Controls and Control Theory Commons^™

Vision-Guided Motion Planning For Autonomous Catch With A Robotic Arm, Kayla Go-Oco, Ashik K. Islam, Raegan Gritzmacher

Electrical Engineering

Modern robotic systems are often evaluated using static and highly controlled tasks, such as pick-and-place demonstrations, which do not fully represent the uncertainty and adaptability required in real-world environments. A major challenge in robotics research is enabling robotic systems to perceive, track, and respond to dynamic objects in real time while maintaining accurate and reliable motion control. This project addresses these challenges by developing an autonomous robotic platform in which an OpenMANIPULATOR-Y robotic arm detects, tracks, and attempts to catch a moving tennis ball using a vision-guided control system. The system integrates YOLO-based object detection with an Intel RealSense D455 …

Autonomous Vision-Based Litter Collection Rover, Dante Michael Benedetti, Benjamin Scott Tavares, Nathan Heil

Electrical Engineering

This report documents the design, implementation, and testing of an autonomous litter-collection rover developed as a Senior Project Design Lab (EE 460/463/464) at California Polytechnic State University. The rover integrates autonomy, computer vision, embedded real-time control, mecanum-wheel omnidirectional mobility, and a two-degree-of-freedom robotic arm to detect, approach, and collect small ground-level litter such as bottles, wrappers, and paper fragments.

The system uses a two-layer compute architecture: an NVIDIA Jetson Orin Nano running ROS 2 for perception, SLAM, and path planning, paired with an STM32L4A6ZG microcontroller for real-time motor control and odometry. The robot is built on a multi-level aluminum frame …

Elevate Grill, Brady Alexander

Electrical Engineering

The Elevate Grill Senior Project is a Santa Maria style grill with an electrical lifting/lowering mechanism and temperature sensor feedback. The grill allows for a dynamically controlled cooking surface, able to be automatically set or manually set by the user. The grill’s user interface informs the user about the temperature in different zones on the grill and alerts the user when the target temperature is hit. Additionally, the user can program preset temperature ranges and apply them to the grill’s control system. The system incorporates safe failure modes in the event of a power outage and also allows the user …

Solving Linearly Constrained Quadratic Programs Using Field Programmable Analog Arrays, Tyler Wynn, Alonzo Arroyo

Electrical Engineering

This paper presents a field-programmable analog array (FPAA) implementation for solving linearly constrained quadratic programs (LCQPs) directly in the analog domain. The solver is based on a continuous-time primal-dual control architecture with integral action, anti-windup compensation, and a piecewise-linear nonlinearity for enforcing affine inequality constraints. A switched-capacitor implementation using three AN231E04 FPAAs is developed, and coefficient scaling methods are introduced to keep internal and output signals within the voltage limits of the hardware. A global scaling factor is used to reduce internal signal excursions, while solution-space scaling is shown to modify the implemented optimization coefficients and alter the local closed-loop …

Uav Trio Formations For Aerial Pest Deterrence With Vision-Based Bird Monitoring, Benjamin Andrew Ly, Chris Kwon, Christian Joseph Macaranas

Electrical Engineering

No abstract provided.

Mesh-Networked Uav Swarm: Experimental Leader-Follower Formation Control, Toma Grundler, Jack Ryan

Electrical Engineering

In recent years, unmanned aerial vehicles (UAVs) have demonstrated significant potential for multi-agent coordination applications, yet reliable formation control algorithms remain challenging to implement in real-world environments. This report presents the design, simulation, and hardware implementation of four leader-follower formation control strategies for UAV swarms. The implemented algorithms include a semi-rigid PI controller based on forward and lateral distance error, a hybrid PID controller utilizing mixed error signals with velocity and position feedback, a simplified velocity-based PID controller operating on individual coordinate components, and a GPS offset controller with direct positional control. MATLAB simulation validated controller performance in four different …

Framework For Multi-Agent Coordination And Distributed Localization In Micro-Uavs, Minwoo Park, Nikolas Tambornini

Electrical Engineering

Micro-UAVs (unmanned aerial vehicles) due to their inexpensive nature and compact form factor have shown an increase in prevalence throughout a multitude of applications including, but not limited to: search and rescue, military reconnaissance, and agriculture monitoring. However, for a majority of these high impact applications, a swarm of micro-UAVs are required and furthermore mandate that they are able to cooperatively and autonomously coordinate with each other. For long, controlling and communicating between a user and a singular micro-UAV has been a well known and solved problem, however the same can't be said for swarms of micro-UAVs. This project seeks …

Leader-Follower Platooning With Turtlebot3: A Low-Cost Ros Test-Bed Using Vision-Lidar Fusion, Patrick Kelly Crandall, Kalon Ma Bienz

