Optimal impulsive collision avoidance in low earth orbit

This paper presents a high-accuracy fully analytical formulation to compute the miss distance and collision probability of two approaching objects following an impulsive collision avoidance maneuver. The formulation hinges on a linear relation between the applied impulse and the objects? relative motion in the b-plane, which allows one to formulate the maneuver optimization problem as an eigenvalue problem coupled to a simple nonlinear algebraic equation. The optimization criterion consists of minimizing the maneuver cost in terms of delta-V magnitude to either maximize collision miss distance or to minimize Gaussian collision probability. The algorithm, whose accuracy is verified in representative mission scenarios, can be employed for collision avoidance maneuver planning with reduced computational cost when compared with fully numerical algorithms.

Mission and Scenario Planning for Unmanned Aerial Vehicles (Path Planning and Collision Avoidance Systems)

As unmanned autonomous vehicles (UAVs) are being widely utilized in military and civil applications, concerns are growing about mission safety and how to integrate dierent phases of mission design. One important barrier to a coste ective and timely safety certication process for UAVs is the lack of a systematic approach for bridging the gap between understanding high-level commander/pilot intent and implementation of intent through low-level UAV behaviors. In this thesis we demonstrate an entire systems design process for a representative UAV mission, beginning from an operational concept and requirements and ending with a simulation framework for segments of the mission design, such as path planning and decision making in collision avoidance. In this thesis, we divided this complex system into sub-systems; path planning, collision detection and collision avoidance. We then developed software modules for each sub-system

Intolerance of uncertainty modulates the insensitivity to reinforcer devaluation found in an avoidance task

The reinforcer devaluation paradigm has been regarded as a canonical paradigm to detect habit-like behavior in animal and human instrumental learning. Though less studied, avoidance situations set a scenario where habit-like behavior may be of great experimental and clinical interest. On the other hand, proactive intolerance of uncertainty has been shown as a factor facilitating responses in uncertain situations. Thus, avoidance situations in which uncertainty is favoured, may be taken as a relevant paradigm to examine the role of intolerance of uncertainty as a facilitatory factor for habit-like behavior to occur. In our experiment we used a free-operant discriminative avoidance procedure to implement a devaluation paradigm. Participants learned to avoid an aversive noise presented either to the right or to the left ear by pressing two different keys. After a devaluation phase where the volume of one of the noises was reduced, they went through a test phase identical to the avoidance phase except for the fact that the noise was never administered. Sensitivity to reinforcer devaluation was examined by comparing the response rate to the cue associated to the devalued reinforcer with that to the cue associated to the still aversive reinforcer. The results showed that intolerance of uncertainty was positively associated to insensitivity to reinforcer devaluation. Finally, we discuss the theoretical and clinical implications of the habit-like behavior obtained in our avoidance procedure.

Evaluation of the Effect of Passive Smoking on Lactoferrin and AST on 12 - 15 Years Old Children and Adolescents

Background: Passive smokers are involuntarily exposed to cigarette or tobacco smoke and as known, inhalation of environmental tobacco smoke is a serious threat. There is little information about the effect of passive smoking on salivary markers and periodontal indices. Objectives: This study investigated the effect of passive smoking on lactoferrin and AST in 12 - 15 years old children and adolescents. Patients and Methods: This case-control analytic correlation type study with no-convenience random sampling method was performed on 160 children aged 12 - 15 who had smokers in their families. The eligible children were divided into two equal groups; 80 cot+ children as case group and 80 cot– children as control group, matched according to age, sex and plaque index. Plaque index was obtained from all subjects. 2 cc unstimulated salivary samples were collected by spitting method. The collected specimens were tested by lactoferrin and AST kits in biochemistry were measured on the day of sampling laboratory. Gingival index Loe and Silness (GI) and Probing Pocket Depth (PPD). Results: Mean and Standard Deviation of PPD and GI was 2.01 ± 0.077 and 1.53 ± 0.055 in experimental group and 1.93 ± 0.073 and 1.49 ± 0.046 in control group respectively (P < 0.001). The Mean and Standard Deviation parameters of lactoferrin and AST, in the experimental group was 38.66 ± 25.15 and 13.45 ± 6.33 and in the control group 10.18 ± 6.82 and 6.53 ± 2.65 group, respectively (P < 0.001). Conclusions: Passive smoking can be effective on inflammatory process of periodontal and salivary biomarkers related to inflammation. Lactoferrin was 11 - 104 in case group and 0.5 - 38 in control group. Aspartat aminotransferase in case group was 2.64 - 30.43 and in control group it was 2.16 - 12.02.

