Engineering Commons^™

Robust Control Of Contact-Rich Robots Via Neural Bayesian Inference, Nardos Ayele Ashenafi

Boise State University Theses and Dissertations

We provide several data-driven control design frameworks for contact-rich robotic systems. These systems exhibit continuous state flows and discrete state transitions, which are governed by distinct equations of motion. Hence, it is difficult to design a single policy that can control the system in all modes. Typically, hybrid systems are controlled by multi-modal policies, each manually triggered based on observed states. However, as the number of potential contacts increase, the number of policies can grow exponentially and the control-switching scheme becomes too complicated to parameterize. To address this issue, we design contact-aware data-driven controllers given by deep-net mixture of experts. …

Enhanced Hardware Trojan Detection In Chips By Reducing Linearity Between Features, Alfred M. S. Moussa

Boise State University Theses and Dissertations

Globally, there has been an increase in demand for System on Chip (SoC) applications, active medical implants, and Internet of Things (IoT) devices. However, due to challenges in the global supply chain, the design, fabrication, and testing of Integrated Circuits are often outsourced to untrusted third-party entities around the world rather than a single trusted entity. This situation presents an opportunity for adversaries to compromise the device’s integrity, performance, and functionality by inserting malicious modifications known as Hardware Trojans (HTs) into the original design. HTs can also create a backdoor in the system for malicious alterations.

The problem of hardware …

Analysis Of Emerging Constituents In An Activated Sludge Treatment Facility, Abigail Mae Sigurdson Ryan

Boise State University Theses and Dissertations

Emerging constituents (ECs), or contaminants of emerging concern (CECs), are pharmaceuticals and personal care products (Contaminants of Emerging Concern including Pharmaceuticals and Personal Care Products | US EPA, 2023). The primary source of ECs in surface waters is the discharge from wastewater treatment facilities (WWTF) (Kumar et al., 2022). Little is known about the effects treatment processes have on ECs. Research regarding ECs has increased due to the threats they pose to the environment and human health (Khan et al., 2021). This research aimed to expand understanding ECs’ fate through an activated sludge WWTF. This was accomplished by studying concentrations …

Study Of Dry Mixing Method To Apply Microbial-Induced Calcite Precipitation For Soil Treatment, Ruchi Shrestha

Boise State University Theses and Dissertations

Microbially Induced Calcite Precipitation (MICP) has emerged as a promising technique for soil stabilization, traditionally involving the preparation and mixing of treatment solutions with the soil. However, this thesis explores a novel approach of applying MICP by directly mixing dry chemical compounds into the soil and subsequently adding water. This alternative method offers potential advantages in terms of convenience, ease of implementation, and cost savings.

The objective of this research is to investigate the applicability of dry mixing protocols for MICP in soil stabilization. Through comprehensive experimentation, three different dry protocols were developed and applied to five different soils. The …

Carbon/Carbon Composites For Next Generation Microvascular Solar Thermal Receivers, Matt Zuzelski

Boise State University Theses and Dissertations

Concentrating solar power (CSP) is a method of renewable solar power generation where the sun’s radiant energy is collected by a receiver and converted into thermal energy. This thermal energy is then passed into a heat transfer fluid and either sent to thermal storage, or a steam power plant. One path to better CSP systems is improving the operational envelope of the receiver and heat transfer fluid (HTF) system by utilizing more resilient absorbing materials, different path architectures, and HTFs with higher allowable temperatures.

A new carbon/carbon composite is being developed with the potential to function as the absorbing material …

Effect Of Age On The Mechanical Behavior And Molecular Structure Of Human Meniscus: An Experimental And Computational Analysis, Derek Q. Nesbitt

Boise State University Theses and Dissertations

The knee meniscus is a soft fibrous tissue with a high incidence of injury in older populations. Surgical treatments do not fully restore the functionality of the meniscus, and the meniscus lacks native healing capacity, leading to a 40% increase in the probability of developing osteoarthritis once torn. Meniscus injury prevention is thus paramount to reducing the onset of osteoarthritis. Despite the importance of the meniscus in joint health, its mechanical properties, and how these change with age, are poorly understood. In order to quantify these properties, and how they change with age, we performed uniaxial tensile tests on two …

