Engineering Commons^™

Involuntary Signal-Based Grounding Of Civilian Unmanned Aerial Systems (Uas) In Civilian Airspace, Keith Conley

Master's Theses

This thesis investigates the involuntary signal-based grounding of civilian unmanned aerial systems (UAS) in unauthorized air spaces. The technique proposed here will forcibly land unauthorized UAS in a given area in such a way that the UAS will not be harmed, and the pilot cannot stop the landing. The technique will not involuntarily ground authorized drones which will be determined prior to the landing. Unauthorized airspaces include military bases, university campuses, areas affected by a natural disaster, and stadiums for public events. This thesis proposes an early prototype of a hardware-based signal based involuntary grounding technique to handle the problem …

Machine Learning Applications To Predict Road Crash And Soccer Game Outcomes, Lu Bai

Master's Theses

Machine learning has become a cutting-edge and widely studied data science field of study in recent years across many industries and disciplines. In this thesis, two problems (1- crash severity prediction, 2- soccer game outcome prediction.) were investigated by using a set of machine learning approaches, namely: Ridge regression, Lasso Regression, Support Vector Machine (SVM), Neural Network (NN), Random Forest (RF).

The first study is focused on investigating the critical factors affecting crash severity on a comprehensive time-series state-wide traffic crash data. The dataset covers crashes occurred in the state of Connecticut between 1995 and 2014. Traffic crashes are an …

Measurement Of Polishing Rate As A Function Of Pad-Independent Abrasive Friction For Chemical Mechanical Polishing, Christopher Mcgowan

Master's Theses

As features on integrated circuits continue to grow smaller, they become more susceptible to damage from sequential planarization steps during fabrication. As planarization (known as chemical mechanical planarization, or simply CMP) is preformed multiple times and on every stage of fabrication, potential damage from it represents a significant financial risk, motivating a more fundamental understanding of the material removal process. CMP typically consists of a stiff polymer pad being used to bring a chemically active colloidal suspension of nanoscale particles into contact and relative motion with the substrate to be polished. For narrow sets of conditions, CMP is typically seen …

Resource-Constrained Project Scheduling With Autonomous Learning Effects, Jordan M. Ticktin

Master's Theses

It's commonly assumed that experience leads to efficiency, yet this is largely unaccounted for in resource-constrained project scheduling. This thesis considers the idea that learning effects could allow selected activities to be completed within reduced time, if they're scheduled after activities where workers learn relevant skills. This paper computationally explores the effect of this autonomous, intra-project learning on optimal makespan and problem difficulty. A learning extension is proposed to the standard RCPSP scheduling problem. Multiple parameters are considered, including project size, learning frequency, and learning intensity. A test instance generator is developed to adapt the popular PSPLIB library of scheduling …

Evaluating Urban Downtown One-Way To Two-Way Street Conversion Using Microscopic Traffic Simulation, Bernice Liu

Master's Theses

Located in the heart of Silicon Valley, Downtown San Jose is attracting new residents, visitors, and businesses. Clearly, the mobility of these residents, visitors, and businesses cannot be accommodated by streets that focus on the single-occupancy automobile mode. To increase the potential for individuals to use non-single-occupancy modes of travel, the downtown area must have a cohesive plan to integrate multimodal use and public life. Complete streets are an integral component of the multi-modal transport system and more livable communities. Complete streets refer to roads designed to accommodate multiple modes, users, and activities including walking, cycling, transit, automobile, and nearby …

Visual Speech Recognition Using A 3d Convolutional Neural Network, Matthew Rochford

Master's Theses

Main stream automatic speech recognition (ASR) makes use of audio data to identify spoken words, however visual speech recognition (VSR) has recently been of increased interest to researchers. VSR is used when audio data is corrupted or missing entirely and also to further enhance the accuracy of audio-based ASR systems. In this research, we present both a framework for building 3D feature cubes of lip data from videos and a 3D convolutional neural network (CNN) architecture for performing classification on a dataset of 100 spoken words, recorded in an uncontrolled envi- ronment. Our 3D-CNN architecture achieves a testing accuracy of …

