Engineering Commons^™

Enhancing Deep Reinforcement Learning With Expert Demonstrations For Mobile Robot Navigation In Unstructured Off-Road Environments, Dulitha Dabare

Theses: Doctorates and Masters

Advancements in the field of Deep Learning has ushered in a boom in autonomous navigation research. Most of the work being conducted in this space, however, has focused on on-road urban navigation scenarios, with unstructured outdoor terrain navigation receiving much more limited attention. Given the wide range of applications that exist for legged and wheeled ground robots in off-road environments in areas such as agriculture, mining and disaster recovery, there is a growing need for research work to improve the navigational capabilities of mobile robots deployed in these challenging environments.

A promising candidate for application to these navigation challenges in …

Multimodal Scene Understanding For Mobile Robot Navigation In Unstructured Outdoor Environments, Liyana Mudiyanselage Nipuna Dinendra Wijayathunga

Theses: Doctorates and Masters

The application of autonomous field robots in agriculture, mining, transport and logistics, disaster management, and exploration has increased with advances in sensing, perception, and autonomous navigation technologies. Western Australian off-road environments present challenges for autonomous ground robots because they contain unstructured ter rain, variations in appearance and geometry, changing illumination, and visually similar regions with different traversal characteristics. Reliable operation therefore requires scene understanding methods capable of representing the environment according to its navigability for robot traversal.

This PhD research investigates multimodal scene understanding for autonomous ground robot navigation in unstructured off-road environments. The research focuses on the development of …

Investigation Of Fine-Grain Cu And Cu Alloys For Low-Temperature Hybrid Bonding Applications, Sarabjot Singh

Electronic Theses & Dissertations (2024 - present)

Hybrid bonding has emerged as a key enabler for next-generation three-dimensional (3D) integration, offering fine-pitch interconnects and improved electrical performance. However, conventional Cu–Cu hybrid bonding typically requires elevated temperatures to achieve sufficient diffusion and interface quality, posing challenges for temperature-sensitive device integration and process compatibility. This work investigates materials engineering approaches to enable low-temperature Cu–Cu bonding through both microstructure design and alloying strategies.

This work begins by examining grain refinement in Cu as a pathway to enhance diffusion through increased grain boundary density, providing efficient atomic transport without introducing additional elements. Three Cu-based systems Cu–Co, Cu–Ag, and Cu–Al were systematically …

Next-Generation Computing Hardware: Advancements In Tantalum Oxide Reram For Ai And Neuromorphic Applications, Rajas Ravindra Mathkari

Electronic Theses & Dissertations (2024 - present)

The rapid development of artificial intelligence, machine learning, and data-intensive computing has exposed the fundamental limitations of conventional von Neumann architectures, in which energy and time are continuously lost transferring data between physically separate memory and processing units. In contrast, the human brain performs complex computations directly at the point of memory storage through billions of parallel synaptic connections, a paradigm known as in-memory computing. Realizing this in hardware requires memory devices that are fast, energy-efficient, non-volatile, and capable of storing multiple resistance levels in an analog manner. Resistive Random Access Memory (ReRAM) based on tantalum oxide (TaOx) is one …

Scalable Single-Erbium Telecom Qudits With Record Room-Temperature Quantum Coherence In Silicon-Based Nanostructures, Alexander Kaloyeros

Electronic Theses & Dissertations (2024 - present)

Advancing quantum information science demands solid-state quantum systems that maintain long quantum coherence at elevated temperatures while supporting scalable, CMOS-compatible fabrication and telecom C-band operation. No existing platform has simultaneously achieved these requirements, as state-of-the-art demonstrations of coherent control of erbium ions, with an intrinsic telecom-band optical transition, have been confined to cryogenic temperatures below < 10 K under controlled vacuum conditions. This thesis introduces a new paradigm in which materials science and engineering provides the enabling pathway to quantum coherence.