Systematic Investigation Of Wavy Surface Roughness Profiles Using Common Roughness Algorithms, Russell Gray

Boise State University Theses and Dissertations

Roughness is an important parameter in rock engineering. Sine wave-based simulated wavy profiles were used to investigate systematic changes of amplitude and frequency on roughness indices. Profiles were 1000 mm in length with amplitude ranging from 0-10 mm and frequency ranging from 0-10 Hz. The roughness algorithms used were Root Mean Square (RMS), Energy, Sinuosity, Z2, Mean Absolute Angle (MAA), and Modified Divider a-Value. Roughness indices were visualized as contour plots. Similarities of the shapes and spacing of the contours as well as the magnitude of the roughness indices prompted the pairing of RMS and Energy algorithms, Z2 and MAA …

Hydraulic Conductivity's Impact On Rise Of Excess Pore-Water Pressure During Seismic-Induced Liquefaction, Holly Gunderson

Boise State University Theses and Dissertations

Liquefaction is a geohazard causing loss of lives and infrastructure around the world. During earthquakes the shaking of the ground may cause a loss of soil strength that results in the settlement of buildings, landslides, failure of earth dams, amongst other hazards (Liquefaction of Soils During Earthquakes, 1985). Liquefaction is the result of a sudden increase in the pore-water pressure (PWP)— referred to as excess pore-water pressure (EPWP)— in loose, saturated, noncohesive, fine soils during seismic shaking. Due to the small pores and low hydraulic conductivity of these soils, the shaking-induced EPWP has less time to dissipate, leading to the …

Multiphysics Numerical Modeling For Pfas Transport Within Vadose And Saturated Zones, Pierrette Iradukunda

Boise State University Theses and Dissertations

The extent and severity of wildfires have increased around the world, necessitating a greater understanding of the consequences of wildfire and post-fire impacts on soil and groundwater. Wildfire suppression techniques like aqueous film-forming foams (AFFF) can also contaminate the soil with per- and polyfluoroalkyl substances (PFAS), which can contribute to human and environmental health concerns. PFAS are dangerous man-made chemical compounds that are persistent, mobile, poisonous, and a major cause of soil and groundwater contamination. In addition to contamination by aqueous film-forming foams, PFAS has accumulated in the environment as a result of being utilized in numerous other goods over …

Investigating The Causes Of A Landslide In Terra Nativa Subdivision And Designing Slope Stabilization Using Recycled Plastic Pins, Clara Klamm

Boise State University Theses and Dissertations

In early 2016, five homes along Alto Via Court in the Terra Nativa Subdivision of the Boise Foothills began to move. By May of 2016, the street was closed due to safety concerns, and a few years later, the homes were demolished. Despite the heartbreak and legal action that followed the event, a definitive cause of the landslide was never identified. To date, the site remains vacant. This research aims to investigate the potential causes of the slide to help identify the contributing factors that resulted in the mishap. In addition, the research seeks to design a way to stabilize …

An Experimental And Numerical Investigation Of Bimodal Particle Distributions For Enhanced Thermal Conductivity In Concentrating Solar Power Applications, Dallin Daniel Stout

Boise State University Theses and Dissertations

Solid particles have recently attracted substantial interest as a thermal transport medium in high-temperature energy storage and thermal energy conversion systems due to their ability to operate at high temperatures (up to 1000 °C). This is especially useful in the concentrating solar power (CSP) industry where solid particles are utilized as heat transfer media. Thermal conductivity of particles in CSP is critically important to the overall heat transfer that occurs within a heat exchanger. A cheap and effective avenue to increase the thermal conductivity of a particle distribution is by reducing its porosity by employing 2 differently sized particles. The …

Development Of Predictive Rockfall Runout Maps Based On Calibrated Rockfall Models, Olivia Tabor

Boise State University Theses and Dissertations

Cliffs formed in columnar jointed basalt have the proper geometry and discontinuities to initiate rockfall events. There are a number of locations in Boise, Idaho that may experience rockfall events from columnar jointed basalt cliffs. Publicly available LiDAR data coupled with site reconnaissance activities were used to develop calibrated two-dimensional rockfall models at a study site in southeast Boise. Photogrammetry was used to determine the volume of seven calibration boulders. The study site, located on Whitney Terrace, consists of a columnar jointed basalt cliff followed by a slope with a subdivision at the toe of the slope.