Intolerance of uncertainty predisposes to avoidance habit acquisition

Many mental disorders are characterised by the presence of compulsions and incontrollable habits. Most studies on habit learning, both in animals and in humans, are based on positive reinforcement paradigms. However, the compulsions and habits involved in some mental disorders may be better understood as avoidance behaviours, which involve some peculiarities, such as anxiety states, that have been shown to promote habitual responses. Consequently, we studied habit acquisition by using a free-operant discriminated avoidance procedure. Furthermore, we checked whether intolerance of uncertainty could predispose to avoidance habit acquisition. Participants learned to avoid an aversive noise presented either to the right or to the left ear by pressing two different keys. After a devaluation phase where the volume of the noise presented to one of the ears was reduced, participants went through a test phase identical to the avoidance learning phase except for the fact that the noise was never administered. Habit acquisition was inferred by comparing the rate of responses to the stimulus signalling the devalued reinforcer and to the stimulus signalling the non-devalued reinforcer. The results showed that intolerance of uncertainty was related to the absence of differences between the referred conditions, which entail avoidance habit acquisition.

Development of a 1-D Catalyzed Diesel Particulate Filter Model for Simulation of the Performance and the Oxidation of Particulate Matter and Nitrogen Oxides Using Passive Oxidation and Active Regeneration Engine Experimental Data

Back-pressure on a diesel engine equipped with an aftertreatment system is a function of the pressure drop across the individual components of the aftertreatment system, typically, a diesel oxidation catalyst (DOC), catalyzed particulate filter (CPF) and selective catalytic reduction (SCR) catalyst. Pressure drop across the CPF is a function of the mass flow rate and the temperature of the exhaust flowing through it as well as the mass of particulate matter (PM) retained in the substrate wall and the cake layer that forms on the substrate wall. Therefore, in order to control the back-pressure on the engine at low levels and to minimize the fuel consumption, it is important to control the PM mass retained in the CPF. Chemical reactions involving the oxidation of PM under passive oxidation and active regeneration conditions can be utilized with computer numerical models in the engine control unit (ECU) to control the pressure drop across the CPF. Hence, understanding and predicting the filtration and oxidation of PM in the CPF and the effect of these processes on the pressure drop across the CPF are necessary for developing control strategies for the aftertreatment system to reduce back-pressure on the engine and in turn fuel consumption particularly from active regeneration. Numerical modeling of CPF's has been proven to reduce development time and the cost of aftertreatment systems used in production as well as to facilitate understanding of the internal processes occurring during different operating conditions that the particulate filter is subjected to. A numerical model of the CPF was developed in this research work which was calibrated to data from passive oxidation and active regeneration experiments in order to determine the kinetic parameters for oxidation of PM and nitrogen oxides along with the model filtration parameters. The research results include the comparison between the model and the experimental data for pressure drop, PM mass retained, filtration efficiencies, CPF outlet gas temperatures and species (NO2) concentrations out of the CPF. Comparisons of PM oxidation reaction rates obtained from the model calibration to the data from the experiments for ULSD, 10 and 20% biodiesel-blended fuels are presented.

DESIGN AND APPLICATION OF WIRELESS PASSIVE MAGNETOELASTIC RESONANCE AND MAGNETOHARMONIC FORCE SENSORS

The objective of the work described in this dissertation is the development of new wireless passive force monitoring platforms for applications in the medical field, specifically monitoring lower limb prosthetics. The developed sensors consist of stress sensitive, magnetically soft amorphous metallic glass materials. The first technology is based on magnetoelastic resonance. Specifically, when exposed to an AC excitation field along with a constant DC bias field, the magnetoelastic material mechanically vibrates, and may reaches resonance if the field frequency matches the mechanical resonant frequency of the material. The presented work illustrates that an applied loading pins portions of the strip, effectively decreasing the strip length, which results in an increase in the frequency of the resonance. The developed technology is deployed in a prototype lower limb prosthetic sleeve for monitoring forces experienced by the distal end of the residuum. This work also reports on the development of a magnetoharmonic force sensor comprised of the same material. According to the Villari effect, an applied loading to the material results in a change in the permeability of the magnetic sensor which is visualized as an increase in the higher-order harmonic fields of the material. Specifically, by applying a constant low frequency AC field and sweeping the applied DC biasing field, the higher-order harmonic components of the magnetic response can be visualized. This sensor technology was also instrumented onto a lower limb prosthetic for proof of deployment; however, the magnetoharmonic sensor illustrated complications with sensor positioning and a necessity to tailor the interface mechanics between the sensing material and the surface being monitored. The novelty of these two technologies is in their wireless passive nature which allows for long term monitoring over the life time of a given device. Additionally, the developed technologies are low cost. Recommendations for future works include improving the system for real-time monitoring, useful for data collection outside of a clinical setting.

