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Fault Tolerant Dynamic Task Allocation for Heterogeneous Multi-Robot Systems
No full textThis research presents a novel approach to dynamic task allocation in heterogeneous multi-robot systems with integrated fault detection capabilities. As multiple industries are becoming more reliant on multi-robot systems for tasks, maintaining operational efficiency despite robot failures becomes critical. We propose a framework that combines optimization-based task allocation with a Kalman filter that estimates task progress for anomaly detection to identify unreliable agents and dynamically redistribute tasks. Observing values such as the normalized innovation squared (NIS), covariance, and progress rate, the algorithm can designate a robot as faulty. Embedding information about which robots are faulty in the task algorithm allows for the system to change based on robots performances. The addition of an adaptive Q matrix allows for the system to be flexible as the tasks are rearranged. Simulated tests were done to validate the approach by forcing failure conditions, including sensor noise, measurement bias, stale progress, communication faults, and task abandonment. Results show that stale progress and task abandonment are the easiest to detect, measurement bias and measurement noise are dependent on the magnitude of the fault, and communication failures heavily lag in the detection time
RAY Collection: Forging a New Fashion Genre
Get PDFThis senior project addresses a gap in the fashion industry by creating a new genre through a unique collection and comprehensive branding. The RAY collection draws inspiration from the designer\u27s artistic roots and is a deeply personal homage to influential female artists like Frida Kahlo, Louise Bourgeois, and Leonora Carrington, whose works have inspired the designer\u27s creative journey. Each piece in the collection draws direct inspiration from these artists, reflecting the creator\u27s vision and self-expression, a key element of the streetwear genre incorporated into the designs.
The project also heavily emphasizes fashion branding, encompassing a logo, brand identity, social and web mockups, and brand photography. This aspect showcases the designer\u27s mastery of brand storytelling and graphic communication principles, skills vital for success in the fashion industry. Ultimately, this project represents the culmination of four years of academic learning, allowing the designer to realize a long-held dream of launching a fashion line while demonstrating the practical application of design and branding knowledge
Keeping COMS Connected: Building a Foundation for Alumni Engagement
Get PDFThis project addresses the lack of Alumni Engagement in the Communication Studies department at Cal Poly. It aims to cultivate a stronger department community by creating sustainable resources and events to deepen connections. We looked to answer how targeted alumni outreach could strengthen the department and what benefits this would bring to current students, faculty, and alumni. To do this, our group organized an Alumni Panel event, created a contact list, implemented student alumni liaison positions, solicited donations for the COMS spring social, and worked on the department website and social media. By applying research on communication theories, we were able to strengthen and inform our strategies, which received positive feedback. We found that the limited alumni engagement was an opportunity to create long-term support, and with our initiatives, we were able to start a conversation about an eventual Alumni Affinity group. Through collaboration and creativity, we have created the foundation for a more connected and engaged alumni network that can grow and benefit future students. The COMS department is now well-positioned to continue our work, and we are excited to be a part of the future Alumni Affinity board
Effect of Foot Strike Pattern on Joint Kinetics on a Downhill Slope
Get PDFWith recent increases in participation in outdoor running events, there is a need for research in downhill gait biomechanics. One change that could impact joint loading is foot strike pattern. Foot strike patterns have been categorized into rearfoot-strike (RFS), midfoot-strike (MFS), and forefoot-strike (FFS) [1]. While 75-99% of distance runners naturally RFS on level surfaces, they tend to move towards FFS when it is necessary to reduce vertical loading conditions at the knee [1]. The purpose of this study was to examine differences in peak vertical knee and ankle forces, knee moment, and ankle power, as well as cumulative force per step in the knee and ankle, to determine if there is an optimal foot strike pattern to reduce injury risk in downhill running.
Ten male participants aged 18-23 were included in the study. An 11.45 degree wooden ramp was built and placed on a force plate with a calibrated motion capture system. Natural foot strike position (between FFS and RFS) was determined through observation of natural gait patterns. A 19 marker set was placed on participants, who then walked down the ramp, taking one or two leadup steps as their natural gait allowed, before their dominant leg struck the force plate, first with their natural foot strike position. After two successful trials, participants underwent a familiarization period, walking with their non-natural foot strike position. They were considered familiarized when they could take 20 consecutive steps on flat ground with the non-natural position, and walked down the ramp as many times as necessary until they consistently accurately struck with their non-natural pattern. Two more successful trials were taken. Data were processed and kinetics calculated, with paired t-tests performed for six variables: peak vertical knee and ankle force, peak knee moment, peak ankle power, and knee and ankle cumulative force (p\u3c 0.05 significant).
FFS produced a higher vertical peak force in the knee (p =0.0045) and a higher ankle cumulative force (p =0.0252) on the downhill ramp. RFS produced a higher knee moment (p = 0.0268). Ankle peak vertical force (p =0.0837,), ankle power (p =0.0887), and knee cumulative force (p =0.0597) did not produce statistically significant differences.