A foundry-compatible nanofabrication approach, paired with targeted materials engineering, is developed to realize a new class of CMOS-scalable quantum system: arrays of spatially isolated single-erbium-ion qudits (five-level systems) embedded in silicon-based (e.g., silicon carbide (SiC) and SiC_xO_y) hollow nanopillars (HNPs). Non-lithographically …

Development And Analysis Of An Embedded Hardware Platform For Low-Power Rram–Based In-Memory Computing And Neural Network Applications, Jeelka Solanki

Electronic Theses & Dissertations (2024 - present)

Conventional computing architectures are based on repeated data transfer between memory and the compute unit; however, artificial neural network applications rely on data-intensive vector-matrix multiplication as a mathematical operation, where data movement from memory to compute processor results in increased power consumption and reduced performance. Possible solutions to this problem include in-memory computing, which addresses the data transfer bottleneck by computing directly within the memory. To demonstrate the potential of this approach, our research group fabricated hafnium oxide-based resistive random-access memory (RRAM) arrays using a 65nm CMOS technology for in-memory compute operations. This work demonstrates the design and development of …

Molecular Diffusion In Chemically Amplified Resists For Euv Lithography, Eshan Dilina Thilakarathna

Electronic Theses & Dissertations (2024 - present)

Photolithography is a critical manufacturing step in high-volume manufacturing (HVM) of semiconductor devices, where a photoresist layer is used to transfer nanoscale patterns onto the underlying stack materials. As the microelectronics industry continues to move toward smaller node sizes, driven by Moore's Law. As a result, the tolerances for photoresist performance have become increasingly demanding, which necessitates simultaneous improvements in resolution, defectivity, and roughness. At advanced nodes, these performance limitations are governed by the fundamental stochastic nature of the photochemical processes occurring within the resist film itself, rather than the optical or tool-level constraints. Photon shot noise, the statistical distribution …

High-Tcr Multivalence Vanadium Oxide Thin-Films From Deposition Parameter Control To Microbolometer Applications, Latika Susheel M. Chaudhary

Electronic Theses & Dissertations (2024 - present)

This thesis details the development of multivalence-nanostructured vanadium oxide (VOₓ) thin films for uncooled microbolometer applications, with a systematic optimization of magnetron-sputtering parameters. The temperature coefficient of resistance (TCR), resistivity, and optical response of VOₓ thin-film sensing layers are controlled by valence composition, grain growth, and surface morphology. The primary goal was to achieve a high TCR with low resistivity to improve thermal detector performance.

Multivalent VOₓ thin films were deposited on silicon, SiO₂, and glass substrates using DC magnetron sputtering. Three key parameters were systematically varied: Ar:O₂ ratio (18:2 to 15:5), deposition time (60–120 minutes), and DC power (300W …

Improving Modeling Of Corrosion Products In The Primary Circuit Of Light Water Reactors Through The Experimental Determination Of Crud Characteristics, Sri Saravana Konganapuram Narasimma Bharathi

Electronic Theses & Dissertations (2024 - present)

High-temperature water flowing through the coolant circuits in pressurized water reactors (PWRs) creates a harsh environment, deteriorating these materials. This corrosion results in the formation of oxide layer(s) primarily composed of nickel ferrites, iron oxides, nickel oxides, and other nickel-iron-chrome spinel oxides. Being exposed to fluid with high flow rates and pressure, these oxide layers can be eroded, resulting in particulate fouling due to the release of corrosion products (Chalk River Unidentified Deposits, CRUD) into the coolant circuit. When CRUD subsequently deposits on fuel surfaces, it negatively affects the fuel performance (heat transfer and fuel failure); in addition, the particles …

Nanostructured Cathode Catalysts For Aem Electrolysis: From Catalyst Design To Degradation And Hydrogen Dynamics, Yamini Kumaran

Electronic Theses & Dissertations (2024 - present)

Anion exchange membrane water electrolysis (AEMWE) presents a promising pathway toward cost-effective and sustainable hydrogen production by integrating the chemical robustness of alkaline systems with the compact, zero-gap design of proton exchange membrane electrolyzers. However, the widespread implementation of AEMWE is limited by the availability of highly active and durable platinum-group-metal (PGM)-free catalysts and by an incomplete understanding of their degradation behavior under realistic operating conditions.

