Saudi Cultural Missions Theses & Dissertations
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Item Restricted SECURE MULTI-ROBOT COMPUTATION FOR HETEROGENEOUS TEAMS : FOUNDATIONS AND APPLICATIONS(Florida International University, 2024) Alsayegh, Murtadha; Bobadilla, LeonardoIn the rapidly evolving field of robotics, significant progress has been made in the planning, control, and coordination of multi-robot systems, embedding robots into various sectors such as household, manufacturing, healthcare, and surveillance. Despite these advancements, challenges arise, particularly concerning privacy due to robots' potential to access and share more information than necessary, risking sensitive data exposure. Addressing this, our research introduces innovative strategies to ensure collaborative computation among robots while safeguarding privacy, thereby preventing unnecessary information sharing and achieving optimal objectives. We propose lightweight communication protocols for data synchronization, reducing the need for extensive data exchange, and a secure multiparty auction-based algorithm for private task allocation without revealing sensitive data. Additionally, we explore the use of secure multiparty computation with Markov Decision Processes (MDP) for planning, ensuring privacy in multi-agent cooperation. Building on this foundation, we delve into decentralized multi-robot information gathering (DMRIG), presenting the Asynchronous Information Gathering with Bayesian Optimization (AsyncIGBO) and Distributed and Decentralized Robotic Information Gathering (DDRIG) algorithms to improve environmental monitoring data collection efficiency, balancing communication complexity, and privacy. Through practical experimentation, these algorithms' real-world efficacy is demonstrated, emphasizing their role in enhancing environmental monitoring via sophisticated information sharing and task allocation among robots. This dissertation provides a comprehensive approach to addressing privacy and efficiency in heterogeneous robot systems, showcasing the potential of these technologies to advance robotics applications securely and effectively. Together, these components form a comprehensive approach to addressing privacy concerns in heterogeneous robot systems. By interlinking efficient data sharing protocols, secure task allocation, private planning strategies, and optimized multi-robot information gathering, the dissertation lays the groundwork for a new paradigm in robotic collaboration. This synergy ensures that robots can work together effectively, achieving optimal objectives without compromising sensitive information, marking a significant advancement in the field of robotics.11 0Item Restricted Effect of OPTN and OPTN phospho mutants on the innate immune response to Toll-like receptor and NOD Like receptor stimulation(2023) Ghannam, Abdulaziz Mohammed; Smith, AndrewInflammatory diseases represent a large section of conditions affecting the oral cavity. Many chronic diseases may last for life, with their causal factors deemed multifactorial or unknown. Optineurin (OPTN) is an adaptor protein with multiple roles in cellular function. One of its primary roles is related to the promotion of proinflammatory cytokines and chemokines expression and secretion. Gene mutations within OPTN have been identified to contribute to multiple inflammatory or autoimmune conditions. The main aim of this study is to investigate a link between OPTN and NOD2 activation with MDP in the form of a phosphorylation site in OPTN structure. Also, to test the ability of this phosphorylation site to impact NOD2 activation of the NFkB pathway through phosphoproteomics modification in OPTN structure. Finally, measure the significance of this link to inflammation and bacterial response in the form of cytokines release. During this study, I identified a novel phosphorylation site in OPTN that impacts the NFkB pathway by activating the bacterial receptor NOD2. THP-1, the human monocytic cell line, was genetically modified to express human OPTN tagged with EGFP on its N-terminus (THP- 1 OPTN). The THP-1 OPTN cell line was utilised to study protein localisation intracellularly, immunoprecipitation and phosphoproteomics. I identified a novel Serine 526 (Ser526) phosphorylation site induced after NOD2 stimulation with muramyl dipeptide (MDP). To determine the functional consequence of Ser526, phosphorylation site-directed mutagenesis was used to introduce an amino acid substitution at position 525 in the EGFPOPTN, resulting in phosphomimetic amino acids. Phospho-dead and phospho-active OPTN constructs were generated by switching Ser526 to Ala526 (S526A) and Glu526 (S526E), 5 respectively. In addition, stable THP-1 cell lines were produced (THP-1 S526A and THP-1 S526E), and the impact of these mutations on the immune response downstream of NOD2 and Tolllike receptors (TLR) was investigated. THP-1 S526E cells demonstrated a significant elevation in the induction and secretion of proinflammatory cytokines upon NOD2 stimulation. THP-1 S526A ability to secrete cytokines was significantly impeded upon stimulation. The phosphorylation at Ser526 seemed to augment TLR signalling resulting in a significant boost in the induction and release of cytokines. These studies have identified a novel role for OPTN in the immune response downstream of NOD2. The phosphorylation of Ser526 upon NOD2 activation acts as an immune booster which can cooperate with other receptors, such as TLRs, upon bacterial challenge. Mutations in OPTN and NOD2 are associated with a host of human diseases, and the relevance of this pathway to these conditions warrants further investigation.13 0