Stability and scalability of homogeneous vehicular platoon: study on the influence of information flow topologies

In addition to decentralized controllers, the information flow among vehicles can significantly affect the dynamics of a platoon. This paper studies the influence of information flow topology on the internal stability and scalability of homogeneous vehicular platoons moving in a rigid formation. A linearized vehicle longitudinal dynamic model is derived using the exact feedback linearization technique, which accommodates the inertial delay of powertrain dynamics. Directed graphs are adopted to describe different types of allowable information flow interconnecting vehicles, including both radar-based sensors and vehicle-to-vehicle (V2V) communications. Under linear feedback controllers, a unified internal stability theorem is proved by using the algebraic graph theory and Routh-Hurwitz stability criterion. The theorem explicitly establishes the stabilizing thresholds of linear controller gains for platoons, under a large class of different information flow topologies. Using matrix eigenvalue analysis, the scalability is investigated for platoons under two typical information flow topologies, i.e., 1) the stability margin of platoon decays to zero as 0(1/N2) for bidirectional topology; and 2) the stability margin is always bounded and independent of the platoon size for bidirectional-leader topology. Numerical simulations are used to illustrate the results

A Blue Native-PAGE analysis of membrane protein complexes in Clostridium thermocellum

Background Clostridium thermocellum is a Gram-positive thermophilic anaerobic bacterium with the unusual capacity to convert cellulosic biomass into ethanol and hydrogen. Identification and characterization of protein complexes in C. thermocellum are important toward understanding its metabolism and physiology. Results A two dimensional blue native/SDS-PAGE procedure was developed to separate membrane protein complexes of C. thermocellum. Proteins spots were identified by MALDI-TOF/TOF Mass spectrometry. 24 proteins were identified representing 13 distinct protein complexes, including several putative intact complexes. Interestingly, subunits of both the F1-F0-ATP synthase and the V1-V0-ATP synthase were detected in the membrane sample, indicating C. thermocellum may use alternative mechanisms for ATP generation. Conclusion Two dimensional blue native/SDS-PAGE was used to detect membrane protein complexes in C. thermocellum. More than a dozen putative protein complexes were identified, revealing the simultaneous expression of two sets of ATP synthase. The protocol developed in this work paves the way for further functional characterization of these protein complexes