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.

Water quality monitoring by nanostructured films in a sensing unit system

Presented here is a study about the capability of a sensing unit to detect changes in river water quality. In order to determine its accuracy, water quality was monitored at 11 points along the Veado River in Presidente Prudente, Brazil. To have a basis for comparison, a water quality index (WQI) was developed following methods previously applied in different watersheds. Results showed an accurate relationship between WQI and electric impedance readings detected by the sensing unit. Principal components analysis (PCA) was used to derive results in a form that can be correlated with WQI calculated for each sample point, which showed the potential application of this device.

Development of a low-cost mobile mapping system: A South American experience

This paper presents the prototype of a low-cost terrestrial mobile mapping system (MMS) composed of a van, two digital video cameras, two GPS receivers, a notebook computer, and a sound frame synchronisation system. The imaging sensors are mounted as a stereo video camera on top of the vehicle together with the GPS antennae. The GPS receivers and the notebook computer are configured to record data referred to the vehicle position at a planned time interval. This position is subsequently transferred to the road images. This set of equipment and methods provide the opportunity to merge distinct techniques to make topographic maps and also to build georeferenced road image databases. Both vector maps and raster image databases, when integrated appropriately, can give spatial researchers and engineers a new technique whose application may realise better planning and analysis related to the road environment. The experimental results proved that the MMS developed at the São Paulo State University is an effective approach to inspecting road pavements, to map road marks and traffic signs, electric power poles, telephone booths, drain pipes, and many other applications important to people's safety and welfare. A small number of wad images have already been captured by the prototype as a consequence of its application in distinct projects. An efficient organisation of those images and the prompt access to them justify the need for building a georeferenced image database. By expanding it, both at the hardware and software levels, it is possible for engineers to analyse the entire road environment on their office computers.

GIS_EM (Geographic information system for environmental monitoring) - A software implemented at Paulínia refinery (REPLAN) for management of environmental data

The computational program called GIS_EM (Geographic Information System for Environmental Monitoring), a software devised to manage geographic information for monitoring soil, surface, and ground water, developed for use in the Health, Safety, and Environment Division of Paulinia Refinery is presented. This program enables registering and management of alphanumeric information pertaining to specific themes such as drilling performed for sample collection and for installation of monitoring wells, geophysical and other tests, results of chemical analyses of soil, surface, and groundwater, as well as reference values providing orientation for soil and water quality, such as EPA, Dutch List, etc. Management of such themes is performed by means of alphanumeric search tools, with specific filters and, in the case of spatial search, through the selection of spatial elements (themes) in map view. Documents existing in digital form, such as reports, photos, maps, may be registered and managed in the network environment. As the system centralizes information generated upon environmental investigations, it expedites access to and search of documents produced and stored in the network environment, minimizing search time and the need to file printed documents. This is an abstract of a paper presented at the AIChE Annual Meeting and Fall Showcase (Cincinnati, OH 10/30/2005-11/4/2005).

Ten years of NO2 comparisons between ground-based SAOZ and satellite instruments (GOME, SCIAMACHY, OMI)

SAOZ (Systeme d'Analyse par Observations Zenithales) is a ground-based UV-Visible zenith-sky spectrometer installed between 1988 and 1995 at a number of NDSC stations at various latitudes on the globe. The instrument is providing ozone and NO2 vertical columns at sunrise and sunset using the Differential Optical Absorption Spectroscopy (DOAS) technique in the visible spectral range. The ERS-2 GOME Ozone Monitoring Experiment (GOME) in 1995 was the first satellite mission to provide a global picture of atmospheric NO 2 with reasonable spatial and temporal resolution. It was then followed by SCanning ImAging spectroMeter for Atmospheric ChartographY (SCIAMACHY) onboard ENVISAT in 2002, and Ozone Monitoring Instrument (OMI) onboard EOS-AURA in 2004, with a similar capacity to monitor total NO 2. All these instruments are nadir viewing mapping spectrometers, applying the DOAS technique in the visible for deriving the NO2 total column. Here we present the results of NO2 long-term comparisons between GOME and SAOZ for the whole period of GOME operation since 1995 at all latitudes - tropics, mid-latitudes and polar regions - in both hemispheres. Comparisons are also shown with the most recently available SCIAMACHY and OMI data in 2004-2005. Overall, the daytime satellite measurements (around noon) are found consistent with sunrise ground-based data, with an average smaller difference at the tropics and mid-latitudes than in the polar areas in the summer. The agreement is even improved after correcting for the NO2 photochemical change between sunrise and the satellite overpass using a box model. However, some seasonal dependence of the difference between ground-based and satellite total NO2 still remains, related to the accuracy of photochemical simulations and the set of NO2 air mass factors used in the retrievals of both systems.

Automatic system for thermal damage detection in manufacturing process with Internet monitoring

This work involved the development of a smart system dedicated to surface burning detection in the grinding process through constant monitoring of the process by acoustic emission and electrical power signals. A program in Visual Basic® for Windows® was developed, which collects the signals through an analog-digital converter and further processes them using burning detection algorithms already known. Three other parameters are proposed here and a comparative study carried out. When burning occurs, the newly developed software program sends a control signal warning the operator or interrupting the process, and delivers process information via the Internet. Parallel to this, the user can also interfere in the process via Internet, changing parameters and/or monitoring the grinding process. The findings of a comparative study of the various parameters are also discussed here. Copyright © 2006 by ABCM.

