Computer Engineering Commons^™

Effects Of Ankle Actuation On Stability And Gait Dynamics In Oscillatory Bipedal Walking, Guillermo E. Selva Barrantes

Electronic Theses and Dissertations

Bipedal locomotion remains one of the most challenging problems in robotics and biomechanical modeling due to its inherent instability, underactuation, and the complexity of human gait dynamics. This study presents the design and control of a planar bipedal walking model developed to analyze the role of ankle control in achieving stable and human-like walking patterns. Two configurations were investigated: a five-link point-foot model and a seven-link model that incorporates anatomically inspired feet with heel and toe contact points. Both models were formulated using Lagrangian dynamics and integrated with a compliant contact and friction model to reproduce realistic ground interaction forces. …

The Implications Of Autonomous Vehicle Adoption For Parking Dynamics And Traffic Flow, Hamid Bagha

Staff Scholarship - Australia & Dubai

Parking dynamics directly influence land use and transportation efficiency. While conventional vehicles remain stationary for roughly 95% of their operational lifetime, private autonomous vehicles (AVs) can actively reposition themselves using strategies such as empty cruising, returning home, or seeking cheaper peripheral parking. This shifts space occupation from parking stalls to the active road network.

Using a high-fidelity microscopic simulation dataset for the City of Melbourne, this thesis examines the spatiotemporal trade-offs between parking dynamics and traffic flow across heterogeneous Traffic Analysis Zones (TAZs). Experimental results show that at a 30% AV adoption rate, alternative parking strategies decrease network-wide parking search …

Creating An Updated Risc-V Platform With Hypervisor Support, Carter A. Glatt

Masters Theses

Virtualization has become an important methodology for implementing security and efficiency in embedded systems design. Virtualized environments provide flexibility and scalability of user-space environments, as hardware capabilities allow for multiple environments to run concurrently using the same hardware without impacting system performance or cost metrics. The ability to implement virtualized environments is fundamentally based on the instruction set architecture (ISA), which implements the necessary commands to facilitate the interface between physical hardware and virtual components.

RISC-V is an open-source ISA that can be used to generate platforms that support virtualization through the use of the H-Extension ISA. Previous research into …

On Shrinkage Estimators For Pareto Ii Parameters For Right Censored Type Ii Data, Jubran Abdulameer Labban, Hadeel Alkutubi

Iraqi Journal for Computer Science and Mathematics

The aim of this study is to estimate the first two shrinkage estimators for the parameters of the Pareto II distribution with right-censored Type II data. The methods we used in this study are: maximum likelihood and Bayesian. In the Bayesian method, we use non-informative priority, which is Jeffries priority, and we use the squared error loss function. These estimators were compared through Monte Carlo simulation to indicate preference based on the mean square error criterion.

The Self-Aware Room: A Framework For Operational Self-Awareness In Evolvable Blended Environments, David B. Smith

Publications and Research

The Self-Aware Room (SAR) is a room-scale research environment developed within the larger Balanced Blended Space and Blended Reality Performance System research trajectory. Rather than treating the room as a conventional “smart” environment composed of fixed automation technologies, SAR approaches it as an evolvable blended environment made from physical, virtual, conceptual, sensory, computational, and performative relationships. Its defining feature is not any particular sensor, model, or output device, but the set of transformations through which physical activity becomes structured observation, bounded representation, interpreted state, governed decision, and mediated response.

This paper develops the conceptual and methodological foundations of SAR as …

Engineering For Compromise, Ron Ross

Other Faculty Materials

Modern systems cannot credibly depend on every component, account, service, person, supplier, and supporting dependency remaining trustworthy secure throughout the system life cycle. Prevention-centered cybersecurity remains essential, but for mission-critical systems it is not a sufficient engineering strategy. This paper introduces the concept of Engineering for Compromise (EfC), a systems security engineering strategy that deliberately assumes selected system elements may fail, become malicious, lose integrity, or fall under adversary control and then asks whether the system can continue to prevent unacceptable loss. EfC separates component compromise, system compromise, and mission loss as distinct events and uses architecture to place barriers …

A Comparative Classical And Data-Driven Facial Analysis Of Wide-Field-Of-View Lens Captures, Andrew Murphy, Giovanni C. Decapua, Anthony M. Cafiso, Max E. Raabe, Kaden E. Van Leuven

Discovery Day - Daytona Beach

WFOV lenses are becoming popular in facial recognition due to the fact that they enhance subject coverage and improve the chances of detecting target faces. However, wide-angle optics introduce nonlinear distortion around the image periphery, which degrades the performance of recognition pipelines. In this poster presentation, we use WFOV lens captures to analyze facial recognition using classical low-complexity algorithms based on the discrete Fourier transform (DFT), discrete cosine transform (DCT), principal component analysis (PCA), and data-driven learning with convolutional neural networks. Finally, we present computational efficiency, compression, accuracy, and precision of recognizing distorted images with qualitative and quantitative measures.