This dissertation focuses on the development, characterization, and mechanistic investigation of nanostructured MoNi₄–MoO₂-based electrodes for efficient and stable hydrogen generation under alkaline and membrane-integrated environments. MoNi₄–MoO₂ nanorods …

Neural Network Transceiver For Ltv Mimo Channels, Iresha Amarasekara

Electronic Theses & Dissertations (2024 - present)

Eigenfunctions are commonly employed to characterize kernels in various data-driven analyses. In machine learning, eigenfunction decomposition typically relies on Mercer's theorem, which assumes kernel symmetry. However, this condition is often unmet in communication systems, where channel kernels are asymmetric due to differences in downlink and uplink propagation environments. The High-Order Generalized Mercer's Theorem (HOGMT) provides a systematic approach for decomposing multidimensional asymmetric kernels into eigenfunctions. To address the complexity of eigen-decomposition, this work introduces a baseline neural network (NN) framework HNET. The HNET framework is further enhanced by incorporating the augmented Lagrangian method (ALM) to explicitly enforce orthogonality constraints. This …

Learning - Augmented Stochastic Model Predictive Control For Adaptive Battery Energy Storage Operation Under Net Load Uncertainty, Muhammad Amad Asif

Electronic Theses & Dissertations (2024 - present)

Battery energy storage systems play a critical role in enabling reliable operation of power systems with high penetration of renewable energy. However, optimal control of BESS is challenging due to uncertainty in net load and electricity prices. Deterministic MPC, which relies on point forecasts, can perform suboptimally under forecast errors. SMPC addresses this limitation by incorporating uncertainty through scenario-based optimization. Nevertheless, its performance depends on fixed objective parameters, particularly the cycling penalty, which governs the trade-off between economic cost and battery utilization. This thesis develops a learning-augmented SMPC framework for battery control under net load uncertainty. The proposed approach integrates …

Estimating Sediment Properties Using A New Source Level Function For Wind-Driven Underwater Sound Derived From Long-Term Archival Data, S Bruce Martin, Martin Siderius

Electrical and Computer Engineering Faculty Publications and Presentations

Wind-driven breaking waves generate the background sound throughout the ocean. An accurate source level for wind-driven breaking waves is needed for estimating the ambient sound levels needed for sound exposure modeling, environmental assessments, and assessing the detection performance of sonars. Previous models applied a constant roll-off of sound levels at -16 dB/decade at all wind speeds, and these models' source levels were flat at frequencies below ∼1000 Hz due to a lack of measurements. Here, we analyzed 16 long-term archival datasets with limited anthropogenic sound sources to estimate the wind-driven source level down to 100 Hz. We estimated the site-specific …

The Operation And Control Strategy Of Microgrids: A Brief Review, Mohammad Alam, Salsabila Zaman

Electrical Engineering Student Publications

A microgrid is an effective approach for integrating various distributed energy resources to meet local energy demand. It possesses the capability to operate independently or in conjunction with the main utility grid. Typically, a microgrid is a small-scale power system (usually several megawatts or less) comprising three primary components: the ability to function in both grid-connected and islanded modes, distributed power generation sources, and autonomous control centers. Microgrids enhance system resilience by ensuring uninterrupted operation during grid disturbances. Additionally, they are environmentally sustainable and contribute to improved power quality. As a crucial element of modern power systems, microgrids can effectively …

Getting Started With Research In International Engineering Education, Kirsten A. Davis, Brent Jesiek

Journal of International Engineering Education

No abstract provided.

