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.

Análisis financiero de la empresa Cementos Argos de Colombia S.A y el sector cementero en Colombia

A partir del 2010, el sector cementero en Colombia experimentó un crecimiento en sus ventas que lo ha posicionado como uno de los sectores más rentable en el país. Esta oportunidad de crecimiento ha permitido que Cementos Argos de Colombia se convirtiera en la empresa líder del sector. Expandiéndose así a mercados internacionales teniendo presencia en países de Centroamérica y Estados Unidos. Por lo tanto es necesario indagar las implicaciones que han tenido los cambios en el sector en las finanzas de la empresa. Para tal fin, se realiza el presente trabajo, que busca determinar de qué manera Cementos Argos de Colombia usa sus recursos para ser una de las empresas del sector mejor posicionada a pesar del crecimiento del mismo y la fuerte competencia que existente. Para esto, se estableció el análisis financiero de Cementos Argos de Colombia, diferentes herramientas e indicadores financieros que ayudaron a identificar, analizar, describir y evaluar los aspectos claves que garantizan el éxito de la empresa.

Employment of Real-Time/FPGA Architectures for Test and Control of Automotive Engines

Nowadays the production of increasingly complex and electrified vehicles requires the implementation of new control and monitoring systems. This reason, together with the tendency of moving rapidly from the test bench to the vehicle, leads to a landscape that requires the development of embedded hardware and software to face the application effectively and efficiently. The development of application-based software on real-time/FPGA hardware could be a good answer for these challenges: FPGA grants parallel low-level and high-speed calculation/timing, while the Real-Time processor can handle high-level calculation layers, logging and communication functions with determinism. Thanks to the software flexibility and small dimensions, these architectures can find a perfect collocation as engine RCP (Rapid Control Prototyping) units and as smart data logger/analyser, both for test bench and on vehicle application. Efforts have been done for building a base architecture with common functionalities capable of easily hosting application-specific control code. Several case studies originating in this scenario will be shown; dedicated solutions for protype applications have been developed exploiting a real-time/FPGA architecture as ECU (Engine Control Unit) and custom RCP functionalities, such as water injection and testing hydraulic brake control.

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.

Laser cladding and its potential to reduce particulate matter emissions from the automotive and locomotive sector

Laser Cladding (LC) is an emerging technology which is used both for coating applications as well as near-net shape fabrication. Despite its significant advantages, such as low dilution and metallurgical bond with the substrate, it still faces issues such as process control and repeatability, which restricts the extension to its applications. The following thesis evaluates the LC technology and tests its potential to be applied to reduce particulate matter emissions from the automotive and locomotive sector. The evaluation of LC technology was carried out for the deposition of multi-layer and multi-track coatings. 316L stainless steel coatings were deposited to study the minimisation of geometric distortions in thin-walled samples. Laser power, as well as scan strategy, were the main variables to achieve this goal. The use of constant power, reduction at successive layers, a control loop control system, and two different scan strategies were studied. The closed-loop control system was found to be practical only when coupled with the correct scan strategy for the deposition of thin walls. Three overlapped layers of aluminium bronze were deposited onto a structural steel pipe for multitrack coatings. The effect of laser power, scan speed and hatch distance on the final geometry of coating were studied independently, and a combined parameter was established to effectively control each geometrical characteristic (clad width, clad height and percentage of dilution). LC was then applied to coat commercial GCI brake discs with tool steel. The optical micrography showed that even with preheating, the cracks that originated from the substrate towards the coating were still present. The commercial brake discs emitted airborne particles whose concentration and size depended on the test conditions used for simulation in the laboratory. The contact of LC cladded wheel with rail emitted significantly less ultra-fine particles while maintaining the acceptable values of coefficient of friction.

