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Albert E. Patterson

Publications and source records attributed to Albert E. Patterson.

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Modeling conflicting incentives in engineering senior capstone projects: A multi-player game theory approach

University engineering capstone projects involve sustained interaction among students, faculty, and industry sponsors whose objectives are only partially aligned. While capstones are widely used in engineering education, existing analyses typically treat stakeholder behavior informally or descriptively, leaving incentive conflicts, information asymmetries, and strategic dependencies underexplored. This paper develops a formal game-theoretic framework that models capstone projects as a sequential Bayesian game involving three players: the university, the industry sponsor, and the student team. The framework is intended as an analytical and explanatory tool for understanding how institutional policy choices, such as grading structures, intellectual property rules, and sponsor engagement expectations, shape stakeholder behavior and project outcomes, rather than as a calibrated or predictive model. The university acts as a constrained Stackelberg leader by committing to course policies and assessment structures while anticipating strategic responses by sponsors and students under incomplete information. Reduced-form outcome functions capture technical quality, documentation quality, timeliness, alignment with sponsor needs, and publishability, while payoff functions reflect stakeholder-specific objectives and costs. Under standard assumptions, the model admits stable equilibrium regimes that correspond to empirically recognizable capstone dynamics observed in practice, including cooperative engagement, sponsor-dominated exploitation, and student grade gaming. Rather than claiming precise prediction, the framework provides a structured basis for reasoning about incentive design, policy tradeoffs, and structural failure modes in project-based learning environments, as well as for future extensions incorporating richer dynamics, repeated interaction, and empirical calibration.

cs.CY

Safety Monitor for Off-Road Planning with Uncertainty Bounded Bekker Costs

Reliable off-road autonomy requires operational constraints so that behavior stays predictable and safe when soil strength is uncertain. This paper presents a runtime assurance safety monitor that collaborates with any planner and uses a Bekker-based cost model with bounded uncertainty. The monitor builds an upper confidence traversal cost from a lightweight pressure sinkage model identified in field tests and checks each planned motion against two limits: maximum sinkage and rollover margin. If the risk of crossing either limit is too high, the monitor switches to a certified fallback that reduces vehicle speed, increases standoff from soft ground, or stops on firmer soil. This separation lets the planner focus on efficiency while the monitor keeps the vehicle within clear safety limits on board. Wheel geometry, wheel load estimate, and a soil raster serve as inputs, which tie safety directly to vehicle design and let the monitor set clear limits on speed, curvature, and stopping at run time. The method carries uncertainty analytically into the upper confidence cost and applies simple intervention rules. Tuning of the sinkage limit, rollover margin, and risk window trades efficiency for caution while keeping the monitor light enough for embedded processors. Results from a simulation environment spanning loam to sand include intervention rates, violation probability, and path efficiency relative to the nominal plan, and a benchtop static loading check provides initial empirical validation.

eess.SY

Passive Vibration Control of a 3-D Printer Gantry

Improved additive manufacturing capabilities are vital for the future development and improvement of ubiquitous robotic systems. These machines can be integrated into existing robotic systems to allow manufacturing and repair of components, as well as fabrication of custom parts for the robots themselves. The fused filament fabrication (FFF) process is one of the most common and well-developed AM processes but suffers from the effects of vibration-induced position error, particularly as the printing speed is raised. This project adapted and expanded a dynamic model of an FFF gantry system to include a passive spring-mass-damper system controller attached to the extruder carriage and tuned using optimal parameters. A case study was conducted to demonstrate the effects and generate recommendations for implementation. This work is also valuable for other mechatronic systems which operate using an open-loop control system and which suffer from vibration, including numerous robotic systems, pick-and-place machines, positioners, and similar.

cs.RO

System-Level Development of a User-Integrated Semi-Autonomous Lawn Mowing System: Problem Overview, Basic Requirements, and Proposed Architecture

This concept paper outlines some recent efforts toward the design and development of user-integrated semi-autonomous home-sized lawn mowing systems from a systems engineering perspective. This is an important and emerging field of study within the robotics and systems engineering communities. The work presented includes a review of current progress on this problem, a discussion of the problem from a systems engineering perspective, a general system architecture developed by the authors, and a preliminary set of design requirements. This work is meant to provide a baseline and motivation for the further development and refinement of these systems within the systems engineering and robotics communities and is relevant to both academic and commercial research.

cs.RO