Electrical Engineering

This report presents the design, implementation, and indoor validation of a two-robot leader–follower platoon built on low-cost Turtlebot3 platforms. Each robot runs ROS Noetic on an on-board Raspberry Pi 4, fusing a fisheye camera for HSV-based lane detection with an LDS-02 LiDAR for clustering-based leader identification. A dual-loop architecture (PD steering for lateral control and PID for longitudinal gap regulation) maintains a 0.40m headway and keeps the follower centered within +/- 5 cm of the lane midline, without any inter-vehicle communication or external localization. Track experiments at speeds up to 0.18m/s achieved mean gap error of +/- 3 cm and …

A Turtlebot3 Hardware Testbed For Distributed Kalman Filter Localization, Dmitri Dobrynin, Indigo T. Garcia

Electrical Engineering

This report presents the preliminary design for a distributed localization framework for a multi-robot system. Many robotics research papers provide simulations of proposed algorithms in regards to formation control and task allocation. However, it is often that these proposals are without hardware experiments, being limited only to simulation. The objective of this framework is to provide a hardware implementation of a distributed Kalman filtering algorithm for multi-agent localization, as well as provide grounds for future multi-agent experiments. The framework is implemented on a swarm of three Turtlebot3 mobile robots. The robots can accurately localize themselves with respect to other agents …

Prototyping Various Mppt Techniques Used In Wind Energy Conversion Systems For Response Time Monitoring, Amro Kawashty, Sameh O. Abdellatif, Gamal Ebrahim, Hani Ghali

Electrical Engineering

This paper focuses on prototyping various maximum power point tracking (MPPT) techniques used in wind energy conversion systems (WECS) for response time monitoring. MPPT plays a crucial role in optimizing the power extraction from wind turbines by dynamically adjusting their operating conditions to track the maximum power point. The response time of an MPPT algorithm determines how quickly it can adapt to changes in wind conditions and maximize power output. In this study, we implement and compare multiple MPPT techniques on an emulated WECS. Several commonly used MPPT techniques, such as perturb and observe (P&O), incremental conductance (IncCond), and tip …

Dc To Ac Voltage Source Converter Control System, Mohummad Tark Elgassier, Jordan M. Reichhardt, Brayden Richard Young

Electrical Engineering

The Voltage Source Converter Control System integrates a control system for a 2-phase half-bridge voltage source converter (VSC) utilizing a TMS320F2837xD Dual-Core Real-Time Microcontroller. VSCs are critical for the integration of power production into the power grid. They allow for accurate control over DC-AC energy conversion. Additionally with the improvement of renewable energies VSCs play a critical role in controlling the flow of these environmentally controlled and more unpredictable sources of energy. The control system regulates the output current and voltage, regulates switching patterns, and maintains power stability under varying loads. Within the control system Digital control systems, PWM generation, …

Design, Control, And Evaluation Of A Photovoltaic Snow Removal Strategy Based On A Bidirectional Dc-Dc Converter For Photovoltaic–Electric Vehicle Application, Salma Elakkad, Mohamed Hesham, Hany Ayad Bastawrous, Peter Makeen

Electrical Engineering

A novel self-heating technique is proposed to clear snow from photovoltaic panels as a solution to the issue of winter snow accumulation in photovoltaic (PV) power plants. This approach aims to address the shortcomings of existing methods. It reduces PV cell wear, resource loss, and safety risks, without the need for additional devices. A self-heating current is applied to the solar panel to melt the snow covering its surface, which is then allowed to slide off the panel due to gravity. The proposed system consists of a bidirectional DC-DC converter, which removes the snow cover by heating the solar PV …

Power Controller For Insulated Solar Electric Cooker, Ryan Koshy, Justin Tae-Hoon Kim

Electrical Engineering

Insulated Solar Electric Cookers, or ISECookers, are devices created to aid those in impoverished regions improve safety, sustainability, and quality of life regarding their cooking practices. ISECookers present an alternative to traditional biofuel/biomass energy sources and provide a closed-loop, self-sustaining system that can be used in a variety of environments. These devices present solutions to widespread issues such as pollution, deforestation, and hazardous emissions as a result of traditional cooking in developing regions around the world. A notable obstacle of these devices is power delivery. Given the varying conditions experienced by a solar panel (inclement weather, irradiance irregularities, etc.), it …

Modeling A Hydropower Plant Powerhouse Based On Hebgen Dam, James Savella, Paul De La Cruz

Electrical Engineering

The United States Department of Energy (DOE) Water Power Technologies Office (WPTO) invited California Polytechnic State University (Cal Poly) to participate in the 2024 Hydropower Collegiate Competition (HCC) to research and design ways to convert non-powered dams (NPDs) to hydropower plants to contribute to a clean energy future. The Cal Poly HCC Electrical Engineering team used information gathered for the competition to create a simulated hydropower plant model of Hebgen Dam, in Montana, using a salient pole synchronous generator and a PID governor for an Electrical Engineering Senior Project. The simulated hydropower plant model allows a user to control the …

