Achieving Small World Properties using Bio-Inspired Techniques in Wireless Networks

It is highly desirable and challenging for a wireless ad hoc network to have self-organization properties in order to achieve network wide characteristics. Studies have shown that Small World properties, primarily low average path length and high clustering coefficient, are desired properties for networks in general. However, due to the spatial nature of the wireless networks, achieving small world properties remains highly challenging. Studies also show that, wireless ad hoc networks with small world properties show a degree distribution that lies between geometric and power law. In this paper, we show that in a wireless ad hoc network with non-uniform node density with only local information, we can significantly reduce the average path length and retain the clustering coefficient. To achieve our goal, our algorithm first identifies logical regions using Lateral Inhibition technique, then identifies the nodes that beamform and finally the beam properties using Flocking. We use Lateral Inhibition and Flocking because they enable us to use local state information as opposed to other techniques. We support our work with simulation results and analysis, which show that a reduction of up to 40% can be achieved for a high-density network. We also show the effect of hopcount used to create regions on average path length, clustering coefficient and connectivity.Comment: Accepted for publication: Special Issue on Security and Performance of Networks and Clouds (The Computer Journal

Stability and String Stability Analysis of Formation Control Architectures for Platooning.

This thesis presents theoretical results for stability and string stability of formation control architectures for platooning. We consider three important interconnection topologies for vehicles travelling in a straight line as a string: leader following, cyclic and bidirectional. For the leader following topology we discuss modifications that allow reduced coordination requirements. In the first case we consider the use of the leader velocity as the state to be broadcast to the followers, rather than the standard use of the leader position. This selection yields a formation control architecture that achieves string stability even under time delays in the state broadcast, while reducing typical coordination requirements of leader following architectures. For the second modification we change the way in which the leader position is sent across the string to every follower. This technique keeps some of the good transient properties of the standard leader following architecture but eliminates most of the coordination requirements for the followers. However, we show that this technique does not provide string stability when time delays are present in the communication. The second topology that we discuss is a cyclic one, where the first member of the platoon is forced to track the last one. We discuss two strategies: one where the inter-vehicle spacings may follow a constanttime headway spacing policy and one where an independent leader broadcasts its position to every member of a cyclic platoon. For both strategies we obtain closed form expressions for the transfer functions from disturbances to inter-vehicle spacings. These expressions allow us to show that if the design parameters are not properly chosen, the vehicle platoon may become unstable when the string size is greater than a critical number. On the contrary, if the design parameters are well chosen, both architectures can be made stable and string stable for any size of the platoon. The final topology that we consider is bidirectional, where every member of the platoon, with the exception of the first and last, use measurements of the two nearest neighbours to control their position within the string. Although the derivations are more complex than in the two previous unidirectional cases, we obtain closed form epressions for the dynamics of the platoon. These expressions are in the form of simple transfer functions from disturbances to vehicles. They allow us to obtain stability results for any size of the platoon and understand the behaviour of the least stable pole location as the string size increases. All of the results obtained are illustrated by numerical examples and ad-hoc simulations

Stability and String Stability Analysis of Formation Control Architectures for Platooning.

This thesis presents theoretical results for stability and string stability of formation control architectures for platooning. We consider three important interconnection topologies for vehicles travelling in a straight line as a string: leader following, cyclic and bidirectional. For the leader following topology we discuss modifications that allow reduced coordination requirements. In the first case we consider the use of the leader velocity as the state to be broadcast to the followers, rather than the standard use of the leader position. This selection yields a formation control architecture that achieves string stability even under time delays in the state broadcast, while reducing typical coordination requirements of leader following architectures. For the second modification we change the way in which the leader position is sent across the string to every follower. This technique keeps some of the good transient properties of the standard leader following architecture but eliminates most of the coordination requirements for the followers. However, we show that this technique does not provide string stability when time delays are present in the communication. The second topology that we discuss is a cyclic one, where the first member of the platoon is forced to track the last one. We discuss two strategies: one where the inter-vehicle spacings may follow a constanttime headway spacing policy and one where an independent leader broadcasts its position to every member of a cyclic platoon. For both strategies we obtain closed form expressions for the transfer functions from disturbances to inter-vehicle spacings. These expressions allow us to show that if the design parameters are not properly chosen, the vehicle platoon may become unstable when the string size is greater than a critical number. On the contrary, if the design parameters are well chosen, both architectures can be made stable and string stable for any size of the platoon. The final topology that we consider is bidirectional, where every member of the platoon, with the exception of the first and last, use measurements of the two nearest neighbours to control their position within the string. Although the derivations are more complex than in the two previous unidirectional cases, we obtain closed form epressions for the dynamics of the platoon. These expressions are in the form of simple transfer functions from disturbances to vehicles. They allow us to obtain stability results for any size of the platoon and understand the behaviour of the least stable pole location as the string size increases. All of the results obtained are illustrated by numerical examples and ad-hoc simulations

