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2Fed-batch cell culture is the most commonly used process for antibody production in 3 biopharmaceutical industries. Basal media, feed, feeding strategy and glycan structures are always 4 among the most important concerns during process development and optimization. In this study, 5 first, a traditional screening study was performed to identify the top media/feed combinations by 6 evaluating the cell culture performance including cell growth and protein titre. Optimization of the 7 process was also performed using response surface methodology in order to find the most optimum 8 feeding strategy and glucose set point regarding final titre of the recombinant monoclonal antibody 9 being produced in Chinese hamster ovary cell line. The focus of this study is not only on titre, but 10 also on product quality and comparability especially protein glycosylation. The prediction model 11 of product titre as a function of feeding percentage and glucose set point was successfully applied 12 for the second set of experiments that was performed for glycan improvement. Statistical design 13 of experiments was applied to determine the most important factors and their effects on 14 galactosylated and afucosylated glycans. Uridine, manganese, galactose and fucosyltransferase 15 inhibitor were chosen to evaluate if their presence can affect glycans and to obtain their best 16 combination for fed-batch culture supplementation. We determined that 2.5 % daily feeding 17 combined with maintaining the glucose set point on 2.5±0.2 g/L could achieve final titre of 2.5± 18 0.1 g/L. Galactosylation of antibody was increased about 25% using MnCl 2 and galactose while 19 afucosylation was increased about 8% in presence of fucosyltransferase inhibitor. Galactose and 20 Mn 2+ led to a shift from G0F to G1F and presence of Fucosyltransferase inhibitor caused to an 21 increase in G0 compared to its absence. These results demonstrated that supplementation of culture 22 with all these components can provide exact control of antibody galactosylation and fucosylation 23 with minimal impact on culture characteristics and product quality attributes. Subsequently, 24 validation experiments were also carried out in 5L STR bioreactors which showed that similar 25 results could be achieved in bioreactors compared to shake flasks regarding both titre and quality. 26 Keywords: Trastuzumab biosimilar, feeding strategy optimization, design of 27 experiments (DOE), galactosylation, afucosylation 3 28 Abbreviations 29 mAb: Monoclonal antibody; DOE: design of experiment; RSM: response surface 30 methodology; CDC: complement dependent cytotoxicity; ADCC: antibody dependent cell 31 cytotoxicity; CQA: critical quality attributes; Fc: fragment crystallizable; FTI: fucosyl transferase 32 inhibitor; CHO: Chinese hamster ovary; HER2; human epidermal growth factor receptor 2; CCD: 33 central composite design; ANOVA: analysis of variance; HPLC: high pressure liquid 34 chromatography; STR : stirred tank reactor; DO: Dissolved oxygen; VCD: viable cell density; 35 VCC: viabl...

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In this paper we demonstrate the use of Hive as a novel basis for creating multi-sensor vision systems. Hive is a framework in which reusable modules called drones are defined and connected together to create larger systems. Drones are simple to implement, perform a specific task and using the powerful interface of Hive can be combined to create sophisticated vision pipelines. We present a set of drones defined within Hive and a suite of applications built using these drones which utilize the input from multiple cameras and a variety of sensors. Results demonstrate the flexibility of approaches possible with Hive as well as the real-time performance of the Hive applications.