Plc Course Development, Leonard Hernandez, Jacqueline Grace Radding

Electrical Engineering

The goal of this project is to design and construct the first lab experiment for the newly developed EE435 laboratory course. The experiment entails PLC programming to automate LED lighting in a simulated building. Starting with why PLCs are used, how to use the interface of EcoStruxure Control Expert V15.0 and practice using logic to control the dimming of a Light Emitting Diode (LED) to sustain a certain number of lumens consistent in a zone. Through the lab manual developed in this project, students will gain experience of creating logic designs using Function Block Diagram (FBD) and learn the layout …

Energy Storage And Communication System, Noah R. Johnson, Marc Wong

Electrical Engineering

The Industrial Power and Controls Lab in Engineering East is welcoming the addition of a new lab course, EE 435. Schneider Electric sponsors this course, which seeks to teach students how to use the Modicon M580 Program Logic Controller (PLC) in various industry use cases. This project is a continuation of previous senior projects and focuses on developing a lab experiment to teach students how to utilize the M580 in an energy storage use case. More specifically, it focuses on the battery management system that oversees the units and exposes students to the various situations this system may encounter during …

Instrumented Control Column For Optionally Piloted Aircraft, Andrew J. Klein

Electrical Engineering

Natilus, an aerospace company that is rapid-prototyping optionally piloted aircraft (OPA) for the shipping industry, needs a system that retrieves control column position data in order to manipulate flight simulator parameters in software. At present, a universally compatible system for all aircraft does not exist. Typically, established aerospace companies will sink significant time and money into developing proprietary systems for control column data retrieval as every aircraft is unique in its layout and linkage design. However, as a startup developing their first aircraft, Natilus does not have the privilege of modifying an existing sensor system to work with their HIL …

Cardio Trainer, Levi Rash, Cristian Rodriguez

Electrical Engineering

The Cardio Trainer Device is a wearable device that guides the user through a physical exercise based on the user’s heartbeat measurements. Users interface with the device via a wearable band. The band determines the heartbeat of the user in real time and, using that reading, gives the user verbal instructions to optimize their workout. These verbal instructions then serve to control the physical exertion of the user and are delivered through an audio device. Users input personal physical metrics to the Cardio Trainer Device that tailor the performance of the device in a manner of ways: rate of instruction, …

Programmable And Modular Dc-Dc Converter, Joshua C. Hutchinson, Elijah M. Gordon

Electrical Engineering

This project considers the design, implementation, and testing of an open-source dc-dc converter for microgrid prototyping. Unlike conventional dc-dc converters that are proprietary and require specialist knowledge, and are usually designed for a single function, the proposed dc-dc converter will comprise of a programmable MCU and a Raspberry Pi (RPi) interface to allow less-skilled consumers to monitor and modify a power converting system. We will develop an open-source library that contains voltage control, current control, maximum power point tracking, and battery charge control profiles. Each library will be easy to implement through a GUI on the Raspberry Pi and will …

Tank Level Controller Plc Lab, Siddhi Upadhyaya, Teghvir Grewal

Electrical Engineering

The California Polytechnic State University San Luis Obispo’s Electrical Engineering Department is currently developing lab experiments for the new EE435 (Industrial Power Control and Automation) class. In order to support these efforts, fourth year Cal Poly students are expected to develop laboratory experiments that will be conducted during this new class for the semester system. The lab experiment focused on in this project is called the Tank Level Controller. This experiment will introduce EE 435 students to Schneider Electric Programmable Logic Controller (PLC) hardware and software, which is prominent in the automation industry.
This experiment will require students to develop …

Hvac Fan Cooling System Using Modicon M580, Ogbonnaya Okoronkwo Okorie, Nicolas Jens Fache

Electrical Engineering

A common problem that many devices have when operating is overheating. Whether it is operating at full capacity or idle, those devices that we use exert heat to some type of extent. The physical and electronic components of the device can only withstand so much heat before the component becomes damaged. This product provides a method of preventing overheating by being a cooling system for your device. A solution for preventing overheating of the components in these electronic devices is by having some sort of cooling system. Our product’s cooling system will be based on energy efficiency, which means that …

Industrial Automation And Controls Lab: Smart Led Dimmer Control, Trevor J. Beck

Electrical Engineering

Programmable Logic Controllers (PLCs) are rugged industrial computers used extensively in many industries for automation and control. EE 435 is a course being developed to introduce students to PLCs. This project will focus on one section of the course, with the primary objective being to control the brightness of an LED based on input received from an ambient light sensor. The control logic will use a PLC with analog input and output modules to interface with the sensor and actuator hardware. The light sensor will output 4-20mA proportional to the intensity of visible light, measured in lumens. The analog input …

Reaction Wheel Based Rocket Active Spin Stabilization, Tanuj Vemuri

Electrical Engineering

Cal Poly Space Systems is the high-powered and experimental rocketry club at Cal Poly SLO. They aim to design, test, and launch fully integrated launch vehicles. In order to create efficient and reliable vehicles, stabilization systems must be implemented. One parameter that can be actively stabilized is the vehicle’s roll. The roll of the vehicle can have noticeably effects on vehicle performance, as uncontrolled roll leads to decreased system stability in flight. Un-controlled roll can also have negative impacts on the quality of onboard video, which is used for post-flight analysis and marketing.