Analysis and applications of spectral properties of grounded Laplacian matrices for directed networks

In-depth understanding of the spectral properties of grounded Laplacian matrices is critical for the analysis of convergence speeds of dynamical processes over complex networks, such as opinion dynamics in social networks with stubborn agents. We focus on grounded Laplacian matrices for directed graphs and show that their eigenvalues with the smallest real part must be real. Power and upper bounds for such eigenvalues are provided utilizing tools from nonnegative matrix theory. For those eigenvectors corresponding to such eigenvalues, we discuss two cases when we can identify the vertex that corresponds to the smallest eigenvector component. We then discuss an application in leader-follower social networks where the grounded Laplacian matrices arise naturally. With the knowledge of the vertex corresponding to the smallest eigenvector component for the smallest eigenvalue, we prove that by removing or weakening specic directed couplings pointing to the vertex having the smallest eigenvector component, all the states of the other vertices converge faster to that of the leading vertex. This result is in sharp contrast to the well-known fact that when the vertices are connected together through undirected links, removing or weakening links does not accelerate and in general decelerates the converging process

Influence of different prebiotics and mode of their administration on growth, carcass traits and meat quality in broiler chickens

The use of in-feed growth promoting antibiotic use in poultry production is no longer a tool legally available to producers to enhance productivity and control diseases on farms (Regulation EC No. 1831/2003). Since 2006, when the European Union banned the use of antibiotic growth promoters in poultry nutrition, many alternatives have been investigated to replace antimicrobials without any loss of productivity or negative influence on health. One possible way to solve this problem is to control the microbiota of the gastrointestinal tract. Two kinds of feed additives are of interest. The first method is the direct introduction of live bacteria into the digestive tract, the second is the creation of conditions for the development of beneficial bacteria. In the post-antibiotics era, probiotics, prebiotics and their combination (synbiotic) are proposed as a solution to the intestinal problem of poultry. Prebiotics have been used to improve chicken performance via direct impact on the microflora of host animals and in this way effect a reinforcement of the intestinal mucosal barrier against deleterious agents. There are different ways to deliver prebiotics into avian gastrointestinal tract; but, to achieve desired efficacy, prebiotics must be administered to an animal as early in life as possible. Conventionally, in-feed or in-water supplementation has been used at fist hours/days post hatching. However, this approach relies on amount of feed and/or water intake, the quality of water (chlorinated), and other experimental factors. As a consequence, consumed dose of prebiotics varies in the first hours/days after hatching. Also, during early post hatching period, infection of chicks by detrimental bacteria is also possible. Therefore, ”in ovo” approach for injection of prebiotics directly to the incubating egg has been developed. It allows for a precise delivery of the bioactive substances to all embryos at the early stage of development, which unifies the effects of prebiotics across the flock and assures proper development of gut microflora in all chicks. This research, which involves two studies, has aimed to evaluate the effects of prebiotics, ”in ovo” administered, on growth performance, meat quality traits (physiochemical characteristics, intramuscular collagen properties, fiber measurement, cholesterol content, lipid oxidation), in the pectoral muscle (PS) of Ross 308 broiler chickens. The first study aimed to compare in ovo method of prebiotic delivery with in-water supplementation and with both methods combined (in ovo + in-water) in broiler chickens. Two trials were conducted. Trial 1 was carried out to optimize the doses of two prebiotics, DiNovo® (DN), extract of beta-glucans, and Bi2tos (BI), trans-galactooligosaccharides, for in ovo delivery. The estimated parameters were hatchability and bacteriological status of the newly hatched chicks. Prebiotics were dissolved in 0.2 mL of physiological saline, at the doses: 0.18, 0.88, 3.5 and 7.0 mg/embryo; control group (C) was injected in ovo with 0.2 mL of physiological saline. The results of the Trial 1 indicated that the optimal dose of DN and BI prebiotics delivered in ovo, that did not reduce chicks' hatchability, was 0.88 mg/embryo (DN) and 3.5 mg/embryo (BI). Both prebiotics numerically increased number of lactobacilli and bifidobacteria in chicken feces (P > 0.05). Trial 2 was conducted to evaluate effects of different prebiotics (DN, BI and RFO - raffinose family oligosaccharides) delivered in ovo (T1), in-water (T2) and in a combined way (in ovo + in-water) (T3) on broiler chickens performance. The results of Trial 2 showed that chickens from all prebiotic groups were heavier. In particular, significant differences (P < 0.01) were recorded between RFO and C group. Carcass weight