Engineering Commons^™

Rockin’ Rover On The Rainbow Road, Michael Kolta, Lawrence Burgee, Ying Yuan

Transformations

This paper presents a progressive series of age-appropriate lesson plans for grades K-12 that all use the same interdisciplinary activity to educate students about Science, Technology, Engineering, Art, and Mathematics (STEAM) simultaneously. Technology from Texas Instruments (TI) was employed including a TI Nspire graphing calculator that can run Python programs, a TI Innovator Hub, and a TI Rover. The TI Rover is a small, robotic car that has sensors and is controlled by the calculator via the Hub hardware interface. A Python program was developed that uses the color sensor in the Rover to detect the color on colored paper …

Development And Testing Of A Computer Vision Pose Estimation System For Planar Mobile Robots, Andrew Jones

Master's Theses

This thesis details the development and testing of a computer vision-based real-time pose estimation system for differential drive robots. A single camera with a fisheye lens is used to locate ArUco markers placed at fixed locations and attached to robots. Using the OpenCV library, the Perspective-n-Point (PnP) problem is solved to facilitate the transformation of 2-D robot positions in an image to world-frame coordinates. An analytical solution is presented to estimate robot poses based on a single PnP solution, rather than solving the PnP problem for each pose estimate. Pose information is relayed to individual robots using a multi-microcontroller architecture …

A Thickness-Invariant Origami Robot With Integrated Actuation And Multimodel Locomotion, Larry L. Howell, Davis Wing, Nathan Usevitch, Sam Bridge, William Bowler

Faculty Publications

ABSTRACT Origami robots possess the potential for advanced reconfigurability in various contexts and environments. This paper describes and demonstrates the function of an origami robot following a thickness-invariant version of the Yoshimura tessellation. This thickness-invariance allows for the simple folding pattern to be expanded vertically, allowing all robotics components to be housed within the panels of the robot without impacting the functional relationships between folds of the pattern, or requiring other, more complex forms of thickness accommodation. The mathematics and engineering to create such a robot are presented to enable the use of these techniques in creating other origami-based robots. …

Robot Remote Control Utility, Jeremy Cantu, Paul Uhlig

Systems Manuals - 2026

The purpose of this document is to describe the Robot Control Management Utility developed in the course of this graduate project. Information included in this document will include the background of the developed product, as well as the functional requirements, data structures, software modules, interface design, installation guide, and sample and troubleshooting guides.

Design And Modeling Of A Robotic Manipulator For Agricultural Explorations, Trent Thomas Powell

Graduate Theses and Dissertations

This thesis focuses on the modeling, design, and early testing of a spherical revolute revolute prismatic (RRP) robotic manipulator for probe based applications. The system is motivated by agricultural grain probing, where a probe is positioned over a truck bed and inserted into the grain to collect samples as trucks enter storage facilities, ports, hubs, or transfer points. A spherical RRP configuration is useful for this type of task because it provides a large accessible workspace while maintaining a relatively simple mechanical structure. A model based design approach is used to develop the system, beginning with forward and inverse kinematics …

Mars Mini Rover Sample Retrieval Robotic Claw, Cami Chambers, Ani Lachikian, Alexa Ramirez, Alex Power

Mechanical Engineering

This project involves several key stakeholders, including the Poly1 Rover Club, Professor Rich Murray, and NASA’s Jet Propulsion Laboratory (JPL). The primary objective is to develop an improved robotic claw capable of retrieving sample tubes left by the Perseverance Rover on the Martian surface. In tackling this challenge, the design must account for the harsh Mars climate while integrating cameras and electrical components, durable structure, and a rotational component to the Mini-Rover claw without incorporating an additional motor, sample storage unit, structural aspects or unnecessary weight. The current Mini-Rover consists of a four-degree-of-freedom robotic arm with joints often referred to …

Elastic Actuator For Robotic Leg, Bruce Berg, Allan Pham, Madeline Slater, Sofie Zalatimo

