Spin-Stabilized Spacecrafts: Analytical Attitude Propagation Using Magnetic Torques

Conselho Nacional de Desenvolvimento Científico e Tecnológico (CNPq)

Unscented Kalman Filter Applied to the Spacecraft Attitude Estimation with Euler Angles

The aim of this work is to test an algorithm to estimate, in real time, the attitude of an artificial satellite using real data supplied by attitude sensors that are on board of the CBERS-2 satellite (China Brazil Earth Resources Satellite). The real-time estimator used in this work for attitude determination is the Unscented Kalman Filter. This filter is a new alternative to the extended Kalman filter usually applied to the estimation and control problems of attitude and orbit. This algorithm is capable of carrying out estimation of the states of nonlinear systems, without the necessity of linearization of the nonlinear functions present in the model. This estimation is possible due to a transformation that generates a set of vectors that, suffering a nonlinear transformation, preserves the same mean and covariance of the random variables before the transformation. The performance will be evaluated and analyzed through the comparison between the Unscented Kalman filter and the extended Kalman filter results, by using real onboard data.

Blastocystis hominis: occurrence in children and staff members of municipal day-care centers from Botucatu, São Paulo State, Brazil

To study the frequency of Blastocystis hominis among healthy individuals, feces were collected from 153 children and 20 staff members of some municipal day-care centers. Three separate stool specimens of each individual were processed by Lutz and Faust methods. From 173 studied individuals, 60 (34.7%) showed B. hominis, frequently in association with other intestinal parasites and/or commensals. B. hominis was found mainly in adults and children between 36 and 72 months old. All positive cases were detected only by Lutz method and the use of three stool specimens increased the positivity of the parasitological diagnostic.

Attitude stabilization of a rigid spacecraft in the geomagnetic field

An analytical method is proposed to study the attitude stability of a triaxial spacecraft moving in a circular Keplerian orbit in the geomagnetic field. The method is developed based on the electrodynamics effect of the influence of the Lorentz force acting on the charged spacecraft's surface. We assume that the rigid spacecraft is equipped with an electrostatic charged protective shield, having an intrinsic magnetic moment. The main elements of this shield are an electrostatic charged cylindrical screen surrounding the protected volume of the spacecraft. The rotational motion of the spacecraft about its centre of mass due to torques from gravitational force, as well Lorentz and magnetic forces is investigated. The equilibrium positions of the spacecraft in the orbital coordinate system are obtained. The necessary and sufficient conditions for the stability of the spacecraft's equilibrium positions are constructed using Lyapunov's direct method. The numerical results have shown that the Lorentz force has a significant influence on the stability of the equilibrium positions, which can affect the attitude stabilization of the spacecraft. (C) 2007 COSPAR. Published by Elsevier Ltd. All rights reserved.

Analytical attitude propagation with non-singular variables and gravity gradient torque for spin stabilized satellite

An analytical approach for the spin stabilized satellite attitude propagation is presented using the non-singular canonical variables to describe the rotational motion. Two sets of variables were introduced for Fukushima in 1994 by a canonical transformation and they are useful when the angle between z-satellite axis of a coordinate system fixed in artificial satellite and the rotational angular momentum vector is zero or when the angle between Z-equatorial axis and rotation angular momentum vector is zero. Analytical solutions for rotational motion equations and torque-free motion are discussed in terms of the elliptic functions and by the application of some simplification to get an approximated solution. These solutions are compared with a numerical solution and the results show a good agreement for many rotation periods. When the mean Hamiltonian associated with the gravity gradient torque is included, an analytical solution is obtained by the application of the successive approximations' method for the satellite in an elliptical orbit. These solutions show that the magnitude of the rotation angular moment is not affected by the gravity gradient torque but this torque causes linear and periodic variations in the angular variables, long and short periodic variations in Z-equatorial component of the rotation angular moment and short periodic variations in x-satellite component of the rotation angular moment. The goal of this analysis is to emphasize the geometrical and physical meaning of the non-singular variables and to validate the approximated analytical solution for the rotational motion without elliptic functions for a non-symmetrical satellite. The analysis can be applied for spin stabilized satellite and in this case the general solution and the approximated solution are coincidence. Then the results can be used in analysis of the space mission of the Brazilian Satellites. (C) 2007 COSPAR. Published by Elsevier Ltd. All rights reserved.