and carcass yield were unaffected by prebiotics. Breast weight and breast yield were higher in prebiotic groups; however, significance differences (P < 0.05) were only observed between DN and C group. However, feed intake and feed conversion ratio were increased upon prebiotics delivery in spite of method used. IMC properties were not significantly affected by different prebiotics. The different modality of administration affected carcass weight and carcass yield, in particular birds from T1 group showed higher values of carcass weight (P < 0.01) and carcass yield (P < 0.05) than in T3 group. Breast weight was similar among the experimental groups, differently breast yield was higher in birds that received prebiotics only in water (T3) than in C group (P < 0.01). The bioactives treatment did not affect (P > 0.05) pH24 and color coordinates, except for redness (a*) values at 45 min, which was higher (P < 0.05) in C group in comparison with DN and RFO group, and L* values at 24 hours, which was higher (P < 0.05) in RFO group in comparison with BI group. Water holding capacity was higher in all prebiotic groups compared with control group however, the study revealed no significant differences (P < 0.05) among the groups of chickens. The way of prebiotic administration influenced the chemical-physical parameters. Breast meat pH values measured 45 minutes after slaughter was higher (P < 0.01) in T3 group compared with other groups. Differently, after 24 h the meat from T3 group showed the lowest value (5.78) that differed (P < 0.05) when compared with T2 and C group values (5.86). Color (a*) after 45 minutes was also significant affected by modality of prebiotic supplementation: significant differences (P < 0.01) were recorded between T2 and T3 group and between C and T1 group (P < 0.05). Significant differences (P < 0.05) were also observed for redness (a*) after 24 hours between T1 and control group. Water holding capacity was influenced by prebiotic way of administration: significant differences (P < 0.05) were observed between in water group and T2 and control group. IMC properties were not significantly affected by way of prebiotic administration. Compared to control group, the bioactives treatment slightly increased intramuscular fat content, but differences between groups were not significant (P > 0.05). The breast muscle cholesterol content, ranging from 47.20 to 49.44 mg/100g, was found to be similar (P > 0.05) among experimental groups. The way of prebiotic administration affected the fiber diameter of PM, birds from control group showed a lower (P < 0.05) value of this trait than those from T3 group (in-water). T1 and T2 had intermediate values (P > 0.05). Nevertheless, must be considered that at higher fiber diameter in prebiotics groups had corresponded a heavier breast muscles in prebiotics groups (Table 9.4). Compared with the control group, prebiotics groups had higher content of intramuscular fat; however, the differences were not statistically significant (P > 0.05). The way of prebiotic administration didn’t affect the cholesterol content in the meat. In conclusion, the injection of prebiotics in ovo combined with in-water supplementation did not express synergistic effects on broilers performance compared to in ovo injection only. This study has established an elegant protocol for stimulation of the intestinal microflora populations in broiler chickens. It was achieved using a single in ovo prebiotics delivery duting embryonic development. Has been demonstrated dose oprimization method using hatchability and microbiological screening. In basis of the results obtained from this study, it is possible to propose that in ovo route of prebiotic delivery can replace prolonged and costly in-water supplementation of the broiler chickens with those bioactive compounds. The purpose of the second study was to examine the effect of in ovo injection of 2 different prebiotics, DN and BI, on growth performance, slaughter traits and lipid oxidation of meat in chickens reared under commercial condition. On d 12 of embryonic incubation, 350,560 Ross 308 crossbreed eggs were randomly divided into 3 experimental groups automatically injected in ovo with: physiological saline (control group – C), BI at dose of 3.5mg/egg and DN at dose of 0.88 mg/egg. Hatched chicks (males and females) were housed into 3 poultry houses with a stocking density of 21.2 - 21.5 chicks/m2. Broilers were fed ad libitum commercial diets according to age. At 42 d of age, 15 birds (7 males and 8 females), randomly chosen per each treatment, were individually weighed and slaughtered. The final number of chickens/chicken house, the mortality recorded at 1st week of life and at the end of the experiment, BW/chicken house, stocking density (kg/m2), feed intake, feed conversion rate (FCR) and European Broiler Index were not different (P > 0.05) among the 3 experimental groups. However, treatment with BI and DN were associated with slight increases (P > 0.05) in average BW and a slight reduction (P > 0.05) in the FCR compared to control group. Slaughter traits results showed that chickens from treated groups had significantly higher BW, carcass weight, carcass yield and breast muscle weight than those of control ones. Males had significant higher slaughter traits compared to females, except for breast