Mechanical Engineering

The Cal Poly Legged Robots Group (CPLRG) is developing a 12 degree of freedom robot with the goal of eventually performing highly dynamic movements such as jumps and flips. During such movements, large impact forces will be experienced by the leg, potentially resulting in damage to physical components such as the motors. The scope of this project is to integrate elastic elements into the quadruped legs to reduce shock loads on the motors and improve the efficiency of the legs through energy storage. The key stakeholders for this project are Professor Charlie Refvem and Dr. Simon Xing. Other stakeholders include …

Tracking Continuous Non-Differentiable Trajectories In Euler–Lagrange Systems With Continuous Dynamics, Nilay Kant

Mechanical and Aerospace Engineering Faculty Research & Creative Works

Tracking controllers for Euler–Lagrange systems are designed under the assumption that reference trajectories are continuous, and at least twice differentiable with respect to time. However, this assumption precludes several use cases, such as when a robot end-effector must track a path with corners at constant speed. This paper introduces the control design for tracking continuous but non-differentiable trajectories in fully actuated Euler–Lagrange systems that have continuous-time dynamics. The proposed controller combines a continuous feedback law with impulsive inputs, that are intermittently applied at the instants of non-differentiability. A Lyapunov stability analysis establishes global exponential convergence of the tracking error to …

Interaction-Aware Safe Planning For Human-Robot And Multi-Robot Systems, Haoyi Wang

McKelvey School of Engineering Graduate Student Theses & Dissertations

Robots operating in shared environments must interact safely not only with static obstacles but also with other decision-making agents, including humans and other robots. In such settings, both safety and task completion depend on the ability to reason about interaction. Two major challenges arise. In human-robot interaction, future human behavior depends on latent internal factors, such as attentiveness and behavioral style, that are not directly observable to the robot. In multi-robot systems, decentralized reactive navigation can fail in cluttered environments when reciprocal interactions create deadlocks that prevent progress through narrow passages or bottlenecks. This thesis investigates these two challenges from …

Dor-E: Final Design Report, Arav Singh, August Hogen-Esch, Bruce Le, Patrick Mcgee, Spencer Major

Mechanical Engineering

I. PROBLEM STATEMENT

The Chumash Heritage National Marine Sanctuary contains a diverse array of benthic habitats that remain largely undocumented due to the financial and logistical barriers of deep-sea exploration. Traditional high-end autonomous underwater vehicles and remotely operated vehicles capable of reaching 1000-meter depths require significant surface support infrastructure and hundreds of thousands of dollars in funding. Furthermore, navigating protected ecological zones demands strict adherence to "Leave No Trace" principles. Conventional benthic landers and submersibles routinely leave metallic debris behind; many submersibles use galvanic timed releases that corrode in seawater over a set period of time or heat-activated bolts to …

Stretch Web Teleoperation Keyboard Final Report, Aaron Chou, Francisco Irazaba

Computer Engineering

This project added keyboard controls to the Hello Robot Stretch Web Teleop interface. The goal was to make the robot easier to control from a web browser without needing a gamepad or separate terminal-based keyboard program. The new interface allows users to control different parts of the robot with customizable key bindings.

Moon Adaptive Technology For Extraterrestrial Architectural Robotics (Matear), Candela Noemi Solis Zampini

Theses and Dissertations

The Moon Adaptive Technology for Extraterrestrial Architectural Robotics (MATEAR) focuses on the development of an autonomous robotic system capable of providing structural building blocks directly from lunar regolith. As a sustained human presence on the Moon becomes a necessity, the costly and limited payload capacity associated with transporting construction goods from Earth creates a critical challenge. MATEAR addresses this problem through in-situ resource utilization (ISRU), integrating a regolith processing system onto a remote operated vehicle. The proposed system is designed to collect lunar dust, mechanically compact the material, and apply thermal treatment to enhance cohesion through sintering. These regolith-made bricks …

Multiple-Valued Quantum Automata For Robotics, Yuchen Huang

Dissertations and Theses

This dissertation introduces a new type of quantum automata, their encoding and circuit realization. I concentrate on possible applications in robotics. Several methods and application of quantum automata and quantum circuit-based controllers for elementary robotic systems, with a focus on humanoid robot motion, emotion, and behavior generation are illustrated in detail. The research introduces several novel methodologies that bridge quantum computing principles with robotic control, aiming to overcome the limitations of classical deterministic and probabilistic approaches.

