Design and Development of an Automated Mobile Manipulator for Industrial Applications

This thesis presents the modeling, control and coordination of an automated mobile manipulator. A mobile manipulator in this investigation consists of a robotic manipulator and a mobile platform resulting in a hybrid mechanism that includes a mobile platform for locomotion and a manipulator arm for manipulation. The structural complexity of a mobile manipulator is the main challenging issue because it includes several problems like adapting a manipulator and a redundancy mobile platform at non-holonomic constraints. The objective of the thesis is to fabricate an automated mobile manipulator and develop control algorithms that effectively coordinate the arm manipulation and mobility of mobile platform. The research work starts with deriving the motion equations of mobile manipulators. The derivation introduced here makes use of motion equations of robot manipulators and mobile platforms separately, and then integrated them as one entity. The kinematic analysis is performed in two ways namely forward & inverse kinematics. The motion analysis is performed for various WMPs such as, Omnidirectional WMP, Differential three WMP, Three wheeled omni-steer WMP, Tricycle WMP and Two steer WMP. From the obtained motion analysis results, Differential three WMP is chosen as the mobile platform for the developed mobile manipulator. Later motion analysis is carried out for 4-axis articulated arm. Danvit-Hartenberg representation is implemented to perform forward kinematic analysis. Because of this representation, one can easily understand the kinematic equation for a robotic arm. From the obtained arm equation, Inverse kinematic model for the 4-axis robotic manipulator is developed. Motion planning of an intelligent mobile robot is one of the most vital issues in the field of robotics, which includes the generation of optimal collision free trajectories within its work space and finally reaches its target position. For solving this problem, two evolutionary algorithms namely Particle Swarm Optimization (PSO) and Artificial Immune System (AIS) are introduced to move the mobile platform in intelligent manner. The developed algorithms are effective in avoiding obstacles, trap situations and generating optimal paths within its unknown environments. Once the robot reaches its goal (within the work space of the manipulator), the manipulator will generate its trajectories according to task assigned by the user. Simulation analyses are performed using MATLAB-2010 in order to validate the feasibility of the developed methodologies in various unknown environments. Additionally, experiments are carried out on an automated mobile manipulator. ATmega16 Microcontrollers are used to enable the entire robot system movement in desired trajectories by means of robot interface application program. The control program is developed in robot software (Keil) to control the mobile manipulator servomotors via a serial connection through a personal computer. To support the proposed control algorithms both simulation and experimental results are presented. Moreover, validation of the developed methodologies has been made with the ER-400 mobile platform

Physiology, syntrophy and viral interplay in the marine sponge holobiont

Holobionts result from intimate associations of eukaryotic hosts and microbes and are now widely accepted as ubiquitous and important elements of nature. Marine sponge holobionts combine simple morphology and complex microbiology whilst diverging early in the animal kingdom. As filter feeders, sponges feed on planktonic bacteria, but also harbour stable species-specific microbial consortia. This interaction with bacteria renders sponges to exciting systems to study basal determinants of animal-microbe symbioses. While inventories of symbiont taxa and gene functions continue to grow, we still know little about the symbiont physiology, cellular interactions and metabolic currencies within sponges. This limits our mechanistic understanding of holobiont stability and function. Therefore, this PhD thesis set out to study the questions of what individual symbionts actually do and how they interact. The first part of this thesis focuses on the cell physiology of cosmopolitan sponge symbionts. For the first time, I characterised the ultrastructure of dominant sponge symbiont clades within sponge tissue by establishing fluorescence in situ hybridization-correlative light and electron microscopy (FISH-CLEM). In combination with genome-centred metatranscriptomics, this approach revealed structural adaptations of symbionts to process complex holobiont-derived nutrients (i.e., bacterial microcompartments and bipolar storage polymers). Next, we unravelled complementary symbiont physiologies and cell co-localisation indicating vivid symbiont-symbiont metabolic interactions within the holobiont. This suggests strategies of nutritional resource partitioning and syntrophy to dominate over spatial segregation to avoid competitive exclusion- a mechanistic framework to sustain high microbial diversity. By combining stable isotope pulse-chase experiments with metabolic imaging, we demonstrated that symbionts can account for up to 60 % of the heterotrophic carbon and nitrogen assimilation in sponges. Thus, sponge symbiont action determines sponge-driven biochemical cycles in marine ecosystems. Finally, I explored the role of phages in the sponge holobiont focussing on tripartie phage-microbe-host interplay. Sponges appeared as rich reservoirs of novel viral diversity with 491 previously unidentified genus-level viral clades. Further, sponges harboured highly individual, yet species-specific viral communities. Importantly, I discovered that phages, termed “Ankyphages”, abundantly encode ankyrin proteins. Such “Ankyphages” I found to be widespread in host-associated environments, including humans. Using macrophage infection assays I showed that phage ankyrins aid bacteria in eukaryote immune evasion by downregulating eukaryotic antibacterial immunity. Thus, I identified a potentially widespread mechanism of tripartite phage-prokaryote-host interplay where phages foster animal-microbe symbioses. Altogether, I draw three main conclusions: The sponge holobiont is a metabolically intertwined ecosystem, with symbiont action impacting the environment, and tripartite phage-prokaryote-eukaryote interplay fostering symbiosis