The results of this study suggest that while RFS may have some benefit for injury risk, especially in the ankle, there are areas of strength in both RFS and FFS for preventing different types of injuries in the knee. Future study directions could include performing similar tests with running participants, looking into contact time as a potential factor in these relevant kinetics, and performing more tests to determine which loading pattern is more predictive of injuries between peak and cumulative loads
Foot Pedal Assistive Device
Get PDFIndividuals with lower-limb mobility problems may have trouble accurately locating the pedals of a three-pedal manual transmission car, and some medical conditions cause individuals to fatigue more quickly when driving. This project aimed to create a device that assists in locating the user’s feet, indicates to the user which pedals are currently in use, and provides a visual and physical warning if they are not in the correct place. The project sponsor, Alan Keizer, is the primary stakeholder in this project. This device will be designed specifically for Alan’s Subaru BRZ and will address Alan’s specific lower-limb mobility issues that result from his multiple sclerosis (MS)
Trailer Transport System for Multi-Ton Bins
Get PDFThis project aimed to improve the process of transporting 10,000-pound industrial waste bins. The current method for relocating these bins poses safety risks and requires significant manual effort. This project presents a conceptual solution that enables a single operator to efficiently and safely move roll-off bins using a custom-designed trailer system. The design incorporates three main subsystems: a trailer frame, an integrated winch system, and an off-the-market puller device to guide and secure the bin during transport. Two scaled proof-of-concept prototypes were fabricated to evaluate key aspects of the system\u27s functionality. Testing and analysis suggested that the system is viable in principle and offers a safer, more streamlined alternative to existing practices, though additional development and refinement are recommended for full-scale implementation
Open-Source CubeSat Flight Software and Simulation
Get PDFAn open-source FreeRTOS-based flight software framework for CubeSats, with an example flight software package and simulation demonstrating real-time attitude control
Langlands Reciprocity and the Splitting Behavior of Primes in Number Fields
Get PDFThis thesis explores the evolution of reciprocity laws in number theory in order to provide a conceptual bridge between the classical ideas of quadratic reciprocity and the modern framework of the Langlands program. We develop the necessary algebraic background to understand how the splitting behavior of primes in number fields reflects deep arithmetic structure in ℚ. Starting with quadratic fields and cyclotomic extensions, we motivate the development of the Kronecker–Weber theorem and the characterization of abelian extensions of ℚ. We then introduce Artin reciprocity and show how it generalizes quadratic reciprocity through the formalism of Frobenius elements and Artin L-functions. These ideas naturally lead into the Langlands philosophy, where the equality of L-functions that arise from representations of two distinct objects (one a Galois representation and the other an automorphic representation) becomes the natural framework for a generalized reciprocity law. We conclude by examining how the modularity theorem for elliptic curves implies Fermat’s Last Theorem and briefly comment on recent developments in the geometric Langlands program
Optimizing Microfluidic Murine Fibroblast and Human Epidermal Keratinocyte Cell Culture in 70µm Microwells
Get PDFCell culture is an essential technique utilized in biotechnology and medicine to remove systemic influences to study cellular behavior and morphological development of individual cell lines. However, conventional cell culture is two-dimensional and static meaning it can’t easily mimic in vivo conditions such as multicellular cell to cell interactions, fluid perfusion, or 3D structures which might alter cellular behavior and morphology. Microfluidic cell culture allows for the incorporation of in vivo conditions such as perfusion and chemical gradients allowing for more physiologically accurate models. The goal of this study is to develop a protocol for testing a microfluidic chip designed and fabricated to culture mammalian cells in 70 μm deep wells, featuring a gradient generator that delivers varying concentrations to each well. Our approach is to utilize microfluidics to allow continuous media perfusion through the device for long term culture and check cell viability through morphology and cell adhesion. We have successfully observed cell adhesion and proliferation in all 16 culture wells with an initial 3-hour static incubation period followed by a 24-hour continuous media perfusion at a perfusion rate of 9 μL/hr. Observations indicated that cells required to be seeded at full confluency and have media exchanged every 3 hours to allow for cell proliferation
Streamlined Intelligence: Resource-Efficient Machine Learning For 5G NR V2V Channel Equalization
Get PDFAs autonomous vehicles continue to evolve, reliable and efficient real-time communication between vehicles is essential for safety and performance. This thesis explores Streamlined Intelligence: Resource Efficient machine learning for 5G NR V2V Channel Equalization, focusing on lightweight random forest decision tree models to address the challenges of channel equalization in 5G New Radio (NR) vehicle to vehicle (V2V) systems. Using orthogonal frequency division multiplexing (OFDM) with QPSK modulation, the study simulates data transmission in nonlinear channels characterized by obstructions, Doppler shifts, and fading. Decision trees are proposed as a computationally efficient alternative to other machine learning methods while being compared to traditional methods such as minimum mean square error (MMSE) equalizers. Using MATLAB, the performance of these models is evaluated on the basis of bit error rate (BER), training time, and delay under varying channel conditions. The random forest equalizer BER outperforms MMSE in nonlinear channel conditions. However, the random forest adds prediction time to the system and a vast amount of training time. This work aims to demonstrate the potential of resource-efficient machine learning in achieving high-performance channel equalization, paving the way for scalable and effective communication in next-generation autonomous systems