Novel methods of state estimation and parameter identification for high-performance motorcycles

This research activity aims at providing a reliable estimation of particular state variables or parameters concerning the dynamics and performance optimization of a MotoGP-class motorcycle, integrating the classical model-based approach with new methodologies involving artificial intelligence. The first topic of the research focuses on the estimation of the thermal behavior of the MotoGP carbon braking system. Numerical tools are developed to assess the instantaneous surface temperature distribution in the motorcycle's front brake discs. Within this application other important brake parameters are identified using Kalman filters, such as the disc convection coefficient and the power distribution in the disc-pads contact region. Subsequently, a physical model of the brake is built to estimate the instantaneous braking torque. However, the results obtained with this approach are highly limited by the knowledge of the friction coefficient (μ) between the disc rotor and the pads. Since the value of μ is a highly nonlinear function of many variables (namely temperature, pressure and angular velocity of the disc), an analytical model for the friction coefficient estimation appears impractical to establish. To overcome this challenge, an innovative hybrid solution is implemented, combining the benefit of artificial intelligence (AI) with classical model-based approach. Indeed, the disc temperature estimated through the thermal model previously implemented is processed by a machine learning algorithm that outputs the actual value of the friction coefficient thus improving the braking torque computation performed by the physical model of the brake. Finally, the last topic of this research activity regards the development of an AI algorithm to estimate the current sideslip angle of the motorcycle's front tire. While a single-track motorcycle kinematic model and IMU accelerometer signals theoretically enable sideslip calculation, the presence of accelerometer noise leads to a significant drift over time. To address this issue, a long short-term memory (LSTM) network is implemented.

Two stroke cycle, novel combustion concepts and electrification for a new generation of internal combustion engines

The pursuit of decarbonization and increased efficiency in internal combustion engines (ICE) is crucial for reducing pollution in the mobility sector. While electrification is a long-term goal, ICE still has a role to play if coupled with innovative technologies. This research project explores various solutions to enhance ICE efficiency and reduce emissions, including Low Temperature Combustion (LTC), Dual fuel combustion with diesel and natural gas, and hydrogen integration. LTC methods like Dual fuel and Reactivity Controlled Compression Ignition (RCCI) show promise in lowering emissions such as NOx, soot, and CO2. Dual fuel Diesel-Natural Gas with hydrogen addition demonstrates improved efficiency, especially at low loads. RCCI Diesel-Gasoline engines offer increased Brake Thermal Efficiency (BTE) compared to standard diesel engines while reducing specific NOx emissions. The study compares 2-Stroke and 4-Stroke engine layouts, optimizing scavenging systems for both aircraft and vehicle applications. CFD analysis enhances specific power output while addressing injection challenges to prevent exhaust short circuits. Additionally, piston bowl shape optimization in Diesel engines running on Dual fuel (Diesel-Biogas) aims to reduce NOx emissions and enhance thermal efficiency. Unconventional 2-Stroke architectures, such as reverse loop scavenged with valves for high-performance cars, opposed piston engines for electricity generation, and small loop scavenged engines for scooters, are also explored. These innovations, alongside ultra-lean hydrogen combustion, offer diverse pathways toward achieving climate neutrality in the transport sector.

Back-in-time void finder: dynamical detection of cosmic voids for precision cosmology

Cosmic voids are vast and underdense regions emerging between the elements of the cosmic web and dominating the large-scale structure of the Universe. Void number counts and density profiles have been demonstrated to provide powerful cosmological probes. Indeed, thanks to their low-density nature and they very large sizes, voids represent natural laboratories to test alternative dark energy scenarios, modifications of gravity and the presence of massive neutrinos. Despite the increasing use of cosmic voids in Cosmology, a commonly accepted definition for these objects has not yet been reached. For this reason, different void finding algorithms have been proposed during the years. Voids finder algorithms based on density or geometrical criteria are affected by intrinsic uncertainties. In recent years, new solutions have been explored to face these issues. The most interesting is based on the idea of identify void positions through the dynamics of the mass tracers, without performing any direct reconstruction of the density field. The goal of this Thesis is to provide a performing void finder algorithm based on dynamical criteria. The Back-in-time void finder (BitVF) we present use tracers as test particles and their orbits are reconstructed from their actual clustered configuration to an homogeneous and isotropic distribution, expected for the Universe early epoch. Once the displacement field is reconstructed, the density field is computed as its divergence. Consequently, void centres are identified as local minima of the field. In this Thesis work we applied the developed void finding algorithm to simulations. From the resulting void samples we computed different void statistics, comparing the results to those obtained with VIDE, the most popular void finder. BitVF proved to be able to produce a more reliable void samples than the VIDE ones. The BitVF algorithm will be a fundamental tool for precision cosmology, especially with upcoming galaxy-survey.