Flight Test Data System For Strain Measurement, Zachary David Wilson

Master's Theses

This thesis describes the design and evaluation of two devices to be included in the next generation of the family of devices called the Boundary Layer Data System (BLDS). The first device, called the Quasi-Static Strain Data Acquisition System, is a continuation of the BLDS-M series of devices to be known as the Flight Test Data System (FTDS) that uses a modular approach to acquire non-flow, quasi-static mechanical strain measurements. Various breakout boards and development boards were used to synthesize the device, which were housed by a custom PCB board. The system is controlled by the Simblee^TM System on …

Navigational Feasibility Of Flyby / Impact Missions To Interstellar Objects, Declan Moore Mages

Master's Theses

In October 2017, the first interstellar object, designated 1I/2017 U1 and more commonly referred to as Oumuamua, was detected passing through our solar system by the Pan-STARRS telescope, followed recently by the detection of 2I/Borisov in August 2019. These detections came much sooner than thought possible, and have redefined our understanding of the population of interstellar objects. With the construction of the next generation of powerful observatories, future detections are estimated to occur as frequently as two per year, and while there is significant scientific understanding to be gained from observing these objects remotely, a spacecraft sent to intercept one …

A Comparison Of The Army Corps Of Engineers Hydrologic Modeling System And Autodesk Storm And Sanitary Analysis For Hydraulic And Hydrologic Analysis And Design, Foster Josef Heifetz Campbell

Master's Theses

Hydrological and hydraulic effects of urban development is one of the key issues of study for improved water management. The addition of impervious surfaces to once pervious land and re-routing open channels and flow paths can cause flooding or declining water levels within a watershed. Many studies of these issues have found that there can be multiple factors causing hydrological and hydraulic impacts, and it can be hard to analyze and develop effective solutions without appropriate drainage software packages. However, there are multiple software packages available for use, and determining the correct one to use for a specific challenge can …

Design, Modeling And Control Of A Two-Wheel Balancing Robot Driven By Bldc Motors, Charles T. Refvem

Master's Theses

The focus of this document is on the design, modeling, and control of a self-balancing two wheel robot, hereafter referred to as the balance bot, driven by independent brushless DC (BLDC) motors. The balance bot frame is composed of stacked layers allowing a lightweight, modular, and rigid mechanical design. The robot is actuated by a pair of brushless DC motors equipped with Hall effect sensors and encoders allowing determination of the angle and angular velocity of each wheel. Absolute orientation measurement is accomplished using a full 9-axis IMU consisting of a 3-axis gyroscope, a 3-axis accelerometer, and a 3-axis magnetometer. …

Performance Enhancement And Characterization Of An Electromagnetic Railgun, Paul M. Gilles

Master's Theses

Collision with orbital debris poses a serious threat to spacecraft and astronauts. Hypervelocity impacts resulting from collisions mean that objects with a mass less than 1g can cause mission-ending damage to spacecraft. A means of shielding spacecraft against collisions is necessary. A means of testing candidate shielding methods for their efficacy in mitigating hypervelocity impacts is therefore also necessary. Cal Poly’s Electromagnetic Railgun was designed with the goal of creating a laboratory system capable of simulating hypervelocity (≥ 3 km/s) impacts. Due to several factors, the system was not previously capable of high-velocity (≥ 1 km/s) tests. A deficient projectile …

Dynamic Pressure Sensing For The Flight Test Data System, Marc Y. Goupil

Master's Theses

This thesis describes the design, assembly, and test of the FTDS-K, a new device in the Boundary Layer Data System (BLDS) family of flight data acquisition systems. The FTDS-K provides high-frequency, high-gain data acquisition capability for up to two pressure sensors and an additional three low-frequency pressure sensors. Development of the FTDS-K was separated into a core module, specialized analog subsystem, and practical testing of the FTDS-K in a flow measurement mission. The core module combines an nRF52840-based microcontroller module, switching regulator, microSD card, real-time clock, temperature sensor, and trio of pressure sensors to provide the same capabilities as previous-generation …

Hybrid Iii 95th Percentile Large Male Finite Element Model Neck Alteration, Eric Riley Day

Master's Theses

The motivation behind the project was to update the Livermore Software Technology Corporation (LSTC) Hybrid III 95th percentile finite element model, such that the neck assembly response under varying simulated loading conditions equals that of the federally regulated Hybrid III 95th percentile anthropomorphic testing device (ATD).