Hydroquad - A Drone Quadruped Hybrid, Haitish Gandhi, Dheer Chhabria

Discovery Day - Daytona Beach

The HyDroQuad is a hybrid robotic system designed to navigate environments where traditional robots face limitations. By combining a quadrupedal walking mechanism with an aerial drone, the platform is able to walk efficiently on stable terrain and transition to flight when encountering obstacles such as rocks, gaps, or steep slopes. This adaptability makes it a strong candidate for future planetary exploration, where terrain is often uneven and unpredictable. This work focuses on developing and evaluating a functional prototype of the system. A fully integrated platform, HDQ-MK1, was designed and constructed by combining a lightweight multirotor drone with a compact quadruped …

A Cyber-Physical Flight Simulation Platform For Real-Time Visualization Of Aircraft Dynamics And Sensor-Based Control, Gabriel Martinez, Michael Poinsett

Discovery Day - Daytona Beach

Understanding aircraft dynamics through traditional simulations can be limiting, as results are often confined to screen-based visualization. This project aims to enhance learning and experimentation by creating a system where aircraft motion can be both simulated and physically observed in real time. The primary objective is to develop a cyber-physical flight simulation platform that links mathematical models with physical hardware. The system is designed to (1) represent aircraft dynamic behavior through real-time motion and (2) provide a foundation for integrating sensors and control strategies for responsive flight behavior. The platform combines aircraft dynamic models with a hardware interface capable of …

Radaround: A Field-Expedient Direction Finder For Contested Iot Sensing & Em Situational Awareness, Owen Maute, Blake Roberts

Discovery Day - Daytona Beach

This paper presents RadAround, a passive 2-D direction-finding system designed for adversarial IoT sensing in contested environments. Using mechanically steered narrowbeam antennas and field-deployable SCADA software, it generates high-resolution electromagnetic (EM) heatmaps using low-cost COTS or 3D-printed components. The microcontroller-deployable SCADA coordinates antenna positioning and SDR sampling in real time for resilient, on-site operation. Its modular design enables rapid adaptation for applications such as EMC testing in disaster-response deployments, battlefield spectrum monitoring, electronic intrusion detection, and tactical EM situational awareness (EMSA). Experiments show RadAround detecting computing machinery through walls, assessing utilization, and pinpointing EM interference (EMI) leakage sources from Faraday …

Improving Multi-Agent Swarm Collision Avoidance Using Reciprocal Velocity Obstacles, Nick Wilson

Discovery Day - Daytona Beach

As multi-agent systems grow increasingly complex, physical robotic swarms are essential to bridge the gap between limited software simulations and real-world application. The BID4R STARS swarm provides a physical platform for testing diverse algorithms, yet its success relies heavily on fundamental agent capabilities—most notably, obstacle avoidance. Preventing intra-swarm collisions is critical to avoid hardware damage and experimental disruption. To address this challenge, this project implements the Reciprocal Velocity Obstacles (RVO) algorithm onto the STARS swarm. While standard collision avoidance algorithms often overcorrect and induce oscillatory agent movement, RVO factors in the velocity and anticipated responses of all agents involved in …

Honeybee-Inspired Swarm Intelligence For Autonomous Adaptability Of Martian Infrastructure, Morgan Kendall

Discovery Day - Daytona Beach

Current research in autonomous space systems primarily relies on centralized control or swarm methods designed for fixed mission scenarios. These approaches lack the flexibility needed for long-duration Mars operations, where infrastructure must adapt to changing conditions, evolving mission goals, and limited human oversight. This creates a critical gap in developing autonomous systems capable of continuous self-organization. This gap is being addressed by developing a biologically inspired, adaptive Martian infrastructure using swarm intelligence. The scope includes key system domains such as power distribution, communication networks, and surface logistics. Agent-based modeling software will simulate infrastructure components as autonomous agents that evaluate local …