The dissertation first presents a quantum-circuit-based framework for generating non-repetitive and expressive (e)motions in a humanoid robot actor, using superposition and entanglement to produce …

Insect Inspired Behavioral Strategies For Improving Multi-Agent System Resilience In The Presence Of Contagious Faults, James E. Hand

Doctoral Dissertations and Master's Theses

As Multi-Agent Systems (MASs) become increasingly involved in every aspect of everyday life the need to maintain reliability and resilience within these systems grows. However, in equal measure bad actors wishing to maliciously control or alter these systems are growing in both scale and capability. Thus, there is a present need for control schemes and agent behaviors that provide security against these threats while also avoiding large degradation in system performance as a tradeoff. Current research has covered a wide breadth of avenues and strategies that provide measurable resilience to faulted agents. However, these strategies often require group consensus, specialized …

Ellie - Exteroceptive Light Locomotion In Eukaryote-Fungi, Brandon Etwarroo

Doctoral Dissertations and Master's Theses

Over the past decade, fungal research and its technological applications have expanded across multiple disciplines, including the emerging field of biohybrid systems. This thesis develops and evaluates a wireless, untethered mobile robot controlled by the action potential-like activity generated by Pleurotus ostreatus sporocarps under red, green, and blue optical stimulation. Light is applied to the sporocarps, the resulting electrical responses are recorded, and these signals are transmitted wirelessly to actuate the mobile robot. Both the action potential-like activity patterns and the robot’s movement trajectories were analyzed. The results demonstrate that wireless robotic control mediated by fungal electrophysiology is feasible. Overall, …

A Pathfinder Lunar Construction Mission Concept Using Regolith Filled Bags, Cameron S. Dickinson, Fu Nan Shi, Ketan Vasudeva, Rudranarayan M. Mukherjee, Joshua Blanchard, Steve Dubrule, Paul Van Susante, Et Al.

Michigan Tech Publications

Two challenges that have a permanent presence on the Moon are solar and cosmic radiation, as well as the large surface temperature variation between lunar day and night. To address these problems, we propose a lunar pathfinder mission concept that uses robotic systems to investigate whether regolith-filled bags can be used as a versatile construction medium for lunar surface structures and sensors to obtain data on the lunar regolith. The primary objectives of this mission are as follows: evaluation of the surface and subsurface regolith as fill material, lunar excavation using a robotic manipulator equipped with a bucket scoop, bag …

Digital Twin Enabled Robot Collision Detection Using Time Series Forecasting, Fadi El Kalach, Mojaba A. Farahani, Philip Samaha, Thorsten Wuest, Ramy Harik

Faculty Publications

The advent of Industry 4.0 has reshaped modern manufacturing, driven by breakthroughs in cutting-edge technologies. A key example is the widespread deployment of sensors, which capture and transmit large volumes of operational data. This data surge has fueled the development of advanced Artificial Intelligence (AI) applications, enhancing manufacturing intelligence and efficiency. A key enabler of such intelligence is Time-Series Forecasting (TSF), which leverages historical data to predict future trends and events, thereby providing actionable insights for proactive decision-making. In parallel, Digital Twin (DT) technology has gained significant prominence due to its capacity for bidirectional communication with physical manufacturing systems, enabling …

Investigation Of Automated 3d Scanning Strategies For Large-Scale Polishing Applications, Casey Egan

Open Access Master's Theses

In automated scanning for industrial refinishing applications, large workpieces often exceed the reach of a single robot base position, and may require the environment to be scanned from multiple locations and stitched to a common reference frame. This thesis compares two robotic scanning workflows for such an object: a full scan that reconstructs the object from a single robot base position, and a segmented scan occurring across multiple simulated robot base positions that are stitched together through fiducial-based localization. The results from both workflows are compared for measurement accuracy of the object's bounding box against known dimensions, position of the …