The family of Hybrid III crash test dummies approximate the physical properties and response of the human body in a frontal automotive crash. The Hybrid III is used to assess the effectiveness of vehicle restraint systems. LSTC offers Hybrid III finite element models for use in their Multiphysics simulation software package, LS-DYNA. The Hybrid …

Development Of An Analysis Tool And Weight Estimation Method For Aircraft Wing Structures, Kevin M. Barton

Master's Theses

The goal of this effort was to build an analysis tool for aircraft wings and incorporate it into a program that optimizes the wing structure for the lowest weight for the conceptual design phase. The analysis tool calculates the internal stresses in primary load carrying members using established analysis methods for semimonocoque beams. Via a Graphical User Interface (GUI) built in MATLAB, the user can define the structural layout and material properties of the load carrying members. The program requires a degenerate geometry model built with Vehicle Sketch Pad (OpenVSP) to define the outer mold line (OML) of the wing, …

Single-Cell Impedance Spectroscopy, David Paul Lange

Master's Theses

Impedance spectroscopy (IS) is an important tool for cell detection and characterization in medical and food safety applications. In this thesis, the Cal Poly Biofluidics Lab’s impedance spectroscopy system was re-evaluated and optimized for single-cell impedance spectroscopy. To evaluate the IS system, an impedance spectroscopy bioMEMS chip was fabricated in the Cal Poly Microfabcrication lab, software was developed to run IS experiments, and studies were run to validate the system. To explore IS optimization, Maxwell’s mixture theorem and the Schwartz-Christoffel transform were used to calculate an analytic impedance solution to the co-planar electrode system,a novel volume fraction to account for …

A Rotating Aperture Mask For Small Telescopes, Edward L. Foley

Master's Theses

Observing the dynamic interaction between stars and their close stellar neighbors is key to establishing the stars’ orbits, masses, and other properties. Our ability to visually discriminate nearby stars is limited by the power of our telescopes, posing a challenge to astronomers at small observatories that contribute to binary star surveys. Masks placed at the telescope aperture promise to augment the resolving power of telescopes of all sizes, but many of these masks must be manually and repetitively reoriented about the optical axis to achieve their full benefits. This paper introduces a design concept for a mask rotation mechanism that …

Comparison Of Modern Controls And Reinforcement Learning For Robust Control Of Autonomously Backing Up Tractor-Trailers To Loading Docks, Journey Mcdowell

Master's Theses

Two controller performances are assessed for generalization in the path following task of autonomously backing up a tractor-trailer. Starting from random locations and orientations, paths are generated to loading docks with arbitrary pose using Dubins Curves. The combination vehicles can be varied in wheelbase, hitch length, weight distributions, and tire cornering stiffness. The closed form calculation of the gains for the Linear Quadratic Regulator (LQR) rely heavily on having an accurate model of the plant. However, real-world applications cannot expect to have an updated model for each new trailer. Finding alternative robust controllers when the trailer model is changed was …

Improving Paper-Based Microfluidic Mixing With The Incorporation Of Flow Disrupting Structures, Hannah C. Green

Master's Theses

Paper-based microfluidic devices provide a light-weight, cost effective platform for diagnostic and analytical testing. The goal of this project is to enhance paper-based microfluidic mixing by incorporating fluid flow disrupting structures (referred to here as rib bones) into the microdevice design to expand the analytical capabilities of paperbased microfluidic devices. The devices are fabricated on Whatman CHR-1 chromatography paper. The devices are designed in SolidWorks and printed using a solid ink printer (ColorQube 8580). The wax is penetrated into the paper to create hydrophobic barrier regions by heating in a convection oven until the wax is fully penetrated. The parameters …