The two common …

Photophysical Studies Of Electronic Structure And Excited-State Dynamics Of Dna-Templated Cyanine Dye Aggregates, Jonathan Samuel Huff

Boise State University Theses and Dissertations

The invention and widespread adoption of the digital computer in the last century has led to an era of rapid technological advancement that has continued to the present day. This advancement has been sustained to a large degree by continued miniaturization of the electronic components in microprocessors, which results in increased computing power and energy efficiency. In recent years, this strategy has produced diminishing returns because the cost for each incremental size reduction increases as engineers approach the fundamental scaling limits of silicon-based semiconductor devices. Meanwhile, breakthroughs in DNA nanotechnology hold great promise for a new generation of self-assembled nanodevices …

Structure-Property-Processing Analysis Of Graphene Bioscaffolds For Viability And Differentiation Of C2c12 Cells, Lynn Karriem

Boise State University Theses and Dissertations

We investigated the structure – property – processing correlation of graphene bioscaffolds produced using three different methods. Bioscaffolds were prepared by chemical vapor deposition (CVD), sublimation of Silicon Carbide (SiC), and printed solvent assisted exfoliated graphene ink. To gain insight into the roughness and topography of graphene, AFM was performed on each bioscaffold. Raman spectroscopy mapping demonstrated differences in the I_2D/I_G ratio for each scaffold. Young’s modulus was determined by nanoindentation and indicated that epitaxial graphene had the highest average stiffness, followed by CVD, with printed graphene demonstrating the lowest average stiffness. To investigate the biocompatibility of …

Analyzing The Effects Of Rejuvenators In Balanced Mix Design With High Percentages Of Recycled Asphalt Pavement, Amanda Jo Mullins

Boise State University Theses and Dissertations

Interest in sustainable practices have increased in several industries, including civil engineering pavement materials. The incorporation of Recycled Asphalt Pavement (RAP) into new pavement mix design is a popular method of application for sustainable practice and is accompanied by numerous economic and environmental benefits. There is significant interest in using large amounts of this RAP material in pavement design to maximize the benefits, but several problems arise when utilizing “high” amounts of this material (more than 25% RAP replacement) due to aged and oxidized binder that negatively impacts the properties. The use of rejuvenators (RAs) and Balanced Mix Design (BMD) …

Heteroepitaxy Of Gasb On Gaas (111)A For Electron Transport Studies, Madison Drake

Boise State University Theses and Dissertations

III-V semiconductors grown by molecular beam epitaxy (MBE) on (111) surfaces have some interesting electronic properties. For certain materials with a (111)-orientation, the Γ- and L-valleys are reasonably close in energy. This means that it may be possible to take advantage of electron conduction in the L- and Γ-valleys at the same time, allowing us to overcome the so-called “density-of-states bottleneck,” and enable transistors with large drive currents.¹ We have investigated this phenomenon in GaSb- and InAs-based 2D electron gases for which the electron effective masses are low.

However, growth of materials with a (111) orientation is typically more …

Use Of Harsh-Braking Data From Connected Vehicles As A Surrogate Safety Measure, Nathaniel Patrick Edelmann

Boise State University Theses and Dissertations

Traffic safety may be analyzed with the use of surrogate safety measures, measures of safety that do not incorporate collision data but rather rely on the concept of traffic conflicts. Use of these measures provides several benefits over use of more traditional analysis methods with historical crash data. Surrogate measures eliminate the need to wait for crashes to occur to conduct a safety analysis. The amount of time required for enough crash data to accumulate can be significant, delaying safety analyses. Similarly, these measures allow for safety analysis to be conducted prior to crashes occurring, potentially calling attention to hazardous …

Deep Learning Of Microstructures, Amir Abbas Kazemzadeh Farizhandi

Boise State University Theses and Dissertations

The internal structure of materials also called the microstructure plays a critical role in the properties and performance of materials. The chemical element composition is one of the most critical factors in changing the structure of materials. However, the chemical composition alone is not the determining factor, and a change in the production process can also significantly alter the materials' structure. Therefore, many efforts have been made to discover and improve production methods to optimize the functional properties of materials. The most critical challenge in finding materials with enhanced properties is to understand and define the salient features of the …