TIME-OPTIMAL GEOMAGNETIC ATTITUDE MANEUVERS OF AN AXISYMMETRICAL SPINNING SATELLITE

A formulation used to determine the time-optimal geomagnetic attitude maneuvers subject to dynamic and geometric constraints is proposed in this paper. This was obtained by a direct search procedure based on a control function parametrization method, using linear programming to obtain numerical suboptimal solutions by linear perturbation. Due to its characteristics it can be used in small computers and to generate computer programs of general application. The dynamic modeling, the magnetic torque model and the suboptimal control procedure are presented. Simulation runs have verified the feasibility of the formulation thus derived and have shown a notable improvement in performance.

Stability analysis of the attitude of artificial satellites subject to gravity gradient torque

Using a canonical formulation, the stability of the rotational motion of artificial satellites is analyzed considering perturbations due to the gravity gradient torque. Here Andoyer's variables are used to describe the rotational motion. One of the approaches that allow the analysis of the stability of Hamiltonian systems needs the reduction of the Hamiltonian to a normal form. Firstly equilibrium points are found. Using generalized coordinates, the Hamiltonian is expanded in the neighborhood of the linearly stable equilibrium points. In a next step a canonical linear transformation is used to diagonalize the matrix associated to the linear part of the system. The quadratic part of the Hamiltonian is normalized. Based in a Lie-Hori algorithm a semi-analytic process for normalization is applied and the Hamiltonian is normalized up to the fourth order. Once the Hamiltonian is normalized up to order four, the analysis of stability of the equilibrium point is performed using the theorem of Kovalev and Savichenko. This semi-analytical approach was applied considering some data sets of hypothetical satellites. For the considered satellites it was observed few cases of stable motion. This work contributes for space missions where the maintenance of spacecraft attitude stability is required.

On the germination and dormancy of dispersal units of Brachiaria decumbens staff

The effect of light and temperature on germination of Brachiaria decumbens as well as the action of some dormancy breaking chemicals were tested. Two seed batches stored different times were used. The results show that seeds failed to respond to alternating temperature regimes and different light qualities. Seeds were indifferent to white light at 25°C. KNO3, ethanol and H2SO4 failed to break seed dormancy, whereas KCN and H2O2 partially reduced dormancy of two month stored seeds. The results suggest a metabolic character of dormancy in new (freshly collected) seeds and confirm the occurence of two types of dormancy in B. decumbens seeds.

Caring for organ donors: The intensive care unit nurses' view

The nursing care for patients who are pronounced brain-dead but kept alive to serve as organ donors demands technical-scientific skills and the ability to handle situations that are often in conflict with the traditional concepts of nursing care. Based on the phenomenological approach in this article, essential themes of the lived experience of caring for these patients, including the technical and specific nursing care, the relationship with organ donors and their families, and the nurses' perception of themselves in this professional situation are described. The results point to the contradictions and ambiguities of this type of nursing, especially in regards to the affective and philosophical aspects.

Adaptação para o Português do questionário de auto-avaliação de percepção de saúde física e mental da mulher de meia-idade - Questionário da Saúde da Mulher

The objective of this study is to translate to Brazilian Portuguese, and validate (criterion) it to the Brazilian population, the Women's Health Questionnaire (WHQ), questionnaire was developed by Hunter (1992) in order to evaluate physical and mental symptoms, which were experienced by women, along their climacteric transition. A sample of 63 women, from 45 to 65 years old, was selected from the HC-UNESP staff and HC-Community Health School Center users. The WHQ and the General Health Questionnaire - GHQ (Goldberg-1972 - 60 items) were answered by all of them. The GHQ was used as reference. Pearson correlation coefficient, sensitivity and specificity were calculated for assessing the validity of the questionnaire. Cut-off points were determined in the WHQ by linear regressions (the reference was GHQ's cut-off points - higher than 2). Outcomes highlighted a general index of sensitivity of 0.83, specificity of 0.87, and correlation of - 0.82 and reliability of 0.89. The study sample does not portray the general population because the persons interviewed had high level of education. As the WHQ is easy to be applied and analyzed, it could be used in general, gynecologic, oncology and psychiatric practice.