From Experimental Studies To Coarse-Grained Modeling: Characterization Of Surface Area To Volume Ratio Effects On The Swelling Of Poly (Ethylene Glycol) Dimethacrylate Hydrogels, Gabriel Zahm

Master's Theses

Understanding the performance of widely applied nanoscale hydrogel biomaterials is an unmet need within the biomedical field. The objective of this master’s thesis project was to evaluate the effects size and surface area has on the in vivo behavior of nanoscale hydrogels. The hypothesis tested was that at the nanoscale, the increased surface area to volume effects of nanoscale hydrogels play and important role in the overall swelling of hydrogels, such that nanoscale hydrogels swell to a greater degree than their bulk counterparts. To investigate this, the bulk swelling behavior of a series of neutral poly (ethylene glycol) di-methacrylate (PEGDMA) …

Modeling And Testing Powerplant Subsystems Of A Solar Uas, Luke J. Bughman

Master's Theses

In order to accurately conduct the preliminary and detailed design of solar powered Unmanned Aerial Systems (UAS), it is necessary to have a thorough understanding of the systems involved. In particular, it is desirable to have mathematical models and analysis tools describing the energy income and expenditure of the vehicle. Solar energy income models may include available solar irradiance, photovoltaic array power output, and maximum power point tracker efficiency. Energy expenditure models include battery charging and discharging characteristics, propulsion system efficiency, and aerodynamic efficiency. In this thesis, a series of mathematical models were developed that characterize the performance of these …

A Study On The Simultaneous Nitrification And Denitrification Process Of A Membrane Aerated Bioreactor Augmented By Biowish Aqua, Gavrielle Orman

Master's Theses

Nitrogen pollution is a growing problem that is detrimental to the environment and the economy. Traditional treatment of nitrogen is a multi-stage process, expensive, operationally intensive, and requires large land areas. This research studied the effects of BiOWiSH® Aqua (Aqua), a biological enhancement product, on the simultaneous nitrification and denitrification process in a membrane aerated bioreactor (MABR) to determine if it is a feasible application for wastewater treatment. The MABR used during experimentation was a small-scale batch reactor with a continuous flow of air through a silicone membrane.

The effect of carbon source and concentration on nitrogen removal rates and …

Optimal Direct Yaw Moment Control Of A 4wd Electric Vehicle, Winston James Wight

Master's Theses

This thesis is concerned with electronic stability of an all-wheel drive electric vehicle with independent motors mounted in each wheel. The additional controllability and speed permitted using independent motors can be exploited to improve the handling and stability of electric vehicles. In this thesis, these improvements arise from employing a direct yaw moment control (DYC) system that seeks to adapt the understeer gradient of the vehicle and achieve neutral steer by employing a supervisory controller and simultaneously tracking an ideal yaw rate and ideal sideslip angle. DYC enhances vehicle stability by generating a corrective yaw moment realized by a torque …

A Novel Fiber Jamming Theory And Experimental Verification, Jared Richard Chafetz

Master's Theses

This thesis developed a novel theory of fiber jamming and experimentally verified it. The theory relates the performance, which is the ratio between the stiff and soft states of a fiber jamming chamber, to three relative design parameters: the ratio of the wall thickness to the membrane inner diameter, the ratio of the fiber diameter to membrane inner diameter, and the number of fibers. These three parameters, when held constant across different chamber sizes, hold the performance constant. To test the theory, three different types of fiber jamming chambers were built in three different sizes. Each chamber was set up …

In-Plane Cyclic Shear Performance Of Pipe Stem Reinforced Cob Wall, Dezire Q'Anna Perez-Barbante

Master's Theses

This thesis investigates full-scale pipe stem reinforced cob walls under in-plane cyclic shear loads. Cob is the combination of clay subsoils, sand, straw and water that is built in lifts to produce monolithic walls. There is insufficient amount of information on cob as a building material in today’s age. The prior research that exists has examined varying straw content and type, water content, and mixture ratios to determine their effect on strength. There is currently one report that analyzes full-scale cob walls under in-plane loading. This thesis looks to iterate the full-scale tests and specifically studies the effect of reinforcement …