Using Food-Industry Byproduct To Treat Expansive Clay, Nicole L. Shaw

Boise State University Theses and Dissertations

Lime stabilization has proven to be a valuable method in improving the properties of expansive clays under light structures such as those in transportation projects where ground improvement methods are often necessary over a large area. Hydrous and quick lime products are also utilized in various types of food processing operations to remove impurities from agricultural products. During this purification, waste is produced consisting of precipitated calcium carbonate, organic debris, and trace amounts of soil and agricultural contaminants. This food-processing waste typically contains commercially available unspent lime products, which are still viable for construction applications. Hence, this type of waste …

Tibial Compression During Activities Of Daily Living In Young And Older Adults, Elijah Miles Walker

Boise State University Theses and Dissertations

Introduction: Stress fracture, particularly in the tibia, is a growing concern among older adults (greater than 65 years). Older adults may have inherent stress fracture risk from ageing-related changes to their musculoskeletal system. Specifically, older adults reduced ankle neuromuscular function may impair their ability to attenuate repetitive compressive forces experienced during daily locomotor tasks and increase the likelihood of suffering bone damage from decreased bone tissue elasticity. Yet, it is currently unknown if older adults exhibit greater tibial compression than their younger counterparts during locomotor tasks. Purpose: This study sought to quantify tibial compression for older and younger adults when …

Direct Ink Writing Of Flexible Piezoelectric Sensors, Amanda M. White

Boise State University Theses and Dissertations

Piezoelectric poly(vinylidene fluoride-co-trifluoroethylene), or PVDF-trFE, builds up significant electrical charges on its surface when stressed. By correlating the mechanical force with the resulting electrical charges or voltages, researchers have developed flexible, broadband, and biocompatible force sensors. PVDF-trFE force sensors are traditionally fabricated via spin coating or solvent casting, which result in large waste production and experience difficulties in forming complex geometries. To tackle these challenges, I leveraged a commercial direct ink writing system (nScrypt microdispenser) to additively manufacture PVDF-trFE force sensors. I first synthesized an unprecedented piezoelectric ink that is compatible with a commercial ink writing system at Boise State …

Microbiological, Environmental, And Compositional Factors In Efficacy Of Micp Treatment In Clayey Soils, Somaye Asghari

Boise State University Theses and Dissertations

Expansive clayey soils can cause billions of dollars of damage to infrastructure such as roads and foundations annually. Researchers propose many techniques (e.g., pre-wetting, soil replacement, and chemical stabilization) to improve the mechanical properties of these soils; however, some of these methods are impractical in certain situations, and are unsustainable in others due to the economic and environmental impacts. One possible method for enhancing soil’s mechanical properties is Microbial Induced Calcium Carbonate Precipitation (MICP). This environmentally friendly technique is a biological process where microbes play a key role in precipitating calcium carbonate. This precipitating calcium carbonate can coat soil particles …

Predicting Surgical Outcome In Patients With Recurrent Patellar Dislocation, Dario De Caro

Boise State University Theses and Dissertations

Introduction

Lateral dislocation of the patella is a common injury in active adolescents and young adults. Patients who are ultimately managed surgically have a significantly lower risk of recurrent dislocation. However, determining the optimal surgical treatment remains a challenge, with patients sometimes undergoing multiple surgeries prior to successful stabilization. The aim of this study is to computationally evaluate patients that have undergone multiple surgeries to correct for recurrent lateral patellar dislocation and predict their clinical outcome.

