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Integration and Testing of a Quadruped Robot with ROS2
Get PDFThe Cal Poly Legged Robotics Group has been developing research and teaching platforms for agile legged robotics since 2020. These platforms are expected to provide students with opportunities to develop complete legged-robot systems from low-level control to advanced robotics tasks such as motion planning and decision making. However, the current prototyped quadruped robot lacked the software and sensing capabilities for high-level quadrupedal gaits and advanced robotic research.
To address these challenges, this project developed Switch, a robotic platform that builds upon the previous BRUCE platform with significant hardware and software upgrades. Switch features a modular design that allows individual software or hardware components to be upgraded or switched independently. The software architecture for Switch is built on ROS2 Jazzy with ROS2 control, supporting wireless development and control. The onboard NVIDIA Jetson AGX Orin Dev Kit provides wireless access over intranet, with comprehensive data access managed through ROS2 interfaces and real-time data visualization using Foxglove, including digital-twin capabilities.
The software package developed for Switch is versatile and adaptive. With minimal configuration, a robot control applications can be deployed on similar hardware platforms. Switch provides a foundation for future work, including machine learning integration and software reuse across future CPLRG projects, supporting research and education at Cal Poly in controls engineering
What is “So Severe, Pervasive, and Objectively Offensive?”: Defining Sexual Harassment, Investigating Reporting Requirements, and Supporting Disclosures with Communicative Role-Playing
No full textDespite the pervasive reach of rape culture on college campuses, university sexual harassment trainings frequently fail to provide students with clear definitions of sexual violence, often avoid using intersectional frameworks to teach students about the topic, and obscure the bureaucratic complexities that inhibit survivors’ abilities to seek out appropriate resources when they experience sexual trauma. As such, this article outlines communication strategies for feminist instructors interested in improving their students’ understanding of sexual harassment, given that social science and humanities classrooms provide apt spaces for grappling with difficult topics and the way in which language constructs our reality. We propose role-playing communication as a pedagogical practice that forwards a feminist paradigm of instruction by bringing clarity to definitions of sexual harassment, helping students demystify reporting processes at their institutions, and showing university learners how to support victims across intersectional differences
Upstander Behaviors to Combat Implicit Bias
No full textThis project investigates how individuals across different experience levels in the construction industry respond to workplace bias, exclusion, and unfair treatment. Rather than focusing on the often-ambiguous term “ally,” this study explores the role of an “upstander,” someone who takes thoughtful, proactive action to support fairness and inclusion. Using a combination of survey data, industry interviews, academic literature, and a participatory workshop at the 2025 Women in Construction Symposium, the study identifies effective upstander behaviors and evaluates their impact. Survey findings revealed that a majority believe implicit bias influences jobsite dynamics and that intervention can shift workplace culture. The workshop and accompanying materials fostered open discussion and encouraged practical strategies. Deliverables included a presentation, interactive jobsite scenarios, and a research poster. This paper outlines the process, key findings, and implications for future professionals
Creating an Off-Site Construction Course
No full textThe construction industry is undergoing a transformation as prefabrication and modular methods become more common across project types. From residential homes to large-scale commercial buildings, offsite construction offers faster timelines, improved quality control, and reduced environmental impact of construction. Despite these advantages, off -site construction has historically been underrepresented in the Construction Management (CM) curriculum at California Polytechnic State University (Cal Poly). While students are well-prepared for traditional project delivery in residential, commercial, and heavy civil sectors, they often graduate with limited exposure to more modern building systems and off-site production techniques. This off-site construction course addresses this gap by providing a dedicated course on prefabricated construction. The course emphasizes both residential and commercial applications, with a focus on off-site applications, design coordination, manufacturing processes, transportation logistics, and site integration. This course proposal establishes the academic framework for CM 420: Off -Site Construction, including learning outcomes, weekly topics, coursework, and instructional materials, which lays the groundwork to continually advance Cal Poly\u27s CM program with the evolving needs of the industry
2025 Annual V.E.S.T Hackathon: Renovating Safety Harnesses
No full textThis paper presents the organizational framework and logistical planning involved in executing the 2025 Verifying Everyone’s Safety Together (V.E.S.T.) Hackathon, an annual innovation workshop hosted by the Construction Management Department at California Polytechnic State University, San Luis Obispo. The event brings together students, faculty, and industry professionals to reimagine and redesign common construction equipment with a focus on safety, usability, comfort, and inclusivity across diverse user profiles. The 2025 hackathon, held April 15–16, concentrated on safety harnesses, an essential component of personal protective equipment (PPE) in the construction industry. Participants engaged in the two-day event that included conceptualization, prototyping, and testing. The hackathon was held in two spaces, a design zone equipped with materials for prototype modification, and a testing area that simulated fall conditions to evaluate harness performance in real time. This configuration enabled participants to iteratively assess and refine their concepts based on both theoretical input and firsthand experimentation. At the conclusion of the event, three distinct prototype harnesses were produced by the groups to fit variations in body type, gender, and size. The collective outcome displays the value of interdisciplinary collaboration in driving forward practical, user-focused safety innovations within the Architecture, Engineering, and Construction (AEC) sectors
Assessment of Mental Wellbeing Programs in the Construction Industry
No full textMental health problems are very prevalent within the construction industry, and there is not enough attention put towards the mental wellbeing of employees in the industry. The construction industry is ranked #2 for deaths by suicide, and #1 when mining and extraction are included (CDC, 2021). Previous research has been done to understand the severity of the issue, and some programs have been started to spread awareness and train employees. The issue arises in a lack of analysis of these programs. The programs that are being used are still in their infancy and require a comprehensive review to understand the effectiveness and various other implications that may come with them. This research aims to provide an unbiased review of mental health programs through input from industry professionals. This research utilized a snowball random sampling technique with industry professionals to conduct structured qualitative interviews. The interviews were then cross analyzed to find commonalities, differences, and notable statements. Through this research it was determined that a holistic approach that values accessibility, awareness, inclusivity, and creating a culture of care is the most effective program, and furthermore there is much room for future improvements within mental wellbeing programs in the workplace. This research can be utilized by industry professionals, both in construction and mental health fields, to analyze their own programs, develop new programs, and to understand what resources are available to them
Chemical and Microbial Profiles of Organic and Conventional Avocado Seeds: Implications for Sustainable Applications
No full textThis study evaluates the feasibility of repurposing avocado seeds from organic and conventional sources for human and animal consumption, with a focus on microbiological safety, chemical composition, and sustainability. Findings indicate that while avocado seeds contain bioactive compounds with potential nutritional and industrial applications, their microbial load and chemical profile vary significantly based on agricultural practices. Conventional avocado seeds may contain residual pesticide traces, whereas organic seeds may harbor higher microbial diversity, posing distinct challenges for food safety and processing.