Experimental Investigation Into Utilizing Synthetic Jet Actuators To Suppress Bi-Modal Wake Behavior Behind An Ahmed Body, Daniel Jacob Baratta

Master's Theses

Testing done on the flat-back Ahmed Body and other bluff bodies has shown the existence of a bi-stable reflectional symmetry-breaking wake at Reynolds numbers ranging from 340 to 2.41 x 10⁶. Several methods of flow control, both active and passive, have been used to improve the efficiency of the Ahmed body but their effect on the bi-stable nature of the wake has not been investigated. This work details the experimental investigation done to determine if piezoelectrically driven synthetic jet actuators are capable of suppressing the bi-stable wake effects observed behind the Ahmed Body. The synthetic jets were designed …

An Application Of Sliding Mode Control To Model-Based Reinforcement Learning, Aaron Thomas Parisi

Master's Theses

The state-of-art model-free reinforcement learning algorithms can generate admissible controls for complicated systems with no prior knowledge of the system dynamics, so long as sufficient (oftentimes millions) of samples are available from the environ- ment. On the other hand, model-based reinforcement learning approaches seek to leverage known optimal or robust control to reinforcement learning tasks by mod- elling the system dynamics and applying well established control algorithms to the system model. Sliding-mode controllers are robust to system disturbance and modelling errors, and have been widely used for high-order nonlinear system control. This thesis studies the application of sliding mode control …

Development Of A Tailored Flight Test Approach For Small Unmanned Aircraft Systems, Neil A. Wolfe

Master's Theses

This document contains the details of a study conducted to determine an effective performance flight test approach specifically for small Unmanned Aircraft Systems (sUAS). This was done by taking proven procedures and documentation from the FAA and the Air Force for manned aircraft and tailoring them specifically for use with sUAS flight test programs. A ‘sUAS Flight Testing Handbook’ was created from the proceedings to aid commercial organizations and recreational developers conducting sUAS research without access to flight test experience. A performance flight test program was conducted with the AeroVironment RQ-20 Puma sUAS using the developed approach to verify that …

Investigation Of The Under-Body Flow Field Of A Prototype Long-Range Electric Vehicle, Matthew P. Nguyen

Master's Theses

This thesis presents changes to the design of the Prototype Vehicles Laboratory (PROVE Lab) Endurance Car, an electric car intended to break the Guinness World Record for the single-charge range of an electric vehicle. The design range is 1609.34 km, however at the design velocity of 104.6 kph, the drag is 196 N; which requires more battery capacity than the 100 kWh maximum of the baseline model. With a fixed frontal area, drag reduction can come from lowered velocity or reduced CD. CD reduction is attempted in four ways: side skirts between the fenders, a raised ride height, an elongated …

Utilizing Trajectory Optimization In The Training Of Neural Network Controllers, Nicholas Kimball

Master's Theses

Applying reinforcement learning to control systems enables the use of machine learning to develop elegant and efficient control laws. Coupled with the representational power of neural networks, reinforcement learning algorithms can learn complex policies that can be difficult to emulate using traditional control system design approaches. In this thesis, three different model-free reinforcement learning algorithms, including Monte Carlo Control, REINFORCE with baseline, and Guided Policy Search are compared in simulated, continuous action-space environments. The results show that the Guided Policy Search algorithm is able to learn a desired control policy much faster than the other algorithms. In the inverted pendulum …

Cubesat Astronomy Mission Modeling Using The Horizon Simulation Framework, Alexander W. Johnson

Master's Theses

The CubeSat Astronomy Network is a proposed system of multiple CubeSat spacecraft capable of performing follow-up observations of astronomical targets of interest. The system is intended to serve as a space-borne platform that can complement existing systems utilized for astronomical research by undergraduate and high school students. Much research and development work has been performed to develop model-based system engineering methodologies and products for CubeSat missions, including the Horizon Simulation Framework. The Horizon Simulation Framework enables the development of system models using the Extended Markup Language (XML), and its simulation program can generate system simulations over model-specified timespans. System requirements …