Reaction wheels are a popular method for …

Diy Cell Incubator, Hayden James Jeanor

Electrical Engineering

The purpose of creating a cell Incubator is for the development of cell and tissue production in laboratory settings. Large scale research projects and the medical community grow cells for various reasons, including experiments and creating tissue for patients. However, they cannot simply depend on growing cells in a petri dish that sit on a rack at room temperature. To grow heathy cells in the fastest way possible, they use cell incubators. Cell incubators create an atmosphere within the incubation bay that is designed to promote cell growth. The three main components that need to be constantly regulated, using a …

Smartphone Control Of Rc Cars, Weston R. Fitzgerald

Electrical Engineering

The smartphone-controlled RC (remote-controlled) car is an inexpensive remote-controlled car designed to be fast and portable. Instead of manufacturing, packaging, and shipping a separate controller, the remote control is implemented in a phone application, which saves time and money in both the design process and the manufacturing process. Utilizing the user’s smartphone is more cost-effective since mobile devices are a common recurrence, and packaging fewer devices results in overall better portability of the product.

This smartphone-controlled car is speedy and intuitive to learn for typical smartphone users. The user can change the car’s speed and direction wirelessly using their phone; …

Solar Pv Emulator, Tristan Studer, Cody Kremer

Electrical Engineering

The implementation of a solar PV emulator. Creating a controllable testing environment which sufficiently recreates realistic conditions a photovoltaic cell would experience in real world use. The project aims to accurately show the efficiency and reliability of a solar PV cell, opposed to an ideal model which creates unrealistic expectations. The PV emulator implements conditions such as: irradiance, soiling and temperate changes. It gives feedback on a displayed IV curve and/or PV curve so the user may graphically analyze the output their PV cell produces given various conditions. It allows the user selectable conditions the solar cell may experience this …

Stability Analysis Of Systems With Time Delay Simulation Program, Matthew Carroll, Brandon Replogle

Electrical Engineering

A small company wants to develop a CAD tool, ideally as part of the MATLAB suite of tools, for system stability analysis of nonlinear control systems with time-delay. The program must allow the designer to input the system block diagram graphically, then using symbolic expansion, automatically generate the Laplace domain stability boundary and disturbance settling time. The stable regions are then to be graphically plotted as a set of 2- or 3-dimensional parametric stability boundaries. The designer can then input performance constraints on the system through the MATLAB console and a Simulink environment will automatically be generated.

This program is …

Dc Treasure Box, Michael A. Derrenbacher

Electrical Engineering

An all in one DC resource would enable electronics students to prototype circuits for labs and projects without the need for the lab equipment present on campus. The labs on campus can be physically far, closed, or overcrowded, preventing students from accessing the equipment. Roughly 75% of upper division electrical engineering students do not own power supplies, with even fewer students owning a source measurement unit (SMU). There is a significant need for a product capable of providing standard lab equipment functionality. The functionally this project provides are positive and negative DC power supplies, 4-Quadrant SMU, analog inputs and outputs, …

Plant Growing Control With Modicon M580, Brittany M.Y. Won, Eileen T. Tran

Electrical Engineering

Currently, the Industrial Power and Controls lab is being developed by the Cal Poly Electrical Engineering department. The lab is equipped with recently donated Modicon M580 Programmable Logic Controllers (PLCs) from Schneider Electric. In addition to PLCs, Schneider Electric also donated Human Machine Interfaces (HMI) and input/output modules. This project focuses on the creation of a lab experiment that will give future Cal Poly electrical engineering students hands-on experience with this equipment. To show students the broad range of PLCs and the role that electrical engineering plays in various industries, this experiment focuses on the agriculture industry, but more specifically, …

Bitcoin Price Prediction Using Neural Networks, Vladislav Killiakov

Electrical Engineering

In this project, I will investigate the performance of several major neural network architectures for the task of Bitcoin price prediction. Bitcoin is a cryptocurrency that is recently becoming increasingly more popular, and more widely adopted as a financial instrument. As a result, more efforts have been made in the past several years to model and predict its price. However, to this moment a large portion of work on Bitcoin price modeling was done using statistical or classical machine learning techniques. At the same time, other artificial intelligence based prediction techniques, and specifically neural networks, have not been explored to …