Methods

Our patient cohort consisted of 16 patients with patella dislocation. Patient-specific imaging were used to create three-dimensional (3D) finite element (FE) models of …

Reproducible Prediction Of Organic Semiconductor Properties Through Open Source Software Development, James Rushing

Boise State University Theses and Dissertations

Semiconducting materials made from carbon-based molecules are potential replacements for inorganic semiconductors, but with lower costs of processing. Devices made from organic semiconductors can be produced at scale by inkjet printing and roll-to-roll manufacturing of these molecules in solution or melt phases. The efficiency of these organic devices is dependent on the structure of the active layer, so controlling the morphology of organic molecules through self-assembly during manufacturing is a key challenge to realizing their utility. Molecular self-assembly depends on the chemical structure of the molecules, how key moieties interact with each other and with any solvent present, and the …

Innovative Foundation Alternative Inspired From Tree Roots, Macie Larranaga

Boise State University Theses and Dissertations

It is not easy to find a more efficient foundation system than the roots of a tree. Trees create a vast three-dimensional network of roots to support and anchor the critical above-ground trunks, leaves, and limbs. In this work, investigations are made for the feasibility of imitating such a technique and creating similar networks to support civil infrastructure, particularly those subjected to moment loads such as traffic signal posts. Some of the raised questions were: Is it feasible to have a shallow tree root-based foundation system to provide the same capacities as conventional foundation alternatives? If this is feasible: What …

Open-Source Workflows For Reproducible Molecular Simulation, Jenny W. Fothergill

Boise State University Theses and Dissertations

We apply molecular simulation to predict the equilibrium structure of organic molecular aggregates and how these structures determine material properties, with a focus on software engineering practices for ensuring correctness. Because simulations are implemented in software, there is potential for authentic scientific reproducibility in such work: An entire experimental apparatus (codebase) can be given to another investigator who should be able to use the same processes to find the same answers. Yet in practice, there are many barriers which stand in the way of reproducible molecular simulations that we address through automation, generalization, and software packaging. Collaboration on and application …

Seamless Transition Of A Microgrid Between Grid-Connected And Islanded Mode, Julie B. Matarweh

Boise State University Theses and Dissertations

This thesis focuses on improving the behavior of inverters during transition periods from islanded mode to grid-connected mode (GC) and vice-versa. A systematic approach is presented to add smart features to inverters to enhance their capability to cope with sudden changes in the power system.

The importance of microgrids lies in their ability to provide a stable and reliable source of power for critical loads in the presence of faults. For this purpose, a design is proposed consisting of a distributed energy resource (DER), battery energy storage system (BESS) and a load connected through a bypass switch with the main …

Measuring Engineering Students' Engagement In Sustainability Design Concepts, Karen Aide Perez

Boise State University Theses and Dissertations

Within industries, governments, and accreditation organizations, there has been a push to incorporate sustainability concepts into their models. Universities like Boise State University (BSU) have already begun to place greater emphasis in inclusion of sustainability concepts in different engineering department curricula. As part of this effort, BSU plans to redesign courses to integrate sustainability concepts using active learning modules (ALMs) suited for each grade level and discipline. The effectiveness of these modules will be evaluated across disciplines. In support of this larger goal, the work in this study will specifically focus on mechanical engineering students.

A survey instrument was developed …

Data-Driven Passivity-Based Control Of Underactuated Robotic Systems, Wankun Sirichotiyakul

Boise State University Theses and Dissertations

Classical control strategies for robotic systems are based on the idea that feedback control can be used to override the natural dynamics of the machines. Passivity-based control (Pbc) is a branch of nonlinear control theory that follows a similar approach, where the natural dynamics is modified based on the overall energy of the system. This method involves transforming a nonlinear control system, through a suitable control input, into another fictitious system that has desirable stability characteristics. The majority of Pbc techniques require the discovery of a reasonable storage function, which acts as a Lyapunov function candidate that can be …

Integrated Neuromusculoskeletal Modeling Within A Finite Element Framework To Investigate Mechanisms And Treatment Of Neurodegenerative Conditions, Victoria L. Volk

Boise State University Theses and Dissertations

Neurodegenerative and neurodevelopmental disorders are a group of conditions that stem from irregularities in the nervous system that lead to complications in function and movement. The goal of this work is to develop computational tools that: (1) measure the accuracy of surgical interventions in neurodegenerative and neurodevelopmental conditions, and (2) integrate neural and musculoskeletal frameworks to provide a platform to better investigate neurodegenerative and neurodevelopmental disorders. Parkinson’s disease (PD) is a neurodegenerative condition projected to affect over 1.2 million people by 2030 in the US. It is caused by atypical firing patterns in the basal ganglia region of the brain …