Nonlinear Approaches to Attitude Control Using Magnetic and Mechanical Actuation

This thesis argues the attitude control problem of nanosatellites, which has been a challenging issue over the years for the scientific community and still constitutes an active area of research. The interest is increasing as more than 70% of future satellite launches are nanosatellites. Therefore, new challenges appear with the miniaturisation of the subsystems and improvements must be reached. In this framework, the aim of this thesis is to develop novel control approaches for three-axis stabilisation of nanosatellites equipped with magnetorquers and reaction wheels, to improve the performance of the existent control strategies and demonstrate the stability of the system. In particular, this thesis is focused on the development of non-linear control techniques to stabilise full-actuated nanosatellites, and in the case of underactuation, in which the number of control variables is less than the degrees of freedom of the system. The main contributions are, for the first control strategy proposed, to demonstrate global asymptotic stability derived from control laws that stabilise the system in a target frame, a fixed direction of the orbit frame. Simulation results show good performance, also in presence of disturbances, and a theoretical selection of the magnetic control gain is given. The second control approach presents instead, a novel stable control methodology for three-axis stabilisation in underactuated conditions. The control scheme consists of the dynamical implementation of an attitude manoeuvre planning by means of a switching control logic. A detailed numerical analysis of the control law gains and the effect on the convergence time, total integrated and maximum torque is presented demonstrating the good performance and robustness also in the presence of disturbances.

Advanced solutions for authenticity and quality of virgin olive oils

This Ph.D. project aimed to the development and improvement of analytical solutions for control of quality and authenticity of virgin olive oils. According to this main objective, different research activities were carried out: concerning the quality control of olive oil, two of the official parameters defined by regulations (free acidity and fatty acid ethyl esters) were taken into account, and more sustainable and easier analytical solutions were developed and validated in-house. Regarding authenticity, two different issues were faced: verification of the geographical origin of extra virgin (EVOOs) and virgin olive oils (VOOs), and assessment of soft-deodorized oils illegally mixed with EVOOs. About fatty acid ethyl esters, a revised method based on the application of off-line HPLC-GC-FID (with PTV injector), revising both the preparative phase and the GC injector required in the official method, was developed. Next, the method was in-house validated evaluating several parameters. Concerning free acidity, a portable system suitable for in-situ measurements of VOO free acidity was developed and in-house validated. Its working principle is based on the estimation of the olive oil free acidity by measuring the conductance of an emulsion between a hydro-alcoholic solution and the sample to be tested. The procedure is very quick and easy and, therefore, suitable for people without specific training. Another study developed during the Ph.D. was about the application of flash gas chromatography for volatile compounds analysis, combined with untargeted chemometric data elaborations, for discrimination of EVOOs and VOOs of different geographical origin. A set of 210 samples coming from different EU member states and extra-EU countries were collected and analyzed. Data were elaborated applying two different classification techniques, one linear (PLS-DA) and one non-linear (ANN). Finally, a preliminary study about the application of GC-IMS (Gas Chromatograph - Ion Mobility Spectrometer) for assessment of soft-deodorized olive oils was carried out.

Effective procedure for the optimization of the linear controller in an industrial drive for a nonlinear mechanism

Il progetto di tesi è incentrato sull’ottimizzazione del procedimento di taratura dei regolatori lineari degli anelli di controllo di posizione e velocità presenti negli azionamenti usati industrialmente su macchine automatiche, specialmente quando il carico è ad inerzia variabile in dipendenza dalla posizione, dunque non lineare, come ad esempio un quadrilatero articolato. Il lavoro è stato svolto in collaborazione con l’azienda G.D S.p.A. ed il meccanismo di prova è realmente utilizzato nelle macchine automatiche per il packaging di sigarette. L’ottimizzazione si basa sulla simulazione in ambiente Matlab/Simulink dell’intero sistema di controllo, cioè comprensivo del modello Simulink degli anelli di controllo del drive, inclusa la dinamica elettrica del motore, e del modello Simscape del meccanismo, perciò una prima necessaria fase del lavoro è stata la validazione di tali modelli affinché fossero sufficientemente fedeli al comportamento reale. Il secondo passo è stato fornire una prima taratura di tentativo che fungesse da punto di partenza per l’algoritmo di ottimizzazione, abbiamo fatto ciò linearizzando il modello meccanico con l’inerzia minima e utilizzando il metodo delle formule di inversione per determinare i parametri di controllo. Già questa taratura, seppur conservativa, ha portato ad un miglioramento delle performance del sistema rispetto alla taratura empirica comunemente fatta in ambito industriale. Infine, abbiamo lanciato l’algoritmo di ottimizzazione definendo opportunamente la funzione di costo, ed il risultato è stato decisamente positivo, portando ad un miglioramento medio del massimo errore di inseguimento di circa il 25%, ma anche oltre il 30% in alcuni casi.

Experimental determination of burning velocity in metal dust explosions

The modeling of metal dust explosion phenomenon is important in order to safeguard industries from potential accidents. A key parameter of these models is the burning velocity, which represents the consumption rate of the reactants by the flame front, during the combustion process. This work is focused on the experimental determination of aluminium burning velocity, through an alternative method, called "Direct method". The study of the methods used and the results obtained is preceded by a general analysis on dust explosion phenomenon, flame propagation phenomenon, characteristics of the metals combustion process and standard methods for determining the burning velocity. The “Direct method” requires