Engineering Commons^™

Comparative Study Of Experimental And Fea Strain Data For Cnt-Coated Fiberglass Sensors, Extensometers, And Metal Foil Strain Gauges, Omar Dwidar

Master's Theses

Material testing is essential across industries such as aerospace, automotive, and construction, playing a critical role in verifying material selection, diagnosing failures, and understanding the development of flaws in structures. These insights are key to designing successful, reliable systems. Conventional metal foil strain gauges are low cost and reliable but provide limited sensitivity with a typical gauge factor around 2. Extensometers provide highly sensitive strain measurements with the disadvantage of a bulky form factor. With advanced materials such as carbon nanotubes, it is possible to manufacture a sensor with the sensitivity closer to that of an extensometer with the small …

Analyzing Player Difficulty Perception In Platformers Through Procedural Level Generation, Sasank Madineni

Master's Theses

Games utilizing Procedural Level Generation (PLG), such as Roguelikes, are becoming increasingly popular in today's gaming sphere. In games employing PLG, levels are generated randomly or pseudo-randomly, and aim to retain player attention through variance in levels between playthroughs. However, when generating levels with variance in structure and design, player enjoyment is often a mixed bag. With low enjoyment, player retention for these games can dwindle. This study explores the efficacy of real-time difficulty adjustment in procedurally generated platformers, as a method for maintaining stable player enjoyment without causing frustration. This thesis focuses on creating a short user experience, MIMEVA, …

Hybrid Computing For Real-Time Model Predictive Control Of A Buck Converter, Grace Paladichuk

Master's Theses

Advancements in power electronics require high switching frequencies which the digital control routines of the systems cannot keep up with. Analog computing is added to digital control systems to prevent bottlenecks and allow real-time implementation. This paper proposes a hybrid computing model predictive control system for a buck converter. The control system implements the gradient dynamics of the optimization function using digital computing, and the gradient dynamics for the penalty function and integrator using analog computing. For the full simulations of the entire system, the PLECS RT Box is used to simulate the controller in real time with a 1 …

Bentonite Erosion And Cation Exchange Effects On Hydraulic Conductivity Of Geosynthetic Clay Liners, Grace Paananen

Master's Theses

Geosynthetic clay liners (GCLs) are used in municipal solid waste landfill (MSW) liner and cover systems as an alternative to thick compacted clay layers. Previous field studies have revealed potential for bentonite erosion in GCLs when subjected to wet-dry cycles that occur when GCLs are placed on slopes, covered with a geomembrane, and left exposed without additional soil cover. A laboratory test program was conducted to quantify the effects of bentonite erosion on hydraulic conductivity of sodium-bentonite geosynthetic clay liners and samples subjected to cation exchange treatment in addition to bentonite erosion. This test program determined what level of bentonite …

Fault Tolerant Dynamic Task Allocation For Heterogeneous Multi-Robot Systems, Jack R. Cline

Master's Theses

This research presents a novel approach to dynamic task allocation in heterogeneous multi-robot systems with integrated fault detection capabilities. As multiple industries are becoming more reliant on multi-robot systems for tasks, maintaining operational efficiency despite robot failures becomes critical. We propose a framework that combines optimization-based task allocation with a Kalman filter that estimates task progress for anomaly detection to identify unreliable agents and dynamically redistribute tasks. Observing values such as the normalized innovation squared (NIS), covariance, and progress rate, the algorithm can designate a robot as faulty. Embedding information about which robots are faulty in the task algorithm allows …

Development Of A Versatile Switching Mode Inverter Laboratory Module, Zachariah Lee Mustar

Master's Theses

DC-AC converters, or inverters, are complex devices that play an essential role in photovoltaic, energy storage, and microgrid systems. Therefore, they constitute a class of power electronics that any power-focused electrical engineering student should be familiar with. This thesis presents the development and testing of a single device that power electronics students will use in a laboratory setting to experiment with each of the four different switching techniques employed in inverters: a simple square wave (SSWI), modified square wave (MSWI), bipolar PWM, and unipolar PWM. The module was built with a physically modifiable control stage and a power stage constituting …