From Passive to Active Community Conservation: A Study of Forest Governance in a Region of the Sierra Norte of Oaxaca, Mexico

This thesis investigates how seven communities in a subregion of the Sierra Norte of Oaxaca are conserving high forest cover in the absence of national protected areas. To conduct this study I relied on archival research and the review of community documents, focus group interviews and land use transects to explore historical and current land use. I found that communities have conserved 88.34% of the subregion as forest cover, or 58,596 hectares out of a total territory of 66,264 hectares. Analysis suggests that the communities have undergone a historical transition from more passive conservation to more active, conscious conservation particularly in the last decade. This thesis further contends that communities deserve additional financial compensation for this active conservation of globally important forests for biodiversity conservation and that exercises in systematic conservation planning ignore the reality that existing biodiversity conservation in the subregion is associated with community ownership.

Predicting room occupancy with a single passive infrared (PIR) sensor through behavior extraction

Passive infrared sensors have widespread use in many applications, including motion detectors for alarms, lighting systems and hand dryers. Combinations of multiple PIR sensors have also been used to count the number of humans passing through doorways. In this paper, we demonstrate the potential of the PIR sensor as a tool for occupancy estimation inside of a monitored environment. Our approach shows how flexible nonparametric machine learning algorithms extract useful information about the occupancy from a single PIR sensor. The approach allows us to understand and make use of the motion patterns generated by people within the monitored environment. The proposed counting system uses information about those patterns to provide an accurate estimate of room occupancy which can be updated every 30 seconds. The system was successfully tested on data from more than 50 real office meetings consisting of at most 14 room occupants.

Changing the servicescape : The influence of music, self-disclosure and eye gaze on service encounter experience and approach-avoidance behavior

The purpose of this thesis is to investigate and understand the effect of a servicescape’s ambient and social conditions on consumers’ service encounter experience and their approach/avoidance behavior in a retail context. In three papers, with a total sample of over 1600 participants (including 550 actual consumers) and seven experiments, the author investigates the effect of music (ambient stimuli), employees’ self-disclosure (verbal social stimuli) and employees’ gazing behavior (nonverbal social stimuli) on consumers’ service encounter experience and approach/avoidance behavior in a retail store. Paper I comprised two experiments, and the aim was to investigate the influence of music on emotions, approach/avoidance behavior. Paper II comprised two experiments, and the aim was to investigate the effect of frontline employees’ personal self-disclosure on consumers’ reciprocal behavior. Paper III comprised three experiments, and the aim was to investigate the influence of employee’s direct eye gaze/ averted eye gaze on consumer emotions, social impression of the frontline employee and encounter satisfaction in different purchase situations. The results in this thesis show that music affects consumers in both positive and negative ways (Paper I). Self-disclosure affects consumers negatively, in such a way that it decreases encounter satisfaction  (Paper II) and, finally, eye gaze affects consumers by regulating both positively – and in some cases also negatively – consumers’ social impression of the frontline employee and their encounter satisfaction (Paper III). The conclusions of this thesis are that both ambient and social stimuli in a servicescape affect consumers’ internal responses, which in turn affect their behavior. Depending on the purchase situation, type of retail, and stimuli, the internal and behavioral responses are different.