Dynamics of galaxies in the cluster environment: a resonant origin for the ISP?

The internal dynamics of elliptical galaxies in clusters depends on many factors, including the environment in which the galaxy is located. In addition to the strong encounters with the other galaxies, we can also consider the gravitational interaction with the ubiquitous Cluster Tidal Field (CTF). As recognized in many studies, one possible way in which CTF affects the dynamics of galaxies inside the cluster is related to the fact that they may start oscillating as “rigid bodies” around their equilibrium positions in the field, with the periods of these oscillations curiously similar to those of stellar orbits in the outer parts of galaxies. Resonances between the two motions are hence expected and this phenomenon could significantly contribute to the formation of the Intracluster Stellar Population (ISP), whose presence is abundantly confirmed by observations. In this thesis work, we propose to study the motion of an elliptical galaxy, modelled as a rigid body, in the CTF, especially when its center of mass traces a quasi-circular orbit in the cluster gravitational potential. This case extends and generalizes the previous models and findings, proceeding towards a much more realistic description of galaxy motion. In addition to this, the presence of a further oscillation, namely that of the entire galaxy along its orbit, will possibly increase the probability of having resonances and, consequently, the rate of ISP production nearly to observed values. Thus, after reviewing the dynamics of a rigid body in a generic force field, we will assess some physically relevant studies and report their main results, discussing their implications with respect to our problem. We will conclude our discussion focusing on the more realistic scenario of an elliptical galaxy whose center of mass moves on a quasi-circular orbit in a spherically symmetric potential. The derivation of the fundamental equations of motion will serve as the basis for future modelling and discussions.

Ephemeris generation of the Galilean moons by using VLBI observations in support to stellar occultations

Stellar occultations are the most accurate Earth-based astronomy technique to obtain the lateral position of celestial bodies, in the case of natural satellites, their accuracy also depends on the central body to which the satellite orbits. The main goal of this thesis work is to analyze if and how very long baseline interferometry (VLBI) measurements of a body like Jupiter can be used in support to stellar occultations of its natural satellites by reducing the planetary uncertainty at the time of the occultation. In particular, we analyzed the events of the stellar occultations of Callisto (15.01.2024) and Io (02.04.2021). The stellar occultation of Callisto has been predicted and simulated using the stellar occultation reduction analysis (SORA) toolkit while the stellar occultation of Io has been already studied by Morgado et al. We then simulated the VLBI data of Jupiter according to the current JUNO trajectories. The required observation were then used as input of an estimation to which then we performed a covariance analysis on the estimated parameters to retrieve the formal errors (1 − σ uncertainties) at each epoch of the propagation. The results show that the addition of the VLBI slightly improves the uncertainty of Callisto even when Jupiter knowledge is worse while for Io we observed that the VLBI data is especially crucial in the scenario of an a priori uncertainty in Jupiter state of about 10km. Here we can have improvements of the estimated initial states of Io of about 70m, 230m and 900m to the radial, along-track and cross-track directions respectively. Moreover, we have also obtained the propagated errors of the two moons in terms of right ascension and declination which both show uncertainties in the mas level at the occultation time. Finally, we simulated Io and Europa together and we observed that at the time of the stellar occultation of Europa the along-track component of Io is constrained, confirming the coupling between the two inner moons.