muscle yield. Meat from in ovo treated birds displayed a higher lipid oxidation levels compared to that from untreated ones along the entire storage time. Overall, the results obtained at the end of this study have provided interesting information for an effective application of the bioactives to be used in the future in breeding industry, with significant and positive impact on animal welfare and public health.Dal 2006, quando l'Unione Europea ha vietato l'utilizzo di antibiotici promotori della crescita nell' alimentazione avicola (Reg. CE n. 1831/2003), si è manifestata una maggiore incidenza di malattie enteriche che hanno determinato perdite di produttività, nonché un incremento della mortalità. A tale scopo, sono state studiate diverse alternative per sostituire gli antimicrobici al fine di evitare perdite di produttività e salvaguardare la salute dei consumatori. Uno dei metodi per risolvere tale problema riguarda il controllo della microflora del tratto gastrointestinale microbista. Ciò è possibile mediante due modi: il primo metodo riguarda l'introduzione diretta di batteri vivi nel tratto digestivo; il secondo riguarda la creazione di condizioni ottimali per lo sviluppo di batteri benefici. Nell'era post-antibiotici, i probiotici, i prebiotici e la loro combinazione (simbiotici) sono proposti come soluzione ai problemi intestinali dei polli. I prebiotici sono stati utilizzati per migliorare le performance dei polli da carne con un impatto diretto sulla microflora dell’ospite ed un’azione tesa a rafforzare la mucosa intestinale contro gli agenti nocivi. Vi sono diversi modi per fornire i prebiotici ai polli ma, per raggiungere l'efficacia desiderata, essi devono essere somministrati all’animale al più presto. Convenzionalmente, la somministrazione avviene nei mangimi o in acqua, alcune ore/giorni dopo la schiusa; tuttavia, questo approccio si basa sulla quantità di mangime e/o di acqua, la qualità dell'acqua, ed altri fattori (condizioni sperimentali e di campo). Di conseguenza, la dose consumata di prebiotici varia nelle prime ore/giorni dopo la schiusa; inoltre, durante le prime fasi, subito dopo la schiusa, è possibile che i pulcini vengano infettati da batteri nocivi. Per i motivi finora elencati, è stato sviluppato l’approccio "in ovo", che consiste nell’iniettare i prebiotici direttamente nell'uovo durante il periodo di incubazione. Tale metodo consente di somministrare una quantità precisa della sostanza bioattiva a tutti gli embrioni nella fase iniziale di sviluppo, che unifica gli effetti dei prebiotici all’intera popolazione e assicura il corretto sviluppo della microflora intestinale in tutti i pulcini. La presente ricerca ha avuto lo scopo di valutare gli effetti di prebiotici, somministrati "in ovo", sulle performance di crescita e la qualità della carne (proprietà del collagene intramuscolare, misure delle fibre muscolari, contenuto di colesterolo, ossidazione dei lipidi), di polli da carne Ross 308. Il primo studio ha avuto come obiettivo quello di valutare gli effetti della modalità di somministrazione dei prebiotici: in ovo, in acqua, in ovo + in acqua sulle performance produttive nel pollo da carne. A tal proposito, sono stati condotti due studi: il primo ha avuto l’obiettivo di ottimizzare le dosi di due prebiotici commerciali DiNovo® (DN), estratto di beta-glucani e Bi2tos (BI), trans galattooligosaccaride da iniettare in ovo. I parametri studiati hanno riguardato la percentuale di schiusa e lo stato batteriologico dei pulcini appena nati. I prebiotici sono stati disciolti in 0,2 ml di soluzione fisiologica, alle dosi: 0,18, 0,88, 3,5 e 7,0 mg/embrione; al gruppo di controllo (C) sono stati iniettati in ovo 0,2 mL di soluzione fisiologica. I risultati di questo primo studio hanno indicato che le dosi ottimali di DN e BI che non riducono la percentuale di schiusa dei pulcini sono di 0,88 mg/embrione per il DN e 3,5 mg/embrione per il BI. Entrambi i prebiotici hanno consentito un aumento del numero di lattobacilli e bifidobatteri nelle feci di pollo (P > 0,05). Il secondo studio è stato condotto per valutare gli effetti di differenti prebiotici (DN, BI e RFO - oligosaccaridi della famiglia del raffinosio) somministrati in ovo (T1), in acqua (T2) e in modo combinato (in ovo + in acqua) (T3) sulle performance dei broiler e sulle caratteristiche qualitative della carne. Il peso della carcassa, la resa alla macellazione ed il peso e la resa del petto sono risultati più elevati nei gruppi trattati con prebiotici, tuttavia, differenze di significatività (P < 0,05) sono state osservate soltanto tra il DN e il gruppo C. L'assunzione di cibo e l’indice di conversione alimentare sono stati più elevati nei gruppi trattati con prebiotici. I risultati del secondo studio hanno evidenziato che i polli dei gruppi trattati con i prebiotici sono risultati più pesanti (P < 0,05). Differenze significative (P < 0,05) sono state registrate tra il gruppo RFO ed il gruppo C. Il trattamento con i bioattivi non ha avuto effetti (P > 0,05) sul pH24 ed il colore, ad eccezione del valore dell’indice del rosso (a*), misurato a 45 min dalla macellazione, che è stato più elevato (P < 0,05) nel gruppo C rispetto ai gruppi DN e RFO ed il valore L* 24 ore, che è stato più elevato (P < 0,05) nel gruppo RFO rispetto al gruppo BI. La capacità di ritenzione idrica è stata più