The research investigates whether treatment methods such as heat, fermentation, or antimicrobial applications can mitigate microbial risks and enhance seed edibility. Additionally, the study explores potential uses in dietary supplements for humans or as a fiber-rich feed additive for livestock, such as dairy cows. The economic and environmental implications are also assessed, highlighting the dual benefit of reducing agricultural waste while creating new value-added products.
A comparative analysis of organic and conventional avocado seed microbiomes was conducted using laboratory-based microbial assays, chemical characterization, and literature review. Cost-effectiveness and regulatory feasibility were also examined to determine whether avocado seed-derived products could meet FDA or livestock feed safety standards.
The findings of this study suggest that avocado seeds, if properly processed, could serve as a sustainable alternative for both human and animal nutrition, supporting circular economy initiatives. Further research is recommended to refine processing techniques, assess long-term safety, and explore scalable applications
AS-986-25 Resolution on Template for General Education 2026
No full textResolves that the Academic Senate of the California Polytechnic State University approve the attached Template for General Education 2026; and be it further resolves that the Template for General Education 2026 be implemented for all students beginning in the 2026-27 catalog
Dietary Intake and Changes in Body Composition Over the Course of One Season in NCAA Division 1 Football Players
No full textEnergy intake and macronutrient composition of an athlete’s diet is highly important when considering performance. Additionally, having a favorable body composition (i.e. low levels of fat mass and high levels of lean body mass) is crucial in high-level athletes.The role of nutrition-related support personnel is highly needed by many collegiate athletics programs to achieve these outcomes, yet this resource seems to be undervalued and underused in many settings. The present thesis investigates the effects of providing nutritional support to improve dietary habits and compare changes in specific body composition metrics over the course of one season (pre- and post-season) among a select group of NCAA Division 1 football players. During the competition season, athletes received nutritional support from the Sports Nutrition Team consisting of post-exercise recovery smoothies, post-exercise recovery powder, snack bags for away games, and personalized nutrition plans. To measure changes in body composition, athletes received whole body DXA analysis prior to the start of their season to determine baseline body composition data and received the same analysis after their season had been completed to examine the impact of the provided nutritional support. There was high adherence to the nutritional support based on nutritional consultations between athletes and the Sports Nutrition Team. Despite this, athletes underconsumed total calories and were below estimated recommendations (approximately 3632 kcal consumed vs 3924 kcal recommended) and consumed protein amounts that were only slightly below recommendations (1.91 g/kg bodyweight vs 2.0 g/kg bodyweight). Statistically different changes between pre- and post-season bodyweight, lean body mass, fat mass, percent body fat, and visceral adipose tissue were unable to be detected. Findings indicate suboptimal intake of calories relative to recommendations and small, undetectable changes in body composition metrics among the collegiate athletes
Development of a Control System for an 8-dof Quadrupedal Robotic Research Platform
No full textQuadrupedal robots offer a versatile locomotion option that can extend the operating space of a robot into uneven terrains. However, controlling these systems presents significant challenges due to nonlinearities introduced by various factors.
In this thesis, model-predictive control (MPC) is applied to an 8-DOF legged robot developed by Cal Poly’s Legged Robotics group. The MPC framework employs a lumped rigid-body model that treats the robot as a single rigid body with forces applied directly at the foot contact points. The controller is developed within the ROS2 environment, with integration of state estimation and gait-pattern generation, to provide maximum modularity and flexibility for various locomotion scenarios.
The efficacy of the controller is demonstrated in the simulation environment through generating various stable symmetric (and even asymmetric) gaits at speeds exceeding 1 m/s. Notably, the control system relies exclusively on proprioceptive sensing, operating without exteroceptive feedback from the surrounding environment. This research provides a foundation for implementation on real hardware