Engineering Commons^™

Wads 3d Object Detection Dataset (Wads-3d) - Sequence 37, Yiming Yang, Jeremy P. Bos

WADS-3D

WADS-3D is a standard KITTI-format dataset designed for analyzing 3D object detection robustness in severe winter weather. Addressing the need for granular analysis of perception failure in snow, the dataset includes 4,100 frames and over 30,000 labeled car instances captured during heavy snowfall and winter-storm conditions. Derived from the large-scale multimodal WADS dataset, WADS-3D enables researchers to move beyond qualitative weather assessments and systematically evaluate how varying heavy snowfall intensities impact a wide range of neural network detectors.

Wads 3d Object Detection Dataset (Wads-3d) - Sequence 77, Yiming Yang, Jeremy P. Bos

WADS-3D

WADS-3D is a standard KITTI-format dataset designed for analyzing 3D object detection robustness in severe winter weather. Addressing the need for granular analysis of perception failure in snow, the dataset includes 4,100 frames and over 30,000 labeled car instances captured during heavy snowfall and winter-storm conditions. Derived from the large-scale multimodal WADS dataset, WADS-3D enables researchers to move beyond qualitative weather assessments and systematically evaluate how varying heavy snowfall intensities impact a wide range of neural network detectors.

Wads 3d Object Detection Dataset (Wads-3d) - Sequence 77 Lidar, Yiming Yang, Jeremy P. Bos

WADS-3D

WADS-3D is a standard KITTI-format dataset designed for analyzing 3D object detection robustness in severe winter weather. Addressing the need for granular analysis of perception failure in snow, the dataset includes 4,100 frames and over 30,000 labeled car instances captured during heavy snowfall and winter-storm conditions. Derived from the large-scale multimodal WADS dataset, WADS-3D enables researchers to move beyond qualitative weather assessments and systematically evaluate how varying heavy snowfall intensities impact a wide range of neural network detectors.

Wads 3d Object Detection Dataset (Wads-3d) - Sequence 22, Yiming Yang, Jeremy P. Bos

WADS-3D

WADS-3D is a standard KITTI-format dataset designed for analyzing 3D object detection robustness in severe winter weather. Addressing the need for granular analysis of perception failure in snow, the dataset includes 4,100 frames and over 30,000 labeled car instances captured during heavy snowfall and winter-storm conditions. Derived from the large-scale multimodal WADS dataset, WADS-3D enables researchers to move beyond qualitative weather assessments and systematically evaluate how varying heavy snowfall intensities impact a wide range of neural network detectors.

Wads 3d Object Detection Dataset (Wads-3d) - Sequence 24, Yiming Yang, Jeremy P. Bos

WADS-3D

WADS-3D is a standard KITTI-format dataset designed for analyzing 3D object detection robustness in severe winter weather. Addressing the need for granular analysis of perception failure in snow, the dataset includes 4,100 frames and over 30,000 labeled car instances captured during heavy snowfall and winter-storm conditions. Derived from the large-scale multimodal WADS dataset, WADS-3D enables researchers to move beyond qualitative weather assessments and systematically evaluate how varying heavy snowfall intensities impact a wide range of neural network detectors.

Challenges And Opportunities In Lentivirus Viral Vector Manufacturing For In Vivo Applications, Eduardo Barbieri, Caryn Heldt

Michigan Tech Publications

The clinical success of chimeric antigen receptor (CAR) T-cell therapies has revolutionized oncology, yet the high costs and logistical complexities of ex vivo manufacturing remain significant barriers to global patient access. In vivo cell therapy, which involves the direct injection of lentiviral vectors (LVVs) to engineer cells within the patient’s body, offers a promising, cost-effective alternative. However, transitioning from ex vivo to in vivo applications necessitates a fundamental shift in LVV biomanufacturing to ensure safety and efficacy. This paper examines the critical bottlenecks in the current LVV production landscape. In upstream processing, we explore LVV particle assembly and maturation mechanisms, …

Silent Sabotage: Internal State Triggered Backdoor Attacks On Llm-Powered Robotic Systems, Doniyorkhon Obidov, Shivayogi Akki, Tan Chen, Kaichen Yang

