptive Learning Models: This discussion introduced design studios, micro-credentials, …

Nebraska Summary #1293: Fendt 618 Vario, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …

Nebraska Summary #1292: Fendt 616 Vario, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …

Nebraska Test #2301: Claas Xerion 12.650, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …

Nebraska Test #2298: John Deere 9rx 830, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …

Nebraska Test #2297: John Deere 9rx 770, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …

Nebraska Test #2296: John Deere 9rx 710, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …

Nebraska Test# 2299: Claas Xerion 12.590, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …

Nebraska Test #2269: Case Ih Steiger 645, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …

Nebraska Summary #1298: Fendt 726 Vario Gen 7.1, Nebraska Tractor Test Lab

Nebraska Tractor Tests

ABOUT THE TEST REPORT AND USE OF THE DATA The test data contained in this report are a tabulation of the results of a series of tests. Due to the restricted format of these pages, only a limited amount of data and not all of the tractor specifications are included. The full OECD report contains usually about 30 pages of data and specifications. The test data were obtained for each tractor under similar conditions and therefore, provide a means of comparison of performance based on a limited set of reported data. EXPLANATION OF THE TEST PROCEDURES Purpose The purpose of …