elevata in tutti i gruppi di prebiotici rispetto al gruppo di controllo; tuttavia, le differenze non sono risultate significative (P > 0,05). Il trattamento con i prebiotici ha ridotto lievemente il contenuto di grasso intramuscolare e la quantità di colesterolo nella carne (da 47,20 a 49,44 mg/100gr) è risultata simile tra i gruppi sperimentali mentre non ha influenzato le proprietà del collagene intramuscolare. La diversa modalità di somministrazione ha influenzato il peso e la resa in carcassa, in particolare i broiler del gruppo T1 hanno mostrato valori più elevati del peso della carcassa (P < 0,01) e della resa in carcassa (P < 0,05) rispetto al gruppo T3. Il peso del petto è stato simile tra i gruppi sperimentali, mentre la resa del petto è stata maggiore nei polli che hanno ricevuto i prebiotici solo in acqua (T3) rispetto al gruppo C (P < 0,01). La modalità di amministrazione dei prebiotici ha influenzato marginalmente i parametri chimico-fisici. Il pH del muscolo pettorale, misurato a 45 minuti dopo la macellazione, è stato più elevato (P < 0,01) per il gruppo T3 rispetto agli altri gruppi. Diversamente, dopo 24 ore dalla macellazione la carne dal gruppo T3 ha registrato il valore più basso (5,78) che differiva (P < 0,05) rispetto al gruppo T2 ed al gruppo C (5,86). L’indice del rosso (a*) dopo 45 minuti è stato significativamente influenzato dalla modalità di supplementazione: differenze significative sono state registrate tra il gruppo T2 > T3 (P < 0,01) e tra il gruppo C ed il gruppo T1 (P < 0,05). Differenze significative sono state osservate anche per il colore (a*) dopo 24 ore tra il gruppo T1 > C (P < 0,05). La capacità di ritenzione idrica è stata influenzata dal metodo di somministrazione: differenze significative (P < 0,05) sono state osservate tra il gruppo T2 ed il gruppo di controllo. La modalità di somministrazione dei prebiotici ha influenzato il diametro delle fibre; infatti, le fibre del gruppo controllo sono risultate di diametro inferiore (P < 0,05) rispetto a quelle del gruppo T3 (in acqua). Il valore del diametro delle fibre dei gruppi T1 e T2 è risultato intermedio (P > 0,05). Comunque, va considerato che ad un diametro delle fibre più elevato ha corrisposto un peso superiore del muscolo pettorale, risultato più pesante nei gruppi trattati con prebiotico. Le caratteristiche del collagene intramuscolare non sono state influenzate dalla modalità del trattamento. Il petto del gruppo controllo, rispetto al petto dei polli dei gruppi prebiotici ha evidenziato un contenuto di grasso intramuscolare più elevato anche se le differenze non sono risultate significative (P > 0,05). La modalità di somministrazione dei prebiotici non ha influenzato il contenuto di colesterolo nella carne. In conclusione, l’iniezione di prebiotici in ovo combinati con la somministrazione in acqua non ha espresso effetti sinergici sulle performance dei broiler rispetto alla sola iniezione in ovo. Lo scopo della seconda ricerca è stato quello di esaminare l'effetto dell’iniezione in ovo di 2 diversi prebiotici, DN e BI, sulle performance di crescita, le caratteristiche della carcassa e l'ossidazione dei lipidi della carne di polli allevati in condizioni commerciali. Al 12° giorno di incubazione embrionale, 350.560 uova della linea Ross 308 sono state divise a random in 3 gruppi sperimentali iniettati automaticamente in ovo con: soluzione fisiologica (gruppo di controllo - C), BI alla dose di 3,5 mg/uovo e DN alla dose di 0,88 mg/uovo. I pulcini nati (maschi e femmine) sono stati alloggiati in 3 ricoveri con una densità di 21,2 - 21,5 pulcini/m2. I polli sono stati alimentati ad libitum con diete commerciali formulate in funzione della loro età. A 42 giorni di età, 15 polli da carne (7 maschi e 8 femmine), scelti a caso per ogni trattamento, sono stati pesati e macellati. Il numero finale di polli/pollaio, la mortalità registrata alla 1° settimana di vita e alla fine dell'esperimento, peso vivo/pollaio, densità (kg/m2), l'assunzione di cibo, l’indice di conversione alimentare (FCR) e l’ “European broiler index” non sono risultati diversi tra i 3 gruppi sperimentali (P > 0,05). Tuttavia, il trattamento con BI e DN è stato associato con un leggero aumento (P > 0,05) del peso vivo medio e una lieve riduzione (P > 0,05) del FCR rispetto al gruppo di controllo. Alla macellazione, i broiler di ciascun trattamento hanno mostrato valori significativamente più alti in termini di peso vivo, peso della carcassa, resa in carcassa e peso del muscolo pettorale rispetto a quelli di controllo. Come atteso, i maschi sono risultati significativamente più pesanti e con rese alla macellazione più elevate rispetto alle femmine. Le carni dei polli trattati in ovo con i prebiotici hanno mostrato una maggiore ossidazione dei lipidi rispetto a quelle del gruppo controllo durante tutto il tempo di conservazione (0-6 giorni a 4°C). Nel complesso, i risultati ottenuti con questo studio hanno fornito interessanti informazioni per un’applicazione efficace delle sostanze bioattive da utilizzare in futuro nell’industria avicola, con un impatto significativo e positivo sul benessere degli animali e sulla salute pubblica.Dottorato di ricerca internazionale in Benessere, biotecnologia e qualità delle produzioni animali - Welfare, biotechnology and quality of animal productions (XXVII ciclo - XXVII cycle

