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Currently, one of the biggest limiting factors for long-term deployment of autonomous systems is the power constraints of a platform. In particular, for aerial robots such as unmanned aerial vehicles (UAVs), the energy resource is the main driver of mission planning and operation definitions, as everything revolved around flight time.

Currently, one of the biggest limiting factors for long-term deployment of autonomous systems is the power constraints of a platform. In particular, for aerial robots such as unmanned aerial vehicles (UAVs), the energy resource is the main driver of mission planning and operation definitions, as everything revolved around flight time. The focus of this work is to develop a new method of energy storage and charging for autonomous UAV systems, for use during long-term deployments in a constrained environment. We developed a charging solution that allows pre-equipped UAV system to land on top of designated charging pads and rapidly replenish their battery reserves, using a contact charging point. This system is designed to work with all types of rechargeable batteries, focusing on Lithium Polymer (LiPo) packs, that incorporate a battery management system for increased reliability. The project also explores optimization methods for fleets of UAV systems, to increase charging efficiency and extend battery lifespans. Each component of this project was first designed and tested in computer simulation. Following positive feedback and results, prototypes for each part of this system were developed and rigorously tested. Results show that the contact charging method is able to charge LiPo batteries at a 1-C rate, which is the industry standard rate, maintaining the same safety and efficiency standards as modern day direct connection chargers. Control software for these base stations was also created, to be integrated with a fleet management system, and optimizes UAV charge levels and distribution to extend LiPo battery lifetimes while still meeting expected mission demand. Each component of this project (hardware/software) was designed for manufacturing and implementation using industry standard tools, making it ideal for large-scale implementations. This system has been successfully tested with a fleet of UAV systems at Arizona State University, and is currently being integrated into an Arizona smart city environment for deployment.
ContributorsMian, Sami (Author) / Panchanathan, Sethuraman (Thesis advisor) / Berman, Spring (Committee member) / Yang, Yezhou (Committee member) / McDaniel, Troy (Committee member) / Arizona State University (Publisher)
Created2018
Description

Agassiz’s desert tortoise (Gopherus agassizii) is a long-lived species native to the Mojave Desert and is listed as threatened under the US Endangered Species Act. To aid conservation efforts for preserving the genetic diversity of this species, we generated a whole genome reference sequence with an annotation based on dee

Agassiz’s desert tortoise (Gopherus agassizii) is a long-lived species native to the Mojave Desert and is listed as threatened under the US Endangered Species Act. To aid conservation efforts for preserving the genetic diversity of this species, we generated a whole genome reference sequence with an annotation based on deep transcriptome sequences of adult skeletal muscle, lung, brain, and blood. The draft genome assembly for G. agassizii has a scaffold N50 length of 252 kbp and a total length of 2.4 Gbp. Genome annotation reveals 20,172 protein-coding genes in the G. agassizii assembly, and that gene structure is more similar to chicken than other turtles. We provide a series of comparative analyses demonstrating (1) that turtles are among the slowest-evolving genome-enabled reptiles, (2) amino acid changes in genes controlling desert tortoise traits such as shell development, longevity and osmoregulation, and (3) fixed variants across the Gopherus species complex in genes related to desert adaptations, including circadian rhythm and innate immune response. This G. agassizii genome reference and annotation is the first such resource for any tortoise, and will serve as a foundation for future analysis of the genetic basis of adaptations to the desert environment, allow for investigation into genomic factors affecting tortoise health, disease and longevity, and serve as a valuable resource for additional studies in this species complex.

Data Availability: All genomic and transcriptomic sequence files are available from the NIH-NCBI BioProject database (accession numbers PRJNA352725, PRJNA352726, and PRJNA281763). All genome assembly, transcriptome assembly, predicted protein, transcript, genome annotation, repeatmasker, phylogenetic trees, .vcf and GO enrichment files are available on Harvard Dataverse (doi:10.7910/DVN/EH2S9K).

ContributorsTollis, Marc (Author) / DeNardo, Dale F (Author) / Cornelius, John A (Author) / Dolby, Greer A (Author) / Edwards, Taylor (Author) / Henen, Brian T. (Author) / Karl, Alice E. (Author) / Murphy, Robert W. (Author) / Kusumi, Kenro (Author)
Created2017-05-31