Nano Aircraft Using Underactuated Technology (Naut), Giol Vinyals I Roca

Discovery Day - Daytona Beach

The Nano Aircraft using Underactuated Technology (NAUT) project presents a novel swashplateless rotor system that achieves cyclic pitch control using a single actuator, eliminating the need for conventional multi-servo swashplate assemblies. This approach is specifically tailored for nano unmanned aircraft systems (UAS) operating within Advanced Air Mobility (AAM) environments, where size, weight, and power constraints demand highly efficient and simplified control architectures. A functional prototype has been developed and experimentally validated, demonstrating measurable cyclic pitch variation and effective control authority. Multiple mechanism variants are currently being investigated to evaluate performance trade-offs in responsiveness, mechanical efficiency, and aerodynamic effectiveness. These configurations …

Intrinsic Memory In Digital Snns: Enhancing Performance On The Cart-Pole Task With Fractional-Order Dynamics, Niklas Karl Anderson

Dissertations and Theses

Researchers working with Spiking Neural Networks (SNNs) are faced with the challenge of identifying useful biologically plausible features for inclusion in neuron models. Prior research indicates that dynamics of fractional-order calculus, which impart a form of intrinsic memory, are a key feature of biological neurons. In this work, we present the development and usage of neural networks with intrinsic memory in application to the cart-pole task, a common benchmark for neural network performance. We found that usage of fractional-order neurons may allow for up to a 37.5% reduction in neural network size as compared to networks using a standard Leaky …

Ai Cyber First Responders: Bottleneck Analysis Of Heterogeneous Cpu–Gpu Pipelines For Security Operations Center Triage, Christine Pierce

Harrisburg University Other Works

Abstract — Modern Security Operations Centers (SOCs) must continuously process massive volumes of heterogeneous security telemetry while meeting stringent throughput, latency, and operational continuity requirements. Although transformer-based artificial intelligence has significantly improved threat detection and alert prioritization, most cybersecurity research evaluates model accuracy rather than the end-to-end behavior of AI-enabled operational pipelines. Consequently, relatively little is known about how heterogeneous CPU–GPU coordination, scheduling overhead, memory movement, and synchronization collectively influence operational SOC performance. This paper presents the AI Cyber First Responder, a heterogeneous SOC triage architecture that integrates GPU-accelerated transformer inference with CPU-based doctrine-driven reasoning to investigate end-to-end pipeline behavior …

Remora Ads-B In Receiver, Noah Evans, Sara Patel, Nicholas Gatto, Daniel Ingleton

Discovery Day - Daytona Beach

The Remora is a compact Automatic Dependent Surveillance Broadcast (ADS-B) receiver, designed to enhance situational awareness for pilots operating experimental and homebuilt aircraft. Unlike conventional panel or windscreen-mounted systems, the Remora is installed externally, making it a low-profile solution to the ADS-B In challenge. The device integrates easily with the aircraft’s existing power supply. It transmits data wirelessly to electronic flight bags (EFBs) within the cockpit, using existing iOS and Android software for display and user interaction.   The primary function of the Remora is to provide public-access, real-time traffic awareness and weather forecasting, enabling pilots to make informed mission decisions. …

Orbital Servicing Calibration And Repair (O.S.C.A.R.), Samantha Rogers, Chloe Arnold, Ava Laudadio

Discovery Day - Daytona Beach

Low Earth Orbit (LEO) satellites operate in an environment that exposes them to cumulative radiation effects, micrometeoroids, and orbital debris, and limited opportunities for post-launch intervention. These factors can degrade satellite performance over time, leading to anomalies that may cause data corruption, mission failure, or require human intervention for repair. While previous on-orbit servicing efforts have demonstrated repair and life-extension capabilities, most have focused on Geosynchronous satellites or controlled test environments, leaving a gap in servicing concepts tailored specifically to LEO satellites.The O.S.C.A.R. (Orbital Servicing, Calibration, and Repair) project investigates the design of a robotic servicing system for inspecting, calibrating, …

Designing Under Pressure: A Comparative Study Of Ai And Manual Interface Development In A Naval Weapon System Scenario, Tsimur Babakhanau, Noah Clark, Colby Keller, Mary Grace Sorenson, Zoe Tiede