Autonomous Navigation Development And On-Ground Validation For Satellite Rendezvous And Proximity Operations, Logan Banker

Masters Theses

Spacecraft rendezvous and docking are critical mission phases for various applications of spaceflight, including active debris removal (ADR) and in-orbit servicing, assembly, and manufacturing (ISAM). While previous missions utilized humans to perform rendezvous and docking, this style of mission greatly increases safety risks and cannot be implemented on a large scale. Autonomous servicing satellites provide a path towards scalable rendezvous and proximity operations (RPO) because these autonomous agents do not require human intervention. This work presents a lightweight convolutional neural network (CNN) for the navigation system of an agent which analyzes monocular images and predicts the target's position and orientation …

Constrained Dynamics Of Rapid Orbit Motion Emulator (Rome) Using Udwadia-Kalaba Approach, Keanu Brayman

Honors Undergraduate Theses

The Rapid Orbit Motion Emulator (ROME) is designed to be a hardware-in-the-loop (HIL) testbed for orbital control algorithms. It consists of a four-wheeled ground vehicle and a six-degree-of-freedom robotic manipulator. This work investigates the use of optimal control to execute orbital trajectories on ROME using the Udwadia-Kalaba (UK) formulation to model the system dynamics. The UK formulation is a novel method to derive equations of motion for constrained systems. Unlike traditional approaches, the UK approach can be applied directly to any constrained dynamical system. This project utilizes the UK approach to derive dynamics with trajectory following constraints for the ROME …

A Web-Based Wizard-Of-Oz Platform For Collaborative And Reproducible Human-Robot Interaction Research, Sean O'Connor

Honors Theses

The Wizard-of-Oz (WoZ) technique is widely used in Human-Robot Interaction (HRI) research, but two persistent problems limit its effectiveness: existing tools impose technical barriers that exclude non-engineering domain experts (the Accessibility Problem), and the fragmented landscape of robot-specific implementations makes interaction scripts difficult to port across platforms (the Reproducibility Problem- concerning execution consistency and portability, not third-party replication). Through a literature review, I identified three design principles to address both: a hierarchical specification model, an event-driven execution model, and a plugin architecture that decouples experiment logic from robot-specific implementations. I realized these principles in HRIStudio, an open-source, web-based platform providing …

Swarm Of One: Self-Organization In Multicellular Robots, Trevor Riley Smith

Graduate Theses, Dissertations, and Problem Reports (ETD)

Designing robots traditionally relies on centralized, top-down methods that constrain adaptability and resiliency, producing systems optimized for specific tasks. However, such systems often fail in complex environments, such as extraterrestrial, disaster, or natural settings, where designers cannot foresee every scenario a robot may encounter. Achieving autonomy in these contexts requires robots that are resilient and capable of adapting to the unknown. Multicellular organisms exhibit this adaptability through self-organization, where complex structures and behaviors emerge from local interactions among their cells. Such organisms can be viewed simultaneously as a single entity and a swarm of cooperating cells, i.e., a Swarm-of-One.

This …

Teleoperated Robotic Arm With Vision-Based Imitation Learning, Favour E. Emmanuel, Hunter J. Donahue

Williams Honors College, Honors Research Projects

This report presents the design, development, and deployment of a teleoperated robotic arm system capable of vision-based imitation learning. The system uses a leader-follower architecture with myArm C650 and myArm M750 robots manufactured by Elephant Robotics. The leader arm movement is controlled by the operator, whereas the follower performs actions acquired from demonstrations. Data collection included synchronized joint-angle recording and multi- camera video streams capturing human demonstrations.