Effect of the density and of the distance of Brachiaria decumbens staff on the initial growth of Coffea arabica L. Seedligns

The aim of this work was to evaluate the interference of three densities (4, 8 and 16 plants/m 2) of Brachiaria decumbens Stapf distributed at three different distances (0, 10 and 20 cm from coffee plants) on the initial growth of Coffea arabica L. seedlings. Dark red Latosoil was used as substrate to fill up 70 liters cement boxes. Coffee seedlings at 15 cm height and 8 leaves stage were planted in each box. B. decumbens seedlings were transplanted when they reached two to four leaves stage. The experimental design was a randomized blocks with ten treatments and three replications. At the end of the experiment were measured, height, leaf number, leaf area, chlorophyll content and dry weight of coffee plants. Dry weight of B. decumbens leaves was also evaluated. The leaf area and leaf dry weight was shown to be more sensitive parameters to the interference of Brachiaria plants. Dry weight of coffee plants were reduced from 60% to 88% when the B. decumbens were transplanted 0 cm from the coffee plant. With distance of 10 cm the reduction of dry weight increased with the increase of the density of the B. decumbens. In the coexistence of the coffee plants with 16 plants/m 2 of B. decumbens, there was a reduction in the dry weight of about 80% at the distances of 0 and 20 cm. Regarding leaf area, the reduction was 47% on the average in the density of 4 plants/m 2 of B. decumbens The reduction in leaf area at other densities was higher at the distance of 0 and 20 cm, and 55% reduction was obtained at the distance of 10 cm.

Spin stabilized satellite's attitude propagation with quaternions

This paper presents a study of a modeling scheme for the spin stabilized satellites attitude, entirely developed in terms of quaternion parametrization. The analysis includes numerical propagation of the rotational motion equation, considering the influence of the following torques: aerodynamic, gravity gradient, residual magnetic, eddy currents and the one due to the Lorentz force. Applications are developed considering the Brazilian Spin Stabilized Satellites SCD1 and SCD2, which are quite appropriated for verification and comparison of the theory with the real data generated and processed by the INPE's Satellite Control Center (SCC). The results show that for SCD1 and SCD2 the influence of the eddy current torque is bigger than the others ones, not only due to the orbit altitude, but also to other specific satellites characteristics. The influence of the torque due to Lorentz force is smaller than the others ones because of the dimension and the electrical charges of the SCD1 and SCD2. In all performed tests the errors remained within the dispersion range specified for the attitude determination system of INPE's SCC. The results show the feasibility of using the quaternion attitude parametrization for modeling the satellite dynamics of spin stabilized satellites.

Spin stabilized satellite's attitude analytical prediction

An analytical approach for spin stabilized attitude propagation is presented, considering the coupled effect of the aerodynamic torque and the gravity gradient torque. A spherical coordination system fixed in the satellite is used to locate the satellite spin axis in relation to the terrestrial equatorial system. The spin axis direction is specified by its right ascension and the declination angles and the equation of motion are described by these two angles and the magnitude of the spin velocity. An analytical averaging method is applied to obtain the mean torques over an orbital period. To compute the average components of both aerodynamic torque and the gravity gradient torque in the satellite body frame reference system, an average time in the fast varying orbit element, the mean anomaly, is utilized. Afterwards, the inclusion of such torques on the rotational motion differential equations of spin stabilized satellites yields conditions to derive an analytical solution. The pointing deviation evolution, that is, the deviation between the actual spin axis and the computed spin axis, is also availed. In order to validate the analytical approach, the theory developed has been applied for spin stabilized Brazilian satellite SCD1, which are quite appropriated for verification and comparison of the data generated and processed by the Satellite Control Center of the Brazil National Research Institute (INPE). Numerical simulations performed with data of Brazilian Satellite SCD1 show the period that the analytical solution can be used to the attitude propagation, within the dispersion range of the attitude determination system performance of Satellite Control Center of the Brazilian Research Institute.

Consumer attitude towards purchasing intent for ready to drink orange juice and nectar

Purpose: The purpose of this paper was to evaluate the impact of some labeling aspects on the consumer intent to purchase ready to drink orange juice and nectar. Design/methodology/approach: The influence of label information on the consumer intent to purchase was evaluated by conjoint analysis using a convenience sample (n=149). A factorial design with four characteristics, price, brand, information about the product and kind of beverage, was used. Three levels were established for brand and product information, and two for price and kind of beverage. Findings: Low price, product information and market leading brand had positive impact. No preservatives/natural was the information that most influenced consumer's purchase intent. The ideal label showed the leading brand, low price and information no preservatives/natural. These results could be useful for strategic planning of consumer instruction and have important implications for Brazilian orange juice manufactures. Originality/value: Although the most widely consumed beverages in Brazil are ready to drink orange juice and nectar, it was unexpected that consumers did not know the differences between them and that kind of beverage was not an important factor for the purchase decision. © Emerald Group Publishing Limited.