Discovery Day - Daytona Beach

This study implements a detailed naval scenario in which participants acted as operators on a Navy destroyer equipped with a Laser Weapon System (LaWS). Their task was to create a dashboard capable of stopping incoming suicide drone swarms while managing critical laser functions such as thermal constraints, threat prioritization, and adapting to attack dynamics. Poor management could leave the ship vulnerable. AI is increasingly integrated into design methods, fundamentally transforming the process of building user interfaces by compressing hours of work into minutes. Although AI design tools are becoming more common, little is known about how well beginners can use …

Navigating Enhanced Exploration Assistance (Nexa), Azhari Abbas, Caleb Fakunle, Ryan Powell, Donovan Livingston

Discovery Day - Daytona Beach

NEXA is an artificial intelligence software platform developed to enhance residential security and property monitoring through seamless integration with autonomous drone systems. This research application of advanced AI in surveillance aims to create a standalone solution capable of real-time threat detection and intelligent alert management. By processing visual and sensory data, NEXA facilitates autonomous drone operation with minimal human intervention. Secure communication channels ensure that instant alerts are delivered to property owners and, potentially, law enforcement, improving response times in security incidents, search-and-rescue operations, and perimeter surveillance. Additionally, NEXA is capable of interfacing with commercially available drone platforms and presents …

Robotic Arm Development For Cone Penetration Testing On The Lunar Surface, Jonah Graff, Derek Zhang

Discovery Day - Daytona Beach

Just as on Earth, future lunar operations will require accurate characterization of surface conditions. On Earth, a proven method for this is Cone Penetration Testing (CPT), which evaluates soil bearing capacity and stratification. This information is vital for lunar operations, including habitat construction, resource extraction, and safe pathfinding. However, traditional CPT systems are designed for human operation and lack autonomy. This project addresses that limitation by developing an autonomous, in-situ terrain characterization system for lunar surfaces. The device is driven by ball-screw actuators powered by stepper motors and controlled through an Arduino Mega, using a combination of metal and 3D-printed …

Advanced Manufacturing And Materials Of A Bio-Mimetic Hoof For Space Robotics Applications, Benjamin Heckel

Discovery Day - Daytona Beach

Planetary surfaces often feature steep, uneven, and unpredictable terrain conditions that resemble some of the most challenging natural environments on Earth. In these terrestrial settings, certain animals have evolved to navigate complex landscapes with remarkable agility. One example is the mountain goat, an animal whose hooves have evolved for stable and precise movement across rocky, inclined surfaces. This biological adaptation provides a useful model for improving robotic mobility in planetary exploration. This study draws inspiration from that natural adaptation to develop a bio-mimetic robotic hoof designed to enhance traction, durability, and adaptability for extraterrestrial exploration. By replicating the mechanical properties …

Phaëthon System, Brady Roudabush, Lauren Gallo, Emelia Thompson, Jacob Woods

Discovery Day - Daytona Beach

Phaëthon System is the project name for the Search and Rescue Drone Initiative. This initiative will improve the current search and rescue drone industry by introducing new techniques to get through dense forest canopies and other places where an overhead view is not useful. The Phaëthon System uses a swarm of drones that can penetrate under the tree canopy to map and search with the utmost efficiency and safety for rescuers. A command drone is launched to survey the overall search area, and set up a communications and data link. The next component is then released, which is a swarm …

Interplay Between Physical Design Choices And Emergent Cyber System Consensus: A Case Study With An Underwater Swarm, Ava Neubert

Discovery Day - Daytona Beach

Understanding how physical constraints influence collective behavior is critical for designing cyber-physical multi-agent systems in communication-limited environments. This project investigates how agent mobility and communication constraints affect opinion dynamics in a three-dimensional underwater swarm. An agent-based model was developed in AnyLogic, where agents follow realistic motion dynamics and exchange information at discrete communication intervals to reflect underwater limitations. Agent opinions are modeled using a BOIDS-inspired consensus mechanism in RGB space, allowing visualization of convergence behavior. A sensitivity analysis was conducted to evaluate the effects of communication range, agent speed, turn rate, and swarm size. Results show that communication range has …

Automation And Robotics In Timber Construction Prefabrication, Jason Grabowski, Anish Mandyam, Samuel Mcaraw, Jacob Jander