Evaluation of tropospheric and ionospheric effects on the geographic localization of data collection platforms

The Brazilian National Institute for Space Research (INPE) is operating the Brazilian Environmental Data Collection System that currently amounts to a user community of around 100 organizations and more than 700 data collection platforms installed in Brazil. This system uses the SCD-1, SCD-2, and CBERS-2 low Earth orbit satellites to accomplish the data collection services. The main system applications are hydrology, meteorology, oceanography, water quality, and others. One of the functionalities offered by this system is the geographic localization of the data collection platforms by using Doppler shifts and a batch estimator based on least-squares technique. There is a growing demand to improve the quality of the geographical location of data collection platforms for animal tracking. This work presents an evaluation of the ionospheric and tropospheric effects on the Brazilian Environmental Data Collection System transmitter geographic location. Some models of the ionosphere and troposphere are presented to simulate their impacts and to evaluate performance of the platform location algorithm. The results of the Doppler shift measurements, using the SCD-2 satellite and the data collection platform (DCP) located in Cuiabá town, are presented and discussed.

An interplanetary mission to Neptune system: Gravitational capture and maneuvers around triton

The gravitational capture was initially used to understand the capture of planetary satellites. However, in the 90's decade, this phenomenon was applied in spacecraft trajectories. Belbruno and Miller studied missions in the Earth-Moon system that uses this technique to save fuel during the insertion of the spacecraft in its final orbit around the Moon. Using a parameter defined as twice the two-body energy of the planet-particle system, Yamakawa also studied the gravitational capture in the Earth-Moon system. In the present paper, this technique is used to study a mission that goes to the Neptune system and perform a gravitational capture in the satellite Triton. The results show direct and retrograde trajectories, for different values of the initial conditions.

Implantação do pilar ruju Botucatu na UNESP para integração ao Sistema Geodésico Brasileiro

The objective of this work was to implant a geodesic pillar in the campus of Botucatu (Rubião Júnior) of the São Paulo State University (UNESP), using active stations of the Brazilian Net of Continuous Monitoring (RBMC) as reference, aiming at inclusion in the Brazilian Geodesic System (BGS). In the planning of the trace, some aspects of the pillar optimization were considered: the field evaluation, the equipment Receiver GPS Topcon Hiper GGD and the net RBMC were used to trace the height, and the Topcon Tools 6.04 version software was use for the data processing, the ambiguity solution, as well as the treatment of injunctions during the column adjustment. The obtained results allowed the implantation of a more accurate pillar then 1ppm compatible to the RBMC net, meeting the specification of IBGE.

Virtual simulator for mobile robots navigation systems

This paper presents the virtual environment implementation for project simulation and conception of supervision and control systems for mobile robots, that are capable to operate and adapting in different environments and conditions. This virtual system has as purpose to facilitate the development of embedded architecture systems, emphasizing the implementation of tools that allow the simulation of the kinematic conditions, dynamic and control, with real time monitoring of all important system points. For this, an open control architecture is proposal, integrating the two main techniques of robotic control implementation in the hardware level: systems microprocessors and reconfigurable hardware devices. The implemented simulator system is composed of a trajectory generating module, a kinematic and dynamic simulator module and of a analysis module of results and errors. All the kinematic and dynamic results shown during the simulation can be evaluated and visualized in graphs and tables formats, in the results analysis module, allowing an improvement in the system, minimizing the errors with the necessary adjustments optimization. For controller implementation in the embedded system, it uses the rapid prototyping, that is the technology that allows, in set with the virtual simulation environment, the development of a controller project for mobile robots. The validation and tests had been accomplish with nonholonomics mobile robots models with diferencial transmission. © 2008 IEEE.

A system of indicators for monitoring social cohesion in Latin America

Includes bibliography

Optimization of satellite constellations in the moon

Nowadays, we return to live a period of lunar exploration. China, Japan and India heavily invest in missions to the moon, and then try to implement manned bases on this satellite. These bases must be installed in polar regions due to the apparent existence of water. Therefore, the study of the feasibility of satellite constellations for navigation, control and communication recovers importance. The Moon's gravitational potential and resonant movements due to the proximity to Earth as the Kozai-Lidov resonance, must be considered in addition to other perturbations of lesser magnitude. The usual satellite constellations provide, as a basic feature, continuous and global coverage of the Earth. With this goal, they are designed for the smallest number of objects possible to perform a specific task and this amount is directly related to the altitude of the orbits and visual abilities of the members of the constellation. However the problem is different when the area to be covered is reduced to a given zone. The required number of space objects can be reduced. Furthermore, depending on the mission requirements it may be not necessary to provide continuous coverage. Taking into account the possibility of setting up a constellation that covers a specific region of the Moon on a non-continuous base, in this study we seek a criterion of optimization related to the time between visits. The propagation of the orbits of objects in the constellation in conjunction with the coverage constraints, provide information on the periods of time in which points of the surface are covered by a satellite, and time intervals in which they are not. So we minimize the time between visits considering several sets of possible constellations and using genetic algorithms.

Versatile and easy-to-assemble measurement system for impedance-based structural health monitoring

In this paper we present a versatile and easy-to-assemble measurement system for structural health monitoring (SHM) based on the electromechanical impedance (EMI) technique. The hardware of the proposed system consists only of a common data acquisition (DAQ) device with external resistors and allows real-time data acquisition from multiple sensors. Besides the low-cost compared to conventional impedance analyzers, the hardware and the software are simple and easier to implement than other measurement systems that have been recently proposed.

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.