Compact, Low-Power Underwater Acoustic Modem Characterization And Sensing Network Node Implementation, Lucas W. Lucia

Master's Theses

There is a growing market for compact, power-efficient underwater communication technology. Due to the limited propagation of electromagnetic waves through water, modulated acoustic waves have emerged as an effective means of wireless communication underwater. In decades past, many acoustic modems had been developed primarily for defense customers in larger systems functioning at high power. In recent years, smaller, relatively inexpensive acoustic modems have become available on the market—but data on their performance in a real-world environment is scarce. Companies such as OWL Integrations are interested in employing such acoustic modems as part of sensing networks across multiple mediums. For such …

Deeppanorf: Deep Prior For Neural 3d Reconstruction From Sparse Panoramas, Edward Du

Master's Theses

Advances in neural field representations have led to a significant improvement in view synthesis quality. However, many current novel view synthesis methods rely on a dense set of input views, which can be impractical and inefficient in real-world applications. We propose DeepPanoRF, a novel method for 360◦ scene reconstruction from a sparse set of input equirectangular panoramas. Built upon K-Planes, a radiance field representation that encodes explicit features on orthogonal feature planes, our method does not directly learn feature grids. Instead, we parameterize the feature grids to enable sparse view reconstruction without pretraining or additional regularization. We implement a custom …

Cislunar Orbital Debris Removal Feasibility Analysis Using Nrho To Dro Transfers At Varying Solar Angles, Peter C. Lie

Master's Theses

The resurgence of lunar exploration necessitates the expansion of space situational awareness into cislunar space. The current tracking technologies for cislunar objects are insufficient to determine vacant orbital regimes for human spaceflight. Orbital debris generated in the cislunar environment often evolves along complex and chaotic trajectories due to the influence of multi-body dynamics. Current research into methods of removing orbital debris from space is limited to debris in Earth orbits. For cislunar orbits, debris disposal options are slowly gaining research, mostly centered on hypothetical solutions for active missions. Lunar impact and escape to heliocentric space are low-cost options, but serve …

Analog Hardware Implementation Of A Linearly Constrained Quadratic Program Real-Time Solver, Claire E. Tylutki, Claire Tylutki

Master's Theses

This thesis presents the design, implementation, and analysis of a hardware system for solving Linearly Constrained Quadratic Programs (LCQPs) in real time. The architecture follows a generalized feedback structure composed of three key elements: gradient descent on the quadratic cost function, saturation-based nonlinearity to enforce inequality constraints, and an integral controller with an anti-windup mechanism to regulate dynamic behavior and determine steady-state error. This majority analog system converges with equilibria that satisfy the Karush-Kuhn-Tucker (KKT) optimality conditions. Using a representative LCQP, this work presents simulation of the circuit in PLECS and LT Spice to confirm the feasibility of the novel …

Adversarial Deep Reinforcement Learning For Tank Duel Simulation Using Lidar-Based Observations, Braedan Kennedy

Master's Theses

Previous research has demonstrated that reinforcement learning agents can learn to steer differential-drive robots around obstacles using 2D lidar scans as observations. However, these studies typically treat all range returns as undifferentiated obstacles—objects to avoid—without distinguishing between different object types. This thesis builds upon previous research by introducing an adversarial task in which an agent must interpret raw range readings to both avoid static obstacles and identify, pursue, and engage a hostile target.

To investigate this problem, this thesis introduces TankGame, a novel, lightweight 2D tank duel simulator. Each agent receives a 360° lidar scan, controls its motion via tread …

Distributed Formation Control Of Nonholonomic Mobile Robots: Safety-Critical Leader-Follower Approach With Obstacle Avoidance And Dynamic Reconfiguration, Kelvin C. Villago

Master's Theses

Networked control systems for multi-agent robotics have emerged as a critical paradigm for executing complex coordinated tasks in diverse environments. While formation control serves as the backbone of such systems, real-world deployment introduces significant challenges including communication constraints, environmental obstacles, and the need for adaptive reconfiguration. This research addresses these challenges by developing a novel unified framework that seamlessly integrates obstacle avoidance algorithms with dynamic formation reconfiguration capabilities, specifically designed for communication-limited networked control architectures. The proposed framework represents a significant advancement over existing approaches by simultaneously handling both static and dynamic obstacles while maintaining system cohesion under communication constraints. …