Michigan Tech Publications

The integration of Large Language Models (LLMs) into robotic control systems is enabling a new generation of autonomous agents capable of complex reasoning and planning. While this paradigm shift accelerates progress, it also introduces novel security risks that remain largely unexplored. Current research into LLM backdoors has focused on attacks triggered by external stimuli, such as specific words, visual objects, or environmental states. These attacks, while potent, overlook a more insidious class of vulnerability where the trigger is internal to the agent’s own operational logic. This paper presents the first comprehensive study of history-based backdoor attacks on LLM-powered robotic systems. …

Data File For Kaizen Event Research, Jen Schoenherr

Michigan Tech Research Data

Research was performed to determine if Kaizen teams that used Cartooning as one of the lean tools available for problem solving were more successful in achieving the stated Kaizen goals

Improved Performance Of Wave Energy Converters And Arrays For Wave-To-Onshore Power Grid Integration, Madelyn Veurink, David Wilson, Rush Robinett, Wayne Weaver

Michigan Tech Publications

This paper focuses on power grid integration of wave energy converter (WEC) arrays that minimize added energy storage for maximizing power capture as well as smoothing the oscillatory power inputs into the grid. In particular, a linear right circular cylinder WEC array that implements complex conjugate control is compared and contrasted to a nonlinear WEC array that implements an hourglass buoy shape while both are integrated into the grid utilizing phase control (i.e., relative spacing of the WEC array) on the input powers to the grid. The Hamiltonians of the two WEC systems are derived, enabling a direct comparison of …

Jiving With Llms: Assessing First Year Students’ Computer Programming Self Efficacy After Reading Code With Llms, Michelle Jarvie-Eggart, Joseph Roy Teahen, Daniel T. Masker, Jose Padilla, Leo C. Ureel Ii, Laura E. Brown, Scott Pomerville, Jon Sticken

Michigan Tech Publications

This study investigated the impact of leveraging generative artificial intelligence (GenAI) to assist 1st-year engineering and computer science (CS) students in reading code in a new (to them) language. Students were asked to comment code in FORTRAN. They were then asked to run the code through ChatGPT-4.0 for its comments and reflect on what they learned from the experience. Participants completed survey items from Ramalingam and Wiedenbeck’s Computer Programming Self-Efficacy Scale (CPSES) prior to and after the intervention. Additional open-ended reflective (qualitative) questions were added to the quantitative questions in the postintervention questionnaire. This study documents increases in self-efficacy for …

Finite Element Analysis Of Tire–Pavement Interaction Effects On Noise Reduction In Porous Asphalt Pavements, Miao Yu, Geyun Lv, Anqi Li, Jing Yang, Zhexi Zhang, Dongzhao Jin, Rong Zhang, Jiqing Li

Michigan Tech Publications

This study investigated the noise reduction performance of porous asphalt concrete (PAC) pavement under tire–pavement coupling conditions, addressing the limitations of field measurements and laboratory testing. First, tire excitation amplitude parameters were determined based on vibrational contact operational scenarios. Then, finite element simulations were conducted to systematically analyzing the tire–pavement coupling noise characteristics of PAC pavement. The results indicate that PAC pavement effectively reduces the air pumping noise due to its highly porous internal structure, leading to significant noise attenuation. Furthermore, the study examined the key factors influencing the tire–pavement coupling noise in PAC pavement. When maintaining constant vehicle parameters …

Study Of Bearing Capacity Testing And Soil Preparation Techniques In Lunar Highlands Simulant At Field Scale, Christi A. Lecaptain

Dissertations, Master's Theses and Master's Reports

Humanity seeks to return to the surface of the Moon with the advent of the Artemis missions. These endeavors plan to be the beginning of a new era as NASA and other space organizations seek to establish a lunar base. Ahead of any astronauts or mining infrastructure, the physical groundwork will need to be laid to support the arrival of rockets, boots, and rover wheels. As surfaces are prepared, they will need to be tested and verified to ensure the stability of any structures placed on top. Understanding the bearing capacity is vital to soil quality testing. A standard terrestrial …

Beyond Receptive Measures: Development And Validation Of The Spatial Grid Drawing Assessment (Sgda) As A Productive Measure Of Spatial Skill, Katrina L. Carlson

Dissertations, Master's Theses and Master's Reports

Spatial skills are vital in many STEM disciplines, starting at or prior to university training, and often extending throughout one’s career. The most widely used spatial ability measures (e.g., PSVT: R, MRT) rely on what I refer to as receptive skills: examining an object or design, mentally transforming it, and comparing it to given alternatives. But because work in many STEM disciplines also involves productive spatial skill such as drawing, I hypothesize that a productive measure of spatial skill may predict distinct aspects of spatial ability. This research investigates the relationship between traditional receptive Spatial Visualization (SV) assessments, such as …

Design And Validation Of A Low-Cost Wearable Electromyography (Emg) System For Monitoring Exercise-Induced Changes In Muscle Activity, Ingrid E. Halverson

Dissertations, Master's Theses and Master's Reports

Wearable technologies have expanded opportunities for monitoring athletic performance, but many existing systems remain costly and confined to laboratory or medical settings. This thesis presents the design, development, and evaluation of a low-cost, wearable EMG platform for monitoring neuromuscular activity during exercise. A wireless device incorporating a surface EMG sensor, an ESP32 microcontroller, and Wi-Fi transmission was developed to acquire muscle activation data. Signal processing techniques, including filtering, root-mean-square (RMS), mean frequency (MNF), and median frequency (MDF) analyses, were used to evaluate changes in muscle activation. Experimental testing demonstrated reliable wireless data acquisition and successful capture of physiological changes before …

Open Source Tools For Ecological Research, Alex P. Riebe

Dissertations, Master's Theses and Master's Reports

This thesis presents the development of an open source wireless sensor network for hibernacula manipulation with an emphasis on accessibility and reproducibility. It addresses the design of the electrical hardware, guidance on antennas and RF implementation, and design of an application-specific communication protocol, all with the explicit goal of enabling ecologists and other conservationists to be able to manufacture, deploy, operate, and maintain the system for their research. The resulting sensor network designed in this thesis is to control the temperature inside bat hibernacula during the winter to study the relationship between temperature and bat mortality rate due to White …

Using Automotive Lidar To Reduce The Energy Consumption Of An Ego Autonomous Vehicle, Logan P. Schexnaydre

Dissertations, Master's Theses and Master's Reports

There is significant potential to reduce the energy consumption of the transportation sector through autonomous vehicles. Prior work on autonomous vehicle energy efficiency focuses on the whole system or the control subsystem. Yet, the sensing and processing components, which have direct and indirect effects on net energy use, are less explored. This dissertation fills this gap by modeling and evaluating these effects for lidar sensors, which provide high-resolution spatial data at the cost of high power and processing demands. I apply lidar to the energy-saving tasks of automated vehicle following and road surface profiling. For automated vehicle following, I model …

High-Performance Circuit Manufacturing And Testing Exercises, Benjamin S. Keppers

Dissertations, Master's Theses and Master's Reports

An advanced demonstrator Printed Circuit Board (PCB) has been designed and implemented providing a framework for advancing students’ knowledge in hands-on PCB design and manufacturing process through industry recognized test coupons, stack ups, and transmission lines. Students are guided through several key aspects of design and simulation relating to manufacturing and qualifications. Manufacturing allows students to refine process development and analyze performance data with respect to qualification tests specified by Global Electronics Association standards. Results are then used to build a stackup model, and complete a design activity for calculating expected test results for a series of controlled impedance electrical …

Antenna-Based Sensors For Dielectric Characterization Of Materials, Hilary Scott Nkimbeng Cho

Dissertations, Master's Theses and Master's Reports

This research introduces antenna-based sensors for dielectric characterization aimed at overcoming the limitations of conventional microwave sensors. Although traditional microwave sensors are widely used for their noncontact operation, high sensitivity, and ability to penetrate various materials, they often face challenges such as large size and high-power consumption. To address these issues, antenna-based sensors are explored for their compactness, ease of fabrication, and flexible design adaptability across diverse sensing applications. An in-depth analysis of multiple antenna sensor configurations is conducted, followed by the design and development of high-performance sensing structures. A saw-tooth slot antenna sensor is developed for highly sensitive liquid …

Robust State Estimation And Scene Understanding For Autonomous Ground Vehicles In Challenging Environments, Nader J. Abu-Alrub

Dissertations, Master's Theses and Master's Reports

Autonomous ground vehicles require reliable state estimation and scene understanding to operate safely in challenging environments. Poor illumination, adverse weather, degraded visibility, snow-covered roads, and sensor noise can reduce the reliability of conventional localization and perception pipelines. Addressing these challenges requires sensing and algorithmic strategies that exploit the complementary strengths of different modalities. Radar is particularly attractive because of its resilience to lighting and weather variations, while inertial, camera, and lidar measurements provide additional motion, appearance, and geometric information. This dissertation investigates compact radar-based and sensor-fusion approaches for improving autonomous ground-vehicle state estimation and scene understanding under degraded sensing conditions. …

Coupled Shrinking Core And Bubble Dynamics Model For Enhancement Of Metal-Water Reactions With Acoustic Cavitation, Troy Metz

Dissertations, Master's Theses and Master's Reports

Hydrogen is a valuable fuel. Hydrogen can be produced in several ways including thermochemical cycles, electrolysis, and metal-water reactions. Thermochemical cycles typically use high temperatures, often with corrosive species. Electrolysis requires high purity water. Metal-water reactions do not have these drawbacks. Activators such as lithium and gallium are often used to enhance metal-water reactions. However, these activators add to the complexity of metal-water reactions and may not work for all metals. A novel method to improve metal-water reactions is cavitation. During bubble collapse, shock waves and microjets are produced that can cause surface erosion. The objective of this work is …

Design And Experimental Evaluation Of A Custom Vision-Guided Approach To 2d Part Localization For Industrial Robots, Faisal Ali

Dissertations, Master's Theses and Master's Reports

Vision-guided robots offer a clear advantage over teach-pendant programming for battery handling, where modern packs hold thousands of cells and teaching each position by hand does not scale. Commercial vision systems address this need, but their calibration, detection, and coordinate-conversion stages are closed to the user, making it hard to incorporate newer learning-based methods. This work presents a modular, custom-built vision-guided system using an Orbbec Gemini 435Le eye-in-hand camera, an NVIDIA Jetson Orin Nano, an Allen-Bradley Micro850 PLC, and a FANUC LR Mate 200iC, communicating over Modbus TCP and EtherNet/IP. A per-hole classification model resolves each known hole into a …

Detecting And Repairing Conflicting Constraints In Co-Trained Physics-Informed Neural Networks For Composite Curing Processes, Cooper J. Evans

Dissertations, Master's Theses and Master's Reports

Composite materials have become a critical component of modern manufacturing, especially in the automotive and aerospace industries. The curing process for these composites has been modeled using a variety of partial differential equations representing the heat transfer and composite curing kinetics. Optimizing the applied temperature profile is critical for maximizing the efficiency and capacity of composite part manufacturers. Constraints must be placed on the inputs and outputs of the model, including but not limited to, the applied temperature profile, part temperature, and final degree of cure. Conflicting sets of constraints are easy to unknowingly impose due to the highly coupled …

Torque-Based Detection And Isolation Of Bucket-Specific Load Variations In A Continuous Bucket Ladder Excavator, Mason R. Krause

Dissertations, Master's Theses and Master's Reports

Understanding how cutter geometry, material, and operating conditions influence excavation performance is critical for the design of lunar surface systems operating in regolith environments. This work presents a torque-based methodology for detecting and quantifying bucket-specific load variations in a continuous bucket ladder excavator. A nine-bucket excavator was constructed to record drivetrain torque while operating in a regolith simulant over multi-day test periods. Each bucket featured a unique combination of cutting edge material and geometry. A method was developed to separate the continuous torque data into individual excavation events, enabling identification of individual bucket interactions. Analysis of the resulting event-based dataset …

Application Of Passive Samplers For Exploring Remedial Progress In The Torch Lake Aoc And Interlake Variability Of Pcbs, Cailin B. Bishop

Dissertations, Master's Theses and Master's Reports

This study evaluates changes in dissolved polychlorinated biphenyl (PCB) concentrations in Torch Lake, Michigan, an Area of Concern shaped by decades of legacy contamination and evolving restoration policy. Passive samplers deployed across sites and seasons (2024–2025) show total PCB concentrations ranging from below detection to 110 pg/L (mean = 16.8 pg/L), representing an approximate 90% decline since 2005. Comparisons with regional reference lakes indicate no statistically significant difference (p = 0.84), suggesting concentrations may approach background atmospheric levels despite continued variability. Congener profiles indicate a shift toward lower-chlorinated PCBs, though interpretation of higher-chlorinated congeners is limited by slow sorption kinetics. …

Performance Comparison Of A Low Mass Vibratory Lunar Surface Compactor In Vacuum Versus Atmosphere, Robin D. Austerberry

Dissertations, Master's Theses and Master's Reports

As space agencies prepare to return to the moon, an emphasis is being placed on establishing a sustained human presence that requires permanent structures and supporting infrastructure, making site preparation a critical factor. Michigan Technological University’s Planetary Surface Technology Development Lab has developed a novel low-mass surface compaction tool for use on a site preparation vehicle in collaboration with Colorado School of Mines. Testing in vacuum is necessary to simulate a relevant environment, which is required to increase the technology readiness level of this tool to TRL 5. Testing concluded significant interactions between the presence of atmosphere and other factors. …

Nondestructive Evaluation Of Additively Manufactured Parts Using Resonant Inspection And Frequency Domain-Based Correlation Criteria, Gita Deonarain

Dissertations, Master's Theses and Master's Reports

Additive manufacturing (AM) enables the production of highly customized and geometrically complex components; however, these parts remain susceptible to a wide range of defect types and severities. The combination of complex geometries and distributed defects presents a significant challenge for post-process nondestructive evaluation (NDE). Conventional inspection techniques, such as computed tomography and ultrasonic testing, are often limited by geometry, material, accessibility, and cost, while in situ monitoring is not yet sufficiently mature to replace post-process inspection.

This dissertation establishes the Frequency Domain Assurance Criterion (FDAC) as a quantitative, vibration-based framework for defect detection in AM components. FDAC captures spatial–spectral correlations …

Microgravity-Induced Alterations In Left Atrial Hemodynamics And Thrombogenic Risk: Insights From Healthy And Atrial Fibrillation Models, Grace M. Hoeppner

Dissertations, Master's Theses and Master's Reports

Background: Microgravity exposure alters cardiovascular loading, yet its impact on left atrial flow dynamics and thrombotic risk remains poorly understood. This study investigates how spaceflight-relevant microgravity-induced changes in cardiac outflow affect left atrial hemodynamics in healthy individuals and patients with atrial fibrillation.

Methods: Patient-specific left atrial models were generated for three healthy individuals and three AF patients. Computational fluid dynamics (CFD) simulations were performed using each patient’s baseline mitral outflow waveform and two modified waveforms representing short- and long-duration post-flight cardiac loading changes derived from echocardiographic observations. Hemodynamic metrics included left atrial velocity, time averaged wall shear stress, oscillatory shear …

System-Level Assessment Of Non-Ideal Phase Change Material Behavior In Low Earth Orbit Spacecraft Thermal Control Models, Nathan S. Bruursema

Dissertations, Master's Theses and Master's Reports

Phase change materials (PCMs) are of interest in spacecraft thermal control because their latent heat capacity can provide passive thermal buffering during transient or cyclic heat loads. PCM behavior is often treated using idealized assumptions such as repeatable phase transition temperatures, consistent thermal accessibility across cycles, and full latent recovery. However, practical PCM behavior may be affected by non-ideal phenomena such as supercooling, interfacial resistance, and degradation of internal transport accessibility. This thesis examines the system-level relevance of these effects for low Earth orbit (LEO) spacecraft thermal control and identifies the operating conditions under which non-ideal PCM behavior becomes design-relevant. …

Development And Calibration Of A 2-D Diesel Oxidation Catalyst Filter (Docf) Model With Spatially Varying Washcoats Using Spacims And Engine Loading Data, Thomas K. Price

Dissertations, Master's Theses and Master's Reports

Diesel engine exhaust contains regulated species, including carbon monoxide, hydrocarbons, nitrogen oxides, and particulate matter (PM). Meeting increasingly stringent emission standards typically requires multiple aftertreatment components, motivating the development of multifunctional devices that reduce system size, cost, and catalyst usage. Computational models are essential for guiding this design process; however, existing models primarily focus on single-function devices and rarely capture the behavior of multifunctional systems with multiple catalyst washcoats. This work presents a physics-based model of a wall-flow diesel oxidation catalyst filter (DOCF), a multifunctional device that integrates the roles of a diesel oxidation catalyst and a diesel particulate filter …

On The Vibrational Dynamics Of Wind Turbine Blades: The Oscillatory Response To Gust Pulses, And The Physical Mechanisms Behind Them, North A. Yates

Dissertations, Master's Theses and Master's Reports

An easily noticed trend in the utility-scale wind turbine industry is that the size of the machines has continued to increase over time. While this may have benefits in terms of increasing the power generation for a single turbine, a major drawback is the rate with which the weight of the turbine blades grow. To ensure these larger machines can be utilized, efforts are being put forth to create lighter blades. This may fix the weight issue, but brings on a new one; these lighter blades can also be more flexible than previously studied ones. It is, therefore, vitally important …