Feasibility Assessment Of Energy As A Service With Third Party Ownership For Development Of Utility-Scale Solar Pv In The Consumer Goods Industry, Winda Puspadimiati, Widodo W Purwanto

CSID Journal of Infrastructure Development

Global awareness of climate change impacts has compelled the power sector to adopt renewable energy as a primary source of electricity, driving innovation in renewable energy business models. This study analyzes the feasibility of Energy as a Service (EaaS) with a Third-Party Ownership (TPO) scheme for utility-scale solar photovoltaic (PV) development in the fast-moving consumer goods (FMCG) industry. Four scenarios of utility-scale solar PV configurations under the EaaS model are evaluated: on-grid ground-mounted (OG-GM), hybrid ground-mounted (H-GM), on-grid floating (OG-F), and hybrid floating (H-F). All scenarios are developed under the assumption of utilizing the PLN grid through a power wheeling …

Moving From Feasible Solutions To Sustainable Systems In The Built Environment, Mohammed Ali Berawi, Mustika Sari, Perdana Miraj

CSID Journal of Infrastructure Development

The built environment plays a crucial role in global sustainability efforts. Buildings, infrastructure, and cities consume large amounts of energy and materials that shape social behavior, and lock in environmental impacts. Over the past two decades, research has produced a wide range of technical solutions to reduce these impacts. Renewable energy systems, energy-efficient buildings, alternative construction materials, and new construction methods are no longer experimental concepts. Many have proven technical and economic potential. Yet, real-world transformation remains slow and uneven. This gap suggests that sustainability challenges in the built environment are no longer driven by a lack of technology. Instead, …

Barriers To The Adoption Of Modular Construction Technology In South Africa, Mokete Matoba, Christopher Amoah

CSID Journal of Infrastructure Development

Construction, mining, and manufacturing are the most significant contributors to South Africa's GDP. While manufacturing and other industries utilise advanced technologies to enhance productivity, he construction industry continues to lag behind in technological adoption. This study examines the barriers that hinder the South African construction industry from leveraging the benefits of modular construction technologies (MCT). The study employed a quantitative research method, using closed-ended questions to collect data. The questionnaires were emailed to South African construction industry professionals selected through a combination of purposive and convenience sampling. A total of 98 questionnaires were distributed, of which 46 were returned. However, …

Effects Of Calcination Conditions Of Locust Bean Pod On The Mechanical Properties Of Locust Bean Pod Ash High-Strength Concrete, Iorwuese Anum, Umar Abdullahi, Megat Azmi Megat Johari, Felix Nkapheeyan Isa

CSID Journal of Infrastructure Development

Locust Bean Pod Ash (LBPA) is produced from the calcination of Locust Bean Pod (LBP), an agricultural waste of the African locust bean tree (Parkia biglobosa). This study evaluated the use of LBPA obtained through controlled calcination and open burning as a supplementary cementitious material (SCM) in high-strength concrete (HSC). Cement was replaced by LBPA at 5%, 10%, 15%, and 20% by weight using both ashes—LC for ash produced through calcination at 600 °C, and LO for ash obtained through open burning. Slump and strength were assessed, including compressive strength (100 × 100 × 100 mm cubes) and splitting tensile …

Green Connectivity In Metropolitan Jabodetabek: Climate Change And The Challenge Of Urban Forest, Safira Maharani Putri, Hendricus Andy Simarmata

CSID Journal of Infrastructure Development

Urban areas in Indonesia, particularly the Greater Jakarta metropolitan region (Jabodetabek), are increasingly experiencing the adverse effects of climate change, such as the Urban Heat Island (UHI) phenomenon. Rapid urbanization has contributed significantly to rising greenhouse gas emissions and deteriorating environmental quality. Urban forests are one of the key solutions to mitigate these impacts; however, their spatial distribution in Jabodetabek remains suboptimal and poorly connected. This study uses NDVI as a proxy for urban forest density, where “urban forest” refers to vegetated areas within cities as defined by Presidential Regulation No. 60/2020. The research addresses the following question: How has …

Enhancing Health And Safety Practices In Construction Site In Developing Nations Through Technology Advancement In South Western Nigeria, Mubaraq Lawal, Abba Mahmud, Ismail Gbolahan Dere, Thankgod Agbo Owoicho

CSID Journal of Infrastructure Development

The construction sector plays a critical role in urban development and economic growth, yet it continues to face major challenges that threaten worker health and safety. Traditional safety measures are not always sufficient for the complex conditions found on construction sites, which creates a need for technology‑based solutions. This study investigates the relationship between technology adoption and health and safety practices in the construction industry in Lagos, Nigeria. The study identifies the major causes of site accidents, examines the level of technology use on construction sites, and reviews existing literature through both primary and secondary data. Primary data were collected …