A Feasibility Study On Series Hybrid-Electric Propulsion For Narrow-Body Transport Aircraft, Carver J. Glomb

Master's Theses

As global climate change accelerates, the reduction of carbon emissions has become a critical objective across multiple industries. The aviation sector, however, has lagged behind other transportation domains in implementing sustainable alternatives, despite growing demand for air travel. Recent research and emerging technologies have proposed several decarbonization pathways, including hydrogen fuel, sustainable aviation fuels (SAFs), and hybrid or fully electric propulsion systems. Among these, series hybrid-electric propulsion has received comparatively limited attention, particularly for application in transport-class aircraft. This study investigates the feasibility and emissions-reduction potential of a series hybrid-electric propulsion architecture applied to a representative narrow-body platform. A Python-based …

Sentry V3: Extending Context Switches On A Trusted Secure Coprocessor, Mark Kong

Master's Theses

Software correctness and integrity is only ensured through trust in the un- derlying hardware. However, modern computer systems are complex to design and secure. Thus, given the choice between performance and security, companies will often prioritize performance, resulting in vulnerable systems. This creates exploitable systems that must be patched retroactively because business value performance over security. One approach to this issue is to separate the root of security from the rest of the system to create a minimal trusted computing base. Trustguard is one instance of this. Trustguard implements a Containment Architecture with Ver- ified Output (CAVO) model which shows …

Optimizing Web Servers With Io_Uring, Mihika Nigam

Master's Theses

Modern web servers face unprecedented demands for high throughput and low latency [10] [11]. Yet, even the state-of-the-art optimizations often fail under heavy workloads on existing infrastructure. Despite advancements in hardware, communication between applications and the kernel remains a critical bottleneck.

Industry surveys reveal that over 50% of production servers still rely on traditional epoll-based architectures [5]. This research aims to investigate and characterize Linux’s new io_uring subsystem, which has the potential to overcome these challenges. Through controlled load testing of various existing architectures like event-driven, multi-process, and multi-threaded architectures (including other commercial servers), we demonstrate how io_uring can help …

Enhancement Of A Python Integral Boundary Layer Method, Jeffrey T. Azuma

Master's Theses

This thesis presents a series of additions to a Python based integral boundary layer software library known as PyBL. This library provides the user the means to calculate boundary layer properties using different models for boundary layer behavior. The additions feature the integration of a set of new laminar and turbulent integral boundary layer models originally developed for and currently found in the program XFOIL. These models were modified to fit the ODE solver method at the foundation of PyBL. A new method for PyBL that stitches a laminar and turbulent solution together has been developed to improve the ability …

Development And Testing Of A Lab-Scale Resonance Igniter For Rocket Propulsion Applications, Aidan Caplan

Master's Theses

The resonance igniter is a type of rocket engine ignition system that initiates spontaneous combustion without using an external ignition source. This is possible because the activation energy needed for the combustion reaction to take place is provided by the igniter as it receives propellant flow. This can simplify the igniter hardware and lends it high re-usability while enabling the use of high-efficiency propellant combinations. Its potential benefits could make it a desirable alternative to traditional approaches such as using spark igniters or hypergolic propellants. The present research strove to inaugurate the study of the resonance igniter at Cal Poly …

Using Hydrologic And Hydraulic Simulations To Predict Near-Term Effects Of Beaver Habitat Restoration On Flood Flows, Luke S. Stewart

Master's Theses

There is a growing need to predict the complex hydrologic and hydraulic effects of beaver-maintained wetlands. This study uses relatively simple inputs and a replicable methodology to predict flood flow impacts of beaver habitat restoration at the site design scale using the engineering industry’s customary hydrology and hydraulic modeling approach. This study focuses on Toro Creek, the primary drainage for a 15.2 square mile watershed on the California Central Coast.

