Theses and Dissertations at Montana State University (MSU)
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Item Fossil viruses, redox paradigms and predictive metabolism from a systems biology perspective(Montana State University - Bozeman, College of Letters & Science, 2014) Heinemann, Joshua Vance; Chairperson, Graduate Committee: Brian Bothner; Walid S. Maaty, George Gauss, Narahari Akkaladevi, Susan K. Brumfield, Vamseedhar Rayaprolu, Mark Young, C. Martin Lawrence and Brian Bothner were co-authors of the article, 'Fossil record of an HK-97-like provirus' in the journal 'Virology' which is contained within this thesis.; Timothy Hamerly, Walid S. Maaty, Navid Movahed, Joseph D. Steffens, Benjamin D. Reeves, Jonathan K. Hilmer, Jesse Therien, Paul A. Grieco, John W. Peters and Brian Bothner were co-authors of the article, 'Expanding the paradigm of thiol redox in the thermophilic root of life' in the journal 'Biochimica et biophysica acta' which is contained within this thesis.; Aurélien Mazurie, Monika Tokmina-Lukaszewska, Greg J. Beilman and Brian Bothner were co-authors of the article, 'Application of support vector machines to metabolomics experiments with limited replicates' in the journal 'Metabolomics' which is contained within this thesis.; Brigit Noon, Mohammad J. Mohigmi, Aurélien Mazurie, David L. Dickensheets and Brian Bothner were co-authors of the article, 'Real-time digitization of metabolomic patterns from a living system using mass spectrometry' submitted to the journal 'Journal of the American Chemical Society' which is contained within this thesis.One of the goals of systems biology is to develop a model which encapsulates the molecular, structural and temporal complexity of a living organism. While modern omics experiments can deliver a high resolution view of an organism's molecular complexity, methods for correlating the information from multiple biomolecular systems (i.e. genes, proteins and metabolites) and their changes over time remain greatly underdeveloped. Presented in this research are: (1) methods for understanding the inter-relation of multiple biomolecular systems correlating genomics, proteomics and metabolomics experiments; (2) techniques for machine learning based metabolic biomarker selection; (3) robotics technology for real-time measurement of changes in metabolism. The methods for correlating information from multiple biomolecular systems have provided a new perspective of biomolecular adaptation and evolutionary relationships in the thermophilic archaea. The techniques for biomarker selection have provided a method to assess the reliability of biomarkers in experiments where limited samples are available. The new technology has provided an engineered system for automated analysis of metabolic patterns and how they change over time. Together, these results have created a framework for future improvement of our understanding of biology through the use of molecular biology, machine learning and robotics.Item Evaluation of assembly routines with multitasking execution in a physical robotic cell(Montana State University - Bozeman, College of Engineering, 1989) San Martin, SergioThis research covered the development of multitasking execution programs and evaluation of twelve assembly sequences, in terms of efficiency and effectiveness, applied to a robotic cell under two software control methods. The assembly sequences were defined via analytical methods and verified later with a physical simu I at ion. The analytical methods used to define the sequences were the SPT rule, the LPT rule and the Branch and Bound algorithm. The software control methods were a single task execution program, and a multitask execution program. The single task execution programs performed all the activities in a sequencial mode. The multitask execution program allowed two activities to run simultaneously. The physical simulation was performed in a robotic cell containing two TeachMover robot arms, a central assembly area, and two bin cells built with Fischertechnik components. The part assembled was a representation of a circuit board with four microchips made of machinable wax. The control software was coded using ARMBASIC for the robot arms and TurboBASIC for the main program. The analytical results showed that using a single robot, the sequence with the best completion time was generated with the Branch and Bound algorithm. Also, this result was verified with the physical simulation that generated the best completion time using the Branch and Bound algorithm. Using two robot arms, the analytical results showed that the Branch and Bound algorithm under a multitask execution mode generated the best assembly sequence. In this case, the physical simulation showed different results. The best sequence found with the physical simulation was an adjusted sequence, running under a multitask execution mode, that removed the physical conflicts to avoid collisions in the assembly area. The physical interference could not be observed by the analytical methods. Therefore, the use of physical simulation to evaluate robotic motions is recommended.Item The design of an automatic vision switching system(Montana State University - Bozeman, College of Engineering, 1998) Feng, ChunshengThe importance of Robotics has been recognized by the manufacturing industry. The introduction of Computer Vision has greatly increased the versatility and application domain of robots such as the interaction between the robot and its changing environment. From previously developed vision position correction methods and currently used visual servo-feedback techniques, computer vision systems present many possibilities in improving the quality and productivity of an industrial product. But computer vision systems also have limits in dealing with some robotic tasks such as Storage Battery Cap Installation. Random geometric distortion exists, which results from the characteristics of battery material or from the positioning error of fixtures. Robotic teaching-playback method can not guarantee the assembly precision when deviation happens. A vision system introduced into the robotic system allows it to respond to an uncertain environment. Conventional vision correction methods only drive robots to the final position without considering robotic trajectory control. They reduce the robotic operation speed compared with stable conditions. Visual servo-feedback techniques can generate the optimal path and assembly precision, but the calculation of visual servo control algorithm is time consuming. It also reduces robotic execution time. In addition, random assembly tasks sometimes do not need vision correction. So the justification of this robotic vision system is improved robotic assembly accuracy that does not affect other robot performance. In this thesis a new robotic vision control system, Automatic Vision Switching System (AVSS), was designed. It was derived from the concept of Just-in-Time and dealt with the installation of storage battery caps. It demonstrated a vision system that functions to correct just when it is needed. Image processing techniques for solving the battery hole’s centroid values were included in AVSS design. The experiment was carried out based on an AdeptOne robot, a Vision-EZ system, a camera with eye-in-hand configuration, and a battery model. The experimental results showed that the AVSS can integrate a vision system with a robotic system efficiently. The AVSS identified the deviation of battery holes’ locations and generated the corrected values in real time. The control accuracy, operation speed and optimal path of robotic manipulator were obtained. The AVSS can also be used in other industrial tasks where random variation is present.Item Improving recruitment and training for 4-H STEM youth robotics program volunteers(Montana State University - Bozeman, Graduate School, 2013) Watson Pottebaum, Cindy; Chairperson, Graduate Committee: Peggy Taylor.In this study, 4-H Volunteer Robotics Training workshops were evaluated for effectiveness. Using surveys, interviews and communication logs, this study examined the usefulness of the Robotics Volunteer Training workshops using LEGO Mindstorms kits and software. The findings from this study showed that a positive, supportive environment can help volunteers overcome past fears and negative feelings toward science and technology and to become successful leaders of youth robotics activities. The research also revealed that takes ongoing support and communication from 4-H staff after the training workshop, in order for the robotics volunteers to gain enough knowledge to lead a youth robotics activity. How can we create a positive robotics training experience for 4-H volunteers? Will an experiential learning experience help volunteers to gain confidence, competence and expertise that they need to be leaders for youth robotics activities? Will these trained volunteers be motivated to carry out a youth robotics activity beyond the training?Item The effects of a robotics program on students skills in STEM, problem solving and teamwork(Montana State University - Bozeman, Graduate School, 2012) Ebelt, Kaye R.; Chairperson, Graduate Committee: Peggy Taylor.In this action research project a fifth grade robotics program was studied to determine student attitudes towards science, technology, engineering, math (STEM), problem solving and teamwork. The goal of the study was to determine the effectiveness of an after school robotics program. At the conclusion of the study, the research indicated an increased interest in STEM education, greater appreciation for teamwork and more positive attitude towards problem solving.