Exploring The Horizontal Static And Dynamic Shading Devices To Minimize Cooling Load In Tropical Buildings, Hilmi Fitriatulamal, Ova Candra Dewi, Miktha Farid Alkadri, Kartika Rahmasari

CSID Journal of Infrastructure Development

Shading devices are essential for reducing solar radiation and cooling loads in buildings located in tropical climates. In the Jakarta region, the highest solar factor is observed on west- and east-facing facades, followed by north- and south-facing orientations. National building policy in Indonesia encourages facades to face north–south to reduce solar heat gain. This study explores horizontal static and dynamic shading devices on north-facing facades and evaluates their impact on cooling load reduction and daylight performance. The methodology includes calculating and simulating energy use intensity (EUI) using EnergyPlus and conducting illuminance analysis using Radiance and Grasshopper. Key parameters considered in …

Decision Framework For Enhancing The Adoption Of Alternative Infrastructure Funding Models In Ghana, Samuel Kojo Aidoo, Patricia Lindelwa Makoni

CSID Journal of Infrastructure Development

This paper examines the socio-economic and infrastructure conditions that determine Ghana’s readiness to adopt alternative infrastructure funding models (AIFMs) for sustainable road development. The objective of the study is to identify the macroeconomic and sectoral drivers of AIFMs’ adoption and to develop policy frameworks for the sustainable financing of infrastructure within Ghana’s context. Ordinary Least Squares (OLS) regression analysis is applied to annual data from 2003 to 2023 to examine the relationship between macroeconomic and infrastructure indicators and economic growth , which is used as a proxy for the viability of AIFMs. The results show that employment growth, educational attainment, …

The Ethical Code Of Access And Use, Modeled By Archival Educator Aurora E. Davis, Jennifer A. Walker, Sarah A. Buchanan, Charissa F. Ercolin

Provenance, Journal of the Society of Georgia Archivists

Archival education has a legacy of collective development between professionals, educators, and students of archives. Longitudinal attention to archival pedagogy can greatly inform ongoing curricular directions, so that students always emerge from their archival program ready to manage complex collections in wide-ranging professional settings. One academic archival program’s first archival educator brought to her role relevant experience from both the aviation and newspaper industries that shaped her pedagogical impact on students. This paper considers the origins of archival education at the University of Missouri through the work of Aurora E. Davis, who served as a faculty member at the School …

International Engineering Education In Turbulent Times: Reflections, Strategies, And Visions In Honor Of John M. Grandin, Sigrid Berka, Mark W. Rectanus

Journal of International Engineering Education

At a time when private and public universities are facing the potential of significant cuts in federal funding for research and education, international engineering education programs need to navigate the turbulent landscape facing higher education at large and consider how they might reposition themselves within it. In this collection of essays dedicated to the memory, vision and legacy of the late Dr. John Grandin, we remind international educators that by mobilizing innovative thinking and an entrepreneurial spirit they can propel change in a seemingly deadlocked academic landscape. We have asked some of Dr. Grandin’s colleagues – who have led interdisciplinary, …

Impact Of The International Engineering Program (Iep) At The University Of Rhode Island (Uri): What’S In It For Languages And For Engineering?, Sigrid Berka

Journal of International Engineering Education

No abstract provided.

Garnering External Support For Languages In International Engineering Programs, Michael A. Nugent

Journal of International Engineering Education

No abstract provided.

Study Abroad And Languages: Leveraging Study Abroad For Engineering Education During Turbulent Times, Chad M. Gasta

Journal of International Engineering Education

No abstract provided.

Cooperative Education And Partnerships With Industry, Chris Cooper, Gayle G. Elliott

Journal of International Engineering Education

No abstract provided.

Collaborations And International Partnerships: Keys For International Education In Times Of Change, Bettina Cothran, Amy Bass Henry

Journal of International Engineering Education

No abstract provided.