These demonstrations were processed with a deep learning imitation algorithm called Action Chunking with Transformers (ACT). The main capability of this algorithm is its ability to make future action predictions based solely on …

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

Theses: Doctorates and Masters

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

A promising candidate for application to these navigation challenges in …

The Excess Path Length Distribution: A Stochastic Model For Sample-Based Path Planners, Chaz B. Cornwall

Dissertations, Master's Theses and Master's Reports

Through random sampling, sample-based path planners enable autonomous agents to quickly find paths without human intervention. However, due to the paths' randomness, sample-based path planners currently require additional verification, partially nullifying agents' ability to act autonomously. I set out to characterize this uncertainty so humans know what to expect from these path planners and know how to alter the path planner to desired specifications. To ensure the results are theoretical as well as practical, I first create a stochastic model of path length uncertainty using the trade-off between sampling time and optimality. By leveraging this model, my proposed algorithm reduces …

Dynamic Topology Optimization And Experimental Validation Of Reinforcement For Pcb Robotics, Ryan G. Semler

All Theses

Ongoing research between Clemson University and the NASA Jet Propulsion Laboratory (JPL) has been conducted to characterize and assess rigid-flex printed circuit board (PCB) robotics subjected to dynamic loads. A lightweight, PCB lunar rover, PUFFER (Pop-Up Flat Folding Explorer Robot), was designed by NASA JPL for Mars missions, but its deployment for lunar missions has been investigated as well. Its current architecture, however, is insufficient for navigating and surviving the lunar environment, and reinforcement has been recommended as a solution to protect larger panels.

This research work presents a dynamic topology optimization process for PCB panel reinforcement. A thorough literature …

Efficient Adaptive Spline-Based Path Planning For In-Space Servicing, Assembly, And Manufacturing Applications, Christian Lozoya

Open Access Theses & Dissertations

Autonomous robotic systems operating in cluttered and partially observed environments require trajectory generation methods that produce smooth and dynamically feasible motion while reacting to locally sensed obstacles. This requirement is especially pronounced for free-flyer and in-space servicing, assembly, and manufacturing (ISAM) platforms, where onboard sensing is sparse, global environmental information is unavailable, and communication or computational resources are constrained. In such settings, motion plans must be updated online using incomplete and rapidly changing local observations, while avoiding excessive replanning that can lead to oscillatory or unstable behavior. Many existing approaches either rely on dense optimization over extended horizons, which is …

Qualitative Stereo Vision Using Distributed Extended Waltz Filtering, Ben Mathew

Theses and Dissertations

Stereo vision is a fundamental problem in computer vision, aimed at reconstructing three-dimensional scene structure from two or more two-dimensional images. Traditional stereo algorithms rely on quantitative disparity estimation, often constrained by calibration precision, lighting variations, and surface texture. In contrast, our proposed Qualitative Stereo Vision seeks to understand depth relationships and spatial configurations from multiple planar views through symbolic reasoning and constraint satisfaction, offering a more flexible and cognitively plausible approach to scene interpretation.

This dissertation presents a novel framework called Distributed Extended Waltz Filtering, designed to provide qualitative stereo vision, particularly in the presence of occlusions—a persistent challenge …

Real-Time, Co-Regulated Design For Cyber-Physical, Multi-Rotor Uas Swarms, Grant Simon Phillips

Dissertations and Doctoral Documents, University of Nebraska-Lincoln, 2023–

Uncrewed Aerial Systems (UAS) have been integrated into a wide range of research and industrial applications, with growing interest in extending mission duration and spatial coverage through coordinated multi-UAS systems, or swarms. While swarming offers the potential for extended mission endurance and robustness through advanced path-planning, control, and estimation algorithms, significant challenges arise when implementing these methods on decentralized platforms composed of size, weight, and power-constrained (SWaP) vehicles. Limitations in onboard computational capacity and congested communication channels can break critical design-time assumptions, which at best, will degrade application quality of service, and at worst, destabilize the fleet through excessive delays …

Student Perspectives On Ai-Enabled Tools For Adaptive Learning, John Faraca

Publications

Artificial Intelligence (AI) is increasingly influencing the delivery of higher education, especially in aviation technical disciplines. From AI-assisted gimbals and video production tools to generative AI platforms, these technologies are helping learners to engage with course material, accomplish objectives, and connect academic concepts with professional applications. By offering pathways for personalization, streamlining resource access, and supporting interactive instruction, AI tools expand opportunities for effective learning. This work builds on a current collaborative research project with a faculty researcher to explore the student perspective in the active review and application of these tools to highlight their potential to improve usability, address …