Issues in autonomous mobile sensor networks

Autonomous mobile sensor networks consist of a number of autonomous mobile robots equipped with various sensors and tasked with a common mission. This thesis considers the topology control of such an ad hoc mobile sensor network. In particular, I studied the problem of controlling the size, with respect to a distance metric, of the network for general interactive forcing among agents. Developed is a stability result, allowing one to design force laws to control the spread of the network. Many of the current results assume a known and/or fixed topology of the graph representing the communication between the nodes, i.e. the graph laplacian is assumed constant. They also assume fixed and known force-laws. Hence, the results are limited to time-invariant dynamics. The research considers stability analysis of sensor networks, unconstrained by specific forcing functions or algorithms, and communication topologies. Since the graph topologies are allowed to change as the agents move about, the system dynamics become discontinuous in nature. Filippov’s calculus of differential equations with discontinuous right hand sides is used to formally characterize the multi-agent system with the above attributes. Lyapunov’s Stability Theory, applied to discontinuous systems, is then used to derive bounds on the norm of the system states given bounds on its initial states and input. The above derived stability results lend themselves to the derivation of methods for the design of algorithms or force-laws for mobile sensor networks. The efficacy of the derived results is illustrated through several examples where it is shown how they may be used for synthesizing a topology managing strategy. Examples are given of designing force-laws that limit the network in a desired area

Multilocus sequence typing of Ochrobactrum spp. isolated from gastric niche

SummaryThe human stomach is colonized by diverse bacterial species. The presence of non-Helicobacter pylori bacteria in urease-positive biopsies of individuals has been reported. Bacteria belonging to the Ochrobactrum genus have been documented in the human gastric niche. The co-occurrence of Ochrobactrum spp. with H. pylori was previously reported in an antral biopsy of a non-ulcer dyspeptic (NUD) subject from Northern India. There is no information on the genetic diversity of Ochrobactrum spp. isolated from the gastric niche in the stomach. We aimed to study the species distribution and diversity of Ochrobactrum spp. with and without H. pylori in urease-positive biopsies across three different geographical regions in India. Sixty-two Ochrobactrum isolates recovered from patients with an upper gastric disorder (n=218) were subjected to molecular identification and multilocus sequence typing. H. pylori DNA was found in the majority of biopsies, which had a variable degree of Ochrobactrum spp present. Interestingly, some of the urease-positive biopsies only had Ochrobactrum without any H. pylori DNA. Based on phylogenetic analysis, the Ochrobactrum isolates were distributed into the O. intermedium, O. anthropi and O. oryzae groups. This indicates there are multiple species in the gastric niche irrespective of the presence or absence of H. pylori. Antibiotyping based on colistin and polymyxin B could differentiate between O. intermedium and O. anthropi without revealing the resistance-driven diversity. Considering the prevalence of multiple Ochrobactrum spp. in the human gastric niche, it is important to evaluate the commensal and/or pathogenic nature of non-H. pylori bacteria with respect to their geographical distribution, lifestyle and nutrition needs

Conversion of biomass platform molecules into fuel additives and liquid hydrocarbon fuels

[EN] In this work some relevant processes for the preparation of liquid hydrocarbon fuels and fuel additives from cellulose, hemicellulose and triglycerides derived platform molecules are discussed. Thus, it is shown that a series of platform molecules such as levulinic acid, furans, fatty acids and polyols can be converted into a variety of fuel additives through catalytic transformations that include reduction, esterification, etherification, and acetalization reactions. Moreover, we will show that liquid hydrocarbon fuels can be obtained by combining oxygen removal processes (e.g. dehydration, hydrogenolysis, hydrogenation, decarbonylation/descarboxylation etc.) with the adjustment of the molecular weight via C C coupling reactions (e.g. aldol condensation, hydroxyalkylation, oligomerization, ketonization) of the reactive platform molecules.This work has been supported by the Spanish Government-MINECO through Consolider Ingenio 2010-Multicat and CTQ.-2011-27550, ITQ thanks the "Program Severo Ochoa" for financial support.Climent Olmedo, MJ.; Corma Canós, A.; Iborra Chornet, S. (2014). Conversion of biomass platform molecules into fuel additives and liquid hydrocarbon fuels. Green Chemistry. 16(2):516-547. https://doi.org/10.1039/c3gc41492bS51654716

Increasing the robustness of the input-shaping method using adaptive control

Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to [email protected], referencing the URI of the item.Includes bibliographical references (leaves 51-53).Issued also on microfiche from Lange Micrographics.Input-Shaping is a widely used method of suppressing residual vibrations in point-to-point motion of flexible bodies. It is easy to implement and gives good results if the dynamics of the system are known accurately. However, it is not very robust to variations in system parameters. Early methods of increasing the robustness of the method incurred a large time penalty. Hence, attempts were made to apply Adaptive Control to increase the robustness of the Shaper. These methods met with limited success. In this thesis, we propose a new adaptive control scheme, which is effective in increasing the robustness of the shaper. It is also able to handle sudden changes in the plant parameters. The performance of the system in the presence of high-frequency un-modeled plant dynamics is also studied. In addition, this method gives the designer a certain degree of freedom in trying to shape the frequency response of the closed loop system