Autonomous formation flying: unified control and collision avoidance methods for close manoeuvring spacecraft

The idea of spacecraft formations, flying in tight configurations with maximum baselines of a few hundred meters in low-Earth orbits, has generated widespread interest over the last several years. Nevertheless, controlling the movement of spacecraft in formation poses difficulties, such as in-orbit high-computing demand and collision avoidance capabilities, which escalate as the number of units in the formation is increased and complicated nonlinear effects are imposed to the dynamics, together with uncertainty which may arise from the lack of knowledge of system parameters. These requirements have led to the need of reliable linear and nonlinear controllers in terms of relative and absolute dynamics. The objective of this thesis is, therefore, to introduce new control methods to allow spacecraft in formation, with circular/elliptical reference orbits, to efficiently execute safe autonomous manoeuvres. These controllers distinguish from the bulk of literature in that they merge guidance laws never applied before to spacecraft formation flying and collision avoidance capacities into a single control strategy. For this purpose, three control schemes are presented: linear optimal regulation, linear optimal estimation and adaptive nonlinear control. In general terms, the proposed control approaches command the dynamical performance of one or several followers with respect to a leader to asymptotically track a time-varying nominal trajectory (TVNT), while the threat of collision between the followers is reduced by repelling accelerations obtained from the collision avoidance scheme during the periods of closest proximity. Linear optimal regulation is achieved through a Riccati-based tracking controller. Within this control strategy, the controller provides guidance and tracking toward a desired TVNT, optimizing fuel consumption by Riccati procedure using a non-infinite cost function defined in terms of the desired TVNT, while repelling accelerations generated from the CAS will ensure evasive actions between the elements of the formation. The relative dynamics model, suitable for circular and eccentric low-Earth reference orbits, is based on the Tschauner and Hempel equations, and includes a control input and a nonlinear term corresponding to the CAS repelling accelerations. Linear optimal estimation is built on the forward-in-time separation principle. This controller encompasses two stages: regulation and estimation. The first stage requires the design of a full state feedback controller using the state vector reconstructed by means of the estimator. The second stage requires the design of an additional dynamical system, the estimator, to obtain the states which cannot be measured in order to approximately reconstruct the full state vector. Then, the separation principle states that an observer built for a known input can also be used to estimate the state of the system and to generate the control input. This allows the design of the observer and the feedback independently, by exploiting the advantages of linear quadratic regulator theory, in order to estimate the states of a dynamical system with model and sensor uncertainty. The relative dynamics is described with the linear system used in the previous controller, with a control input and nonlinearities entering via the repelling accelerations from the CAS during collision avoidance events. Moreover, sensor uncertainty is added to the control process by considering carrier-phase differential GPS (CDGPS) velocity measurement error. An adaptive control law capable of delivering superior closed-loop performance when compared to the certainty-equivalence (CE) adaptive controllers is finally presented. A novel noncertainty-equivalence controller based on the Immersion and Invariance paradigm for close-manoeuvring spacecraft formation flying in both circular and elliptical low-Earth reference orbits is introduced. The proposed control scheme achieves stabilization by immersing the plant dynamics into a target dynamical system (or manifold) that captures the desired dynamical behaviour. They key feature of this methodology is the addition of a new term to the classical certainty-equivalence control approach that, in conjunction with the parameter update law, is designed to achieve adaptive stabilization. This parameter has the ultimate task of shaping the manifold into which the adaptive system is immersed. The performance of the controller is proven stable via a Lyapunov-based analysis and Barbalat’s lemma. In order to evaluate the design of the controllers, test cases based on the physical and orbital features of the Prototype Research Instruments and Space Mission Technology Advancement (PRISMA) are implemented, extending the number of elements in the formation into scenarios with reconfigurations and on-orbit position switching in elliptical low-Earth reference orbits. An extensive analysis and comparison of the performance of the controllers in terms of total Δv and fuel consumption, with and without the effects of the CAS, is presented. These results show that the three proposed controllers allow the followers to asymptotically track the desired nominal trajectory and, additionally, those simulations including CAS show an effective decrease of collision risk during the performance of the manoeuvre.

Heterozygosity decrease in wild boar mating system. A case of outbreeding avoidance?

In sexually reproducing organisms, the specific combinations of parental alleles can have important consequences on offspring viability and fitness. Accordingly, genetic relationship between mates can be used as a criterion for mate choice. Here, we used microsatellite genetic markers to estimate the genetic relationship between mating pairs in the wild boar, Sus scrofa. Males, females and foetuses proceeding from Portugal, Spain and Hungary were genotyped using 14 microsatellite markers. The genetic relationship between mates was estimated using different measures of foetus heterozygosity. We found that the observed heterozygosity of foetuses was lower than that expected under random mating. This result occurred mainly when Sd2 (relatedness of parental genomes) was used as the heterozygosity measure. After simulations, we concluded that the observed low heterozygosity was possibly due to outbreeding avoidance. Outbreeding avoidance based on genetically different genomes might play an important role in species evolution and its genetic conservation.