Controller with Vehicular Communication Design for Vehicular Platoon System

PhD ThesisTracked Electric Vehicles (TEV) which is a new mass-transport system. It aims to provide a safe, efficient and coordinated traffic system. In TEV, the inter-vehicular distance is reduced to only a quarter of the regular car length and where drive at 200km/h enabling mass transport at uniform speed. Under this requirement, the design of the controller is particularly important. This thesis first developed an innovative approach using adaptive Proportion, integral and derivation (PID) controller using fuzzy logic theory to keep variable time-gap between dynamic cars for platooning system with communication delay. The simulation results presented show a significant improvement in keeping time-gap variable between the cars enabling a safe and efficient flow of the platooning system. Secondly, this thesis investigates the use of Slide Mode Control (SMC) for TEV. It studies different V2V communication topology structures using graph theory and proposes a novel SMC design with and without global dynamic information. The Lyapunov candidate function was chosen to study the impact which forms an integral part for current and future research. The simulation results show that this novel SMC has a tolerance ability for communication delay. In order to present the real time TEV platoon system, a similar PI controller has been utilized in a novel automated vehicle, based on Raspberry Pi, multi-sensors and the designed Remote Control (RC) car. Thirdly, in order to obtain precise positioning information for vehicles in platoon system, this thesis describes Inertial Measurement Unit (IMU)/Global Navigation Satellite System (GNSS) data fusion to achieve a highly precise positioning solution. The results show that the following vehicles can reach the same velocity and acceleration as the leading vehicle in 5 seconds and the spacing error is less than 0.1m. The practical results are in line with those from the simulated experiment