Increasing the robustness of the input-shaping method using adaptive control

Due to the character of the original source materials and the nature of batch digitization, quality control issues may be present in this document. Please report any quality issues you encounter to [email protected], referencing the URI of the item.Includes bibliographical references (leaves 51-53).Issued also on microfiche from Lange Micrographics.Input-Shaping is a widely used method of suppressing residual vibrations in point-to-point motion of flexible bodies. It is easy to implement and gives good results if the dynamics of the system are known accurately. However, it is not very robust to variations in system parameters. Early methods of increasing the robustness of the method incurred a large time penalty. Hence, attempts were made to apply Adaptive Control to increase the robustness of the Shaper. These methods met with limited success. In this thesis, we propose a new adaptive control scheme, which is effective in increasing the robustness of the shaper. It is also able to handle sudden changes in the plant parameters. The performance of the system in the presence of high-frequency un-modeled plant dynamics is also studied. In addition, this method gives the designer a certain degree of freedom in trying to shape the frequency response of the closed loop system

Cost-Effective Disinfection Robot Using UVC Radiation

Sanitization with human efforts is not an easy task. Chances of contracting infections increases which leads to additional spread of bacteria. Currently, normal cleaning robots are used in most of the places but looking at the current situation the sanitization techniques need to be improved. The robot uses radiation of UV rays to kill the microrganisms. It gives a live video streaming of its surrounding using a Wi-fi based camera. With the help of Bluetooth module and android mobile, we can control the movement of the robot inside the room without being physically present. It is built with PIC Microcontroller and Ultraviolet-C (UVC) Sanitization LED. UV-C has bandwidth range of 200-280nm and is most powerful when it comes to killing pathogens in the room. This allows us to sterilise the room effectively. By killing the germs, the UV light restricts their multiplication by destroying their reproductive system. Thus use of this robot lowers the threat of infection, cost of traditional cleaning and sterilisation and increases security in medical facilities. Thus, we are trying to implement a more efficient way of sanitization by building a Low cost UV sanitization Robot which can be used in small clinics and for household purpose

MOLECULAR IDENTIFICATION AND BARCODING OF TWO SHRIMP SPECIES (PARAPENAEOPSIS SCULPTILLIS AND PARAPENAEOPSIS HARDWIKII) COLLECTED FROM GORAI CREEK OF MUMBAI, WEST COAST OF INDIA

Purpose. Molecular identification of two shrimp species (Parapenaeopsis sculptillis and Parapenaeopsis hardwikii) from Gorai creek, Mumbai, west coast of India. Methodology. The specimens of Shrimps Parapenaeopsis sculptillis and Parapenaeopsis hardwikii were collected from Gorai creek. The samples were morphologically identified as per the FAO guidelines manual and by using taxonomic keys. Genomic DNA was extracted from muscle tissue using DNA isolation kit (Hi Media, India). Molecular identification was carried out by using cytochrome oxidase subunit I (COI), gene sequencing by using specific primers LCO1490 and HCO2198. Phylogenetic tree was constructed by neighbour-joining method using mega 6 software to determine the relationship of the samples with known sequences in database. Findings. The P. sculptillis and P. hardwikii showed closest sequence similarities with P. cornuta (84%) and Thysanopoda obtusifrons (83%). A phylogenetic tree was constructed based on COI gene, which separates the populations into thirteen stable clades. The results on DNA barcoding and current distribution of P. culptillis and P. hardwikii and their haplotype P. cornuta and Thysanopoda obtusifrons showed phylogenetic relationship among them, providing insights into the adaptive evolution of DNA sequences. The phylogenetic divergence analyses of the selected specie showed worldwide distribution because the above said species and their haplotype species showed complex sequence diversities that are having functional relevance with energy metabolism and environmental adaptation. Originality. First attempt to use molecular genetic techniques for the identification of Parapenaeopsis sculptillis and Parapenaeopsis hardwikii and to compare their DNA sequences with other haplotype species such as P. cornuta and Thysanopoda obtusifrons. Practical value. The obtained data can be used for shrimp species identification and studies of their phylogenetics and population genetics

Complete metagenome sequencing based bacterial diversity and functional insights from basaltic hot spring of Unkeshwar, Maharashtra, India

Unkeshwar hot springs are located at geographical South East Deccan Continental basalt of India. Here, we report the microbial community analysis of this hot spring using whole metagenome shotgun sequencing approach. The analysis revealed a total of 848,096 reads with 212.87 Mbps with 50.87% G + C content. Metagenomic sequences were deposited in SRA database with accession number (SUB1242219). Community analysis revealed 99.98% sequences belonging to bacteria and 0.01% to archaea and 0.01% to Viruses. The data obtained revealed 41 phyla including bacteria and Archaea and including 719 different species. In taxonomic analysis, the dominant phyla were found as, Actinobacteria (56%), Verrucomicrobia (24%), Bacteriodes (13%), Deinococcus-Thermus (3%) and firmicutes (2%) and Viruses (2%). Furthermore, functional annotation using pathway information revealed dynamic potential of hot spring community in terms of metabolism, environmental information processing, cellular processes and other important aspects. Kyoto Encyclopedia of Genes and Genomes (KEGG) pathway analysis of each contig sequence by assigning KEGG Orthology (KO) numbers revealed contig sequences that were assigned to metabolism, organismal system, Environmental Information Processing, cellular processes and human diseases with some unclassified sequences. The Unkeshwar hot springs offer rich phylogenetic diversity and metabolic potential for biotechnological applications. Keywords: hot spring, metagenome, shotgun sequencing, microbial diversity, Unkeshwa