Geometric versus Model Predictive Control based guidance algorithms for fixed-wing UAVs in the presence of very strong wind fields.

The recent years have witnessed increased development of small, autonomous fixed-wing Unmanned Aerial Vehicles (UAVs). In order to unlock widespread applicability of these platforms, they need to be capable of operating under a variety of environmental conditions. Due to their small size, low weight, and low speeds, they require the capability of coping with wind speeds that are approaching or even faster than the nominal airspeed. In this thesis, a nonlinear-geometric guidance strategy is presented, addressing this problem. More broadly, a methodology is proposed for the high-level control of non-holonomic unicycle-like vehicles in the presence of strong flowfields (e.g. winds, underwater currents) which may outreach the maximum vehicle speed. The proposed strategy guarantees convergence to a safe and stable vehicle configuration with respect to the flowfield, while preserving some tracking performance with respect to the target path. As an alternative approach, an algorithm based on Model Predictive Control (MPC) is developed, and a comparison between advantages and disadvantages of both approaches is drawn. Evaluations in simulations and a challenging real-world flight experiment in very windy conditions confirm the feasibility of the proposed guidance approach.

The effect of poly(lactide)-poly(carbonate) based block copolymers on the morphology and crystallization of double crystalline poly(lactide)/poly(ε-caprolactone) blends

Block copolymers of poly(lactide) and poly(carbonate) were synthetized in three different compositions and characterized by 1H-NMR and ATR analyses. The compatibilization effect of this copolymers on 80/20 (w/w%) PLA/PCL blend was evaluated. SEM micrographs show that all the blends exhibit the typical sea-island morphology characteristic of immiscible blends with PCL finely dispersed in droplets on a PLA matrix. Upon the addiction of the copolymers a reduction on PCL droplets size is observable. At the same time, a Tg depression of the PLA phase is detected when the copolymers are added in the blend. These results indicate that these copolymers are effective as compatibilizers. The copolymer that acts as the best compatibilizer is the one characterized by the same amount of PLA and PC as repeating units. As result, in the blend containing this copolymer PLA phase exhibits the highest spherulitic growth rate. An analyses on PLA phase crystallization behaviour from the glassy state within the blends was evaluated by DSC experiments. Isothermal cold crystallization of the PLA phase is enhanced up an order of magnitude upon the blending with PCL. Annealing experiments demonstrated that the crystallization of the PCL phase induces the formation of active nuclei in PLA when cooled above cooled below Tg. When the crystallization rate of PCL is retarded, a reduction on PLA nucleation is observed.

Constraining FIR size, dust temperature and dust mass in ALPINE galaxies at redshift 4

The study of galaxies at high redshift plays a crucial role to understand the mechanism of galaxy formation and evolution. At redshifts just after the epoch of re-ionization (4transform from newly-formed objects to more complex structures. In a few hundred Myrs, galaxies increase their stellar mass, change their morphological type and progressively become more obscured due to increased dust attenuation of the UV light. Therefore, determining physical parameters regarding dust is essential to trace the history of the star formation rate (SFR). The main purpose of this thesis is to determine the spatial extent of the dust emission in high-redshift galaxies and to provide a lower limit on dust temperature, to constrain the dust mass. This is achieved by studying 23 FIR continuum detected main-sequence galaxies of the ALMA Large Program to INvestigate (ALPINE) survey, performed at high redshift (4size, with the stellar and gas distribution, traced by the UV and [CII] emission, respectively. Finally, we put these results in a broader context, by studying the dust size evolution as a function of cosmic time. We derive dust size measurements via a Gaussian fit in the image and uv plane. Out of the 23 FIR-continuum-detected targets, 20 have been considered in this work since they are isolated systems. Of these 20, 7 are spatially resolved; for each of the remaining 13, we provide an upper limit to the dust size. We find that the gas emission is more extended than the dust spatial scale, by a factor of 1.40±0.29, while the latter appears to be larger than the stellar emission size. Moreover, we do not find any significant trend for dust size as a function of the stellar mass and the redshift. In addition, we provide a minimum dust temperature estimate for the 7 resolved sources, for which we find Tmin∼16−19K. We also derive dust masses for the resolved sources, logMdust∼7−8M⊙.