A hydrologic model of Toro Creek watershed was developed in HEC-HMS to approximate saturated soil conditions typical of late-spring flooding events observed in the region. The hydrologic model was calibrated …

Data-Driven Product Recommendations: A Decision Support Framework Utilizing Customer Reviews, Tyler A. Lopez

Master's Theses

With the considerable presence of e-commerce in society, vast number of purchasable goods, and increasing brand variety, consumers are faced with the challenge of buying products that they perceive to be of greatest value to them. To assist consumers with making better informed decisions, e-commerce websites allow individuals to post their own experiences and score the products that they purchase. Despite this information, the variety of experiences and feedback that consumers share do not always lead to clarity on whether a product is best suited for the purchaser. To help guide customers through a simplified purchasing process from the perspective …

Design And Development Of A Laboratory Star Tracker System, Kevin D. Iverson

Master's Theses

This thesis presents the design, calibration, and validation of a low-cost star tracker system and hardware-in-the-loop testbed intended for small satellite applications. The system is composed entirely of commercial off-the-shelf components and integrates both a custom star tracker and a screen-based star field simulator for controlled, repeatable testing. An analytical modeling approach was used in the early design phase to predict system accuracy based on key optical and geometric parameters, informing the selection and configuration of components and guiding the development of calibration routines.

A simulation environment was developed to validate the star tracker software and assess the impact of …

Hardware-In-The-Loop Testing For The Polysim Adcs Lab, Shealyn P. Miller

Master's Theses

Hardware-in-the-loop, HIL, testing is an important tool for the validation and verification of systems in the aerospace industry. A common subsystem to be tested using HIL testing is the attitude, dynamics, and controls subsystem, ADCS. This is due to HIL tests using realistic simulations of the space environment to control physical hardware. To create a HIL test, a simulation and HIL interface are needed to test and communicate with hardware. Using a Speedgoat Performance Real-Time Target Machine to communicate with a Raspberry Pi and a Simulink model, three tests were conducted to ensure communication was functioning properly. A simulation, in …

Effect Of Manufacturing And Machining Process On Recycled Composite Connecting Rods Under Tension And Compression, Walter W. Oppelt

Master's Theses

Carbon fiber reinforced polymer (CFRP) is an engineering material renowned for its high-strength and low-density material properties. Such properties make CFRPs especially useful for applications across many industries, including aerospace, automotive, marine, sporting goods, oil and gas, and more. However, with such favorable material properties comes the cost of high energy usage required to produce raw carbon fiber. Recycled carbon fiber (rCF) has emerged as a promising alternative, offering a significant reduction in energy usage. This research explores the viability of applying recycled CFRPs to internal combustion engines to both reduce energy costs during manufacturing and while in use. Mechanical …

Myceli-Yum: Elucidating Structure-Property Relationships For Polymer Degradation By Mycelial Digestion, Jordan Scott Ford

Master's Theses

Since the industrial entrance of polymer plastic materials, plastic has become ubiquitous in both everyday use and waste. Due to inefficiencies and knowledge gaps, current recycling methods are not able to account for the high scale of plastic waste, resulting in the bulk of this waste being landfilled, mishandled, and deposited in the environment. Mycelium, the microorganism responsible for fruiting mushroom bodies and mold growth, holds potential to reduce plastic waste and can potentially be utilized as a method of industrial recycling. Following a drug-design approach, the active site of mycelial enzymes responsible for natural biopolymer degradation have been assessed …

Ev Microgrid Inspired Open-Source Power Inverter, Bryan A. Carrillo Martinez

Master's Theses

The development of open-source power electronics platforms plays an instrumental role in accelerating microgrid deployment, electric vehicle (EV) integration, and educational access to embedded power electronic converters. This thesis presents the design, implementation, and validation of the Atinverter V2, an open-source DC to AC inverter intended for low power EV microgrid applications and educational settings. The Atinverter V2 integrates various hardware and software subsystems centered around the ATMEGA328P microcontroller, enabling PWM-based sinusoidal power inversion, DC/AC voltage and current sensing, and embedded control features. Software development leverages a C++ object-oriented library and multiple Arduino-based modules to facilitate modular and scalable operation. …