Discovery Day - Daytona Beach

Robotics and automation have varying degrees of utilization across the construction prefabrication industry. The timber prefabrication industry is uniquely positioned for the implementation of robotics and automation due to the environment being more controlled than most of the construction industry. Current developments are influenced by the evolution of "Construction 4.0/5.0," where the integration of digital technologies and robotics is transforming timber prefabrication from traditional subtractive CNC machining into a highly precise, additive, and collaborative process. The purpose of this project is to conduct a systematic literature review of the state of-the-art and near-future developments of automation and robotics in timber …

The Electric Crackdown: Exploring The Human Factors Impacts Of Controls & Displays In Evs Across The Market, Rae Okada, Robin Hanen, Liam Brennan

Discovery Day - Daytona Beach

Title: The Electric Crackdown: Exploring the Human Factors Impacts of Controls & Displays in Electric Vehicles Across the Market   Despite a global adoption of electric vehicles (EVs) with partial driving automation (i.e., advanced driver assistance systems; ADAS), differences exist at societal (i.e., legislation, regulation), individual (i.e., use of), and system (i.e., vehicle-to-vehicle) levels surrounding these vehicles. While these former societal divergences can be considered based on the: (1) mechanisms promoting or limiting EV adoption, (2) number of EVs on the road, and (3) respective incident reports; system differences require investigation for each vehicle based on its make and model. In …

Balancing Innovation And Integrity: Ethical Implications Of Ai Use In Higher Education, Petronella Muziti, Ntando S. Sibanda

African Conference on Information Systems and Technology

Artificial intelligence (AI) is rapidly transforming higher education, creating opportunities while raising ethical concerns such as bias, privacy violations, academic misconduct and reduced human-centred teaching. This study examined how institutions can balance AI innovation with academic integrity and equity, focusing on lecturers’ ethical dilemmas and institutional readiness. A triangulation design incorporating quantitative and qualitative methods was used. Twelve semi-structured interviews and two focus group discussions involving eighteen participants were conducted across five universities, while 150 questionnaires were distributed, yielding 128 valid responses. Descriptive statistics and thematic analysis were applied. Findings showed that lecturers reported student misuse and plagiarism (78%), AI …

Ubuntu Signs: A Tool For Real-Time Translation Of South African Sign Language, Simone Beets, Hasita Rama

African Conference on Information Systems and Technology

Deaf and Hard-of-Hearing (DHH) individuals often face communication challenges with people who do not understand sign language. Existing systems lack support for South African Sign Language (SASL) and are limited in accessibility, efficiency and accuracy. This paper introduces Ubuntu Signs, a mobile prototype tool for real-time SASL translation using a camera-based interface and machine learning. The tool uses two models to recognize gestures: a static model for alphabetical and numerical gestures and a dynamic model for continuous gestures representing words and phrases. A preliminary user study evaluated the effectiveness, efficiency, accuracy and satisfaction of Ubuntu Signs. Results indicated high usability …

Robbed With Permission: Toward A Receiver-Consent Architecture For Trust-Preserving Mobile Money Transactions In Africa, Raphael Amponsah

African Conference on Information Systems and Technology

Mobile money transacted more than USD 2 trillion globally in 2025 across 2.3 billion registered accounts, with Sub-Saharan Africa holding over half of all accounts and two-thirds of transaction value. Between 58 and 72 percent of mobile money fraud on the continent exploits trust rather than technology, yet current security architecture authenticates the sender and merely notifies the receiver, leaving the transaction execution moment structurally unguarded. This paper introduces the Receiver-Consent Transaction Protocol (RCTP), a USSD-native protocol requiring the receiver's active PIN consent on their physical SIM before any credit completes, grounded in Design Science Research with Routine Activity Theory …

Genai Goes To Campus: A Narrative Literature Review Of Benefits, Challenges And Policies, Jayson Warren Peters, Mmasechaba J. Seopa, Justin T. Maistry, Tebogo J. Matome, Christen Du Toit, Maureen C. Tanner

African Conference on Information Systems and Technology

This study examines the role of Generative Artificial Intelligence (GenAI) in the learning and administrative experiences of students and educators in higher education, through a narrative literature review of thirty-one articles. The literature was thematically reviewed and coded to identify themes and factors contributing to challenges, benefits, and policies and guidelines. These themes were explored in depth with their relation to GenAI for learning outcomes, the role of GenAI in student’s learning experiences and the effectiveness of using GenAI tools to support educators’ administrative processes. In light of the challenges and deterrents identified (e.g. implementation - maintenance, privacy and security, …

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 …