Perceiving the 3d world from single images

Depth represents a crucial piece of information in many practical applications, such as obstacle avoidance and environment mapping. This information can be provided either by active sensors, such as LiDARs, or by passive devices like cameras. A popular passive device is the binocular rig, which allows triangulating the depth of the scene through two synchronized and aligned cameras. However, many devices that are already available in several infrastructures are monocular passive sensors, such as most of the surveillance cameras. The intrinsic ambiguity of the problem makes monocular depth estimation a challenging task. Nevertheless, the recent progress of deep learning strategies is paving the way towards a new class of algorithms able to handle this complexity. This work addresses many relevant topics related to the monocular depth estimation problem. It presents networks capable of predicting accurate depth values even on embedded devices and without the need of expensive ground-truth labels at training time. Moreover, it introduces strategies to estimate the uncertainty of these models, and it shows that monocular networks can easily generate training labels for different tasks at scale. Finally, it evaluates off-the-shelf monocular depth predictors for the relevant use case of social distance monitoring, and shows how this technology allows to overcome already existing strategies limitations.

Towards automation of constellation management with analytical models for collision avoidance

The growing interest for constellation of small, less expensive satellites is bringing space junk and traffic management to the attention of space community. At the same time, the continuous quest for more efficient propulsion systems put the spotlight on electric (low thrust) propulsion as an appealing solution for collision avoidance. Starting with an overview of the current techniques for conjunction assessment and avoidance, we then highlight the possible problems when a low thrust propulsion is used. The need for accurate propagation model shows up from the conducted simulations. Thus, aiming at propagation models with low computational burden, we study the available models from the literature and propose an analytical alternative to improve propagation accuracy. The model is then tested in the particular case of a tangential maneuver. Results show that the proposed solution significantly improve on state of the art methods and is a good candidate to be used in collision avoidance operations. For instance to propagate satellite uncertainty or optimizing avoidance maneuver when conjunction occurs within few (3-4) orbits from measurements time.

Studio degli indici di Lick come traccianti evolutivi in galassie passive

Le galassie passive sono sistemi dominati da popolazioni stellari vecchie, non mostrano tracce di formazione stellare (spettri compatibili con assenza di righe in emissione e caratterizzati da righe in assorbimento), e ci sono evidenze osservative che indicano che le galassie passive abbiano iniziato ad assemblare la loro massa stellare a z. Gli spettri delle galassie passive conservano traccia dei meccanismi fisici ed evolutivi della loro popolazione stellare. Laddove si hanno a disposizione spettri di buona qualità, ovvero che abbiano un rapporto segnale-rumore elevato, l’informazione contenuta in tali spettri può essere dedotta dalla misura dell’intensità di alcune righe in assorbimento. Burstein et al. (1984) hanno costruito un insieme di indici spettroscopici, chiamato sistema di indici di Lick, i quali misurano l’intensità delle principali righe in assorbimento (nella regione di lunghezze d’onda ottiche tra 4000-6000 Å), in termini di larghezza equivalente. in questa tesi è stato adottato il metodo degli indici di Lick per stimare i parametri evolutivi di un campione di galassie passive. Gli obiettivi principali di questa tesi sono due: 1.) studiare l’evoluzione col redshift dei parametri di età, metallicità totale e abbondanze relative di elementi α rispetto al ferro di un campione di galassie estratto spettroscopicamente dalla SDDS (Moresco et al., 2011). L’obiettivo finale è quello di dedurre informazioni sulla storia di formazione stellare delle galassie del campione. 2.) realizzare una simulazione per valutare la possibilità di misurare gli indici di Lick negli spettri di galassie passive che verranno osservate con la missione futura Euclid. Da questo studio è emerso un chiaro andamento evolutivo del campione in linea con quello previsto dallo scenario evolutivo del mass-downsizing, per il quale la SFH di una popolazione stellare è fortemente vincolata dalla massa della popolazione stessa, nel senso che al crescere della massa la formazione delle galassie passive si colloca in epoche progressivamente più remote, e l’assemblaggio della loro massa stellare avviene in tempi scala via via inferiori. Dalla simulazione è emerso un risultato molto importante che deriva dalla robustezza delle misure del D4000 e riguarda la possibilità di determinare il redshift di galassie a z ≥ 1.5 con Euclid.