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Description
Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses several critical modeling, design and control objectives for ground vehicles. One central objective is formation of multi-robot systems, particularly, longitudinal control of platoon of ground vehicle. In this

Toward the ambitious long-term goal of a fleet of cooperating Flexible Autonomous Machines operating in an uncertain Environment (FAME), this thesis addresses several critical modeling, design and control objectives for ground vehicles. One central objective is formation of multi-robot systems, particularly, longitudinal control of platoon of ground vehicle. In this thesis, the author use low-cost ground robot platform shows that with leader information, the platoon controller can have better performance than one without it.

Based on measurement from multiple vehicles, motor-wheel system dynamic model considering gearbox transmission has been developed. Noticing the difference between on ground vehicle behavior and off-ground vehicle behavior, on ground vehicle-motor model considering friction and battery internal resistance has been put forward and experimentally validated by multiple same type of vehicles. Then simplified longitudinal platoon model based on on-ground test were used as basis for platoon controller design.

Hardware and software has been updated to facilitate the goal of control a platoon of ground vehicles. Based on previous work of Lin on low-cost differential-drive

(DD) RC vehicles called Thunder Tumbler, new robot platform named Enhanced

Thunder Tumbler (ETT 2) has been developed with following improvement: (1) optical wheel-encoder which has 2.5 times higher resolution than magnetic based one,

(2) BNO055 IMU can read out orientation directly that LSM9DS0 IMU could not,

(3) TL-WN722N Wifi USB Adapter with external antenna which can support more stable communication compared to Edimax adapter, (4) duplex serial communication between Pi and Arduino than single direction communication from Pi to Arduino, (5) inter-vehicle communication based on UDP protocol.

All demonstrations presented using ETT vehicles. The following summarizes key hardware demonstrations: (1) cruise-control along line, (2) longitudinal platoon control based on local information (ultrasonic sensor) without inter-vehicle communication, (3) longitudinal platoon control based on local information (ultrasonic sensor) and leader information (speed). Hardware data/video is compared with, and corroborated by, model-based simulations. Platoon simulation and hardware data reveals that with necessary information from platoon leader, the control effort will be reduced and space deviation be diminished among propagation along the fleet of vehicles. In short, many capabilities that are critical for reaching the longer-term FAME goal are demonstrated.
ContributorsLi, Zhichao (Author) / Rodriguez, Armando A (Thesis advisor) / Artemiadis, Panagiotis K (Committee member) / Berman, Spring M (Committee member) / Arizona State University (Publisher)
Created2016
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Description
To efficiently produce biofuels and meet the planet’s rising energy demands, different biofuel production methods need to be developed and improved. One of the ways is to produce fatty acid methyl esters (FAMEs) in Synechocystis sp. PCC 6803, a versatile strain of cyanobacteria. In this thesis, Synechocystis was engineered to

To efficiently produce biofuels and meet the planet’s rising energy demands, different biofuel production methods need to be developed and improved. One of the ways is to produce fatty acid methyl esters (FAMEs) in Synechocystis sp. PCC 6803, a versatile strain of cyanobacteria. In this thesis, Synechocystis was engineered to produce and excrete methyl laurate. In this pathway, first, lauroyl-ACP from fatty acid biosynthesis is converted to laurate by a thioesterase (TE) from Umbellularia californica. Then, the laurate is methylated to methyl laurate by a juvenile hormone acid O-methyltransferase (DmJHAMT) from Drosophila melanogaster. The TE/∆slr1609 strain of Synechocystis sp. PCC 6803 contains the TE gene and lacks the slr1609 gene encoding an acyl–acyl carrier protein synthetase, which functions in free fatty acid reuptake. The DmJHAMT gene was introduced into this strain for FAME production.
The DmJHAMT gene was cloned into a vector that contains neutral sites from the Synechocystis genome, making it suitable for homologous recombination, and a kanamycin resistance gene, for selection. The obtained plasmid was verified using restriction digests and Sanger sequencing. The sequence analysis and comparison of the cDNA in the obtained plasmid and the mRNA transcript of the same gene revealed three amino acid differences. Subsequent comparison with homologous genes in other Drosophila species revealed the differences in the cDNA match those of the other species, and thus, the gene most likely is functional.
The plasmid was transformed into Synechocystis, and PCRs were used to confirm proper integration and segregation. The TE/∆slr1609/DmJHAMT strain produced 62 mg/L methyl laurate in 12 days under a light intensity of 150 µmol photons m-2 s-1, bubbled with 0.5% CO2 at a rate of 30 mL/min, and supplemented with 0.5 mM methionine. The laurate levels did not decrease over time, but instead, remained stagnant after day 3. When the strain was grown in the same conditions without methionine, the laurate concentrations continued to increase above 400 µM, suggesting minimal methyl laurate production and thus a strong need for methionine supplementation. This work provides further evidence of the viability and success of the introduced FAME production pathway, and improved efficiency may be gained in the future.
ContributorsSharma, Shuchi (Author) / Vermaas, Willem (Thesis director) / Wang, Xuan (Committee member) / Li, Shuqin (Committee member) / Computer Science and Engineering Program (Contributor) / Barrett, The Honors College (Contributor)
Created2020-05