Assessment Of The Imx7ulp Heterogeneous Soc For Use In A Next Generation Student Cubesat Obc, Lorenzo A. Pedroza

Master's Theses

CubeSats represent a rapidly evolving platform for space research, industry, and education, demanding increasingly sophisticated onboard computing solutions that balance performance, fault tolerance, size, weight, and power constraints. Although the design of the Cal Poly's CubeSat Lab's (PolySat) current On-Board Computer (OBC) keeps up with many of these factors, the demands of modern workloads like fine attitude determination will start to outpace available compute. While the selection of a more capable processor to address this would have traditionally resulted in increased energy usage, modern system-on-chip (SoC) architectures offer novel ways to trade available compute for power savings on-the-fly. With this …

Development Of A Novel Bio-Mimetic Ornithopter With Variable Flapping Angle, Geourg Kivijian

Master's Theses

From the beginnings of flight, flapping-winged flight has been a goal of many engineers to mimic and replicate. With gains in aerodynamic efficiency of flight and certain other favorable characteristics such as reduced noise, higher maneuverability, and surveillance opportunities in urban environments, flapping-wing aerial vehicle(FWAV) designs are consistently pursued in many corners of academia and industry. This thesis goes into the development of a flapping wing aerial vehicle with a Bio-mimetic novel drive mechanism that is cable-driven and can produce variable amplitude and frequency flapping stroke. Employing a Field-Oriented Control (FOC) Brushless Direct Current (BLDC) motor, paired with a bio-mimetic …

A Fault-Tolerant, Multi-Heap Dynamic Memory Allocator For Freertos, Garrett E. O'Neill

Master's Theses

The use of dynamic memory allocation presents a significant challenge for embedded systems, particularly in applications that require high reliability. The software controlling these systems needs to perform critical operations within strict timing constraints, and memory management plays a critical role in a system’s ability to meet these constraints. Dynamic memory allocation is inherently non-deterministic: if a task requests memory, it is impossible to predict how long it will take for the memory to be allocated. If a critical task were to rely on dynamically allocated memory, its execution could become stalled leading to a missed deadline and system failure. …

Leveraging Machine-Learning Algorithms In Two Car Crash Detection Systems On A Custom Dataset, Addison Jacob Sandvik

Master's Theses

Traffic accidents pose a significant threat to public safety, causing millions of deaths and injuries worldwide each year. While efforts to reduce accidents have seen limited progress in recent years, improving emergency response times through automated detection systems is a promising avenue for saving lives. This thesis describes the development of machine learning-based traffic accident detection systems, exploring both video classification and image detection models. The models are trained on a new dataset deemed the Cal Poly Traffic Accident Dataset, an extension of the existing Car Accident Detection and Prediction (CADP) dataset with a precise collision annotations. Two systems were …

Design, Fabrication, And Testing Of A Dual-Rate Spring System For Mountain Bike Frames, Lucas P. Grizzle

Master's Theses

The design of full-suspension mountain bikes is a careful balance of suspension kinematics, structural dynamics, and manufacturing optimization for the expected use case. A bike designed to excel in one area will likely exhibit reduced performance in others. This optimization problem is addressed by designing, integrating, and testing a dual-rate spring system within a fully custom frame. The dual-rate spring is fully decoupled from the rest of the suspension kinematics, providing designers with an additional parameter to achieve ideal suspension behavior. This is accomplished by placing a thermoplastic polyurethane (TPU) bushing in series with the rear shock. The influence of …

Statistical Time-History Response Of Mid-Story Isolated Structures In Linearized Elastic Conditions, Min Thit Khant

Master's Theses

This study presents a statistical analysis of the seismic demand of mid-story isolated structures in linearized elastic conditions. The assumed earthquake database consists of 228 ground motions recorded in California from earthquakes with magnitudes greater than 6. A three-degree-of-freedom modeling approach is adopted, and the seismic demands of the substructure, superstructure, and isolation system are determined for varying isolated mass and stiffness ratios. The seismic demand of mid-story isolated structures at the isolation level is expressed in terms of the response of an idealized isolated superstructure supposed to be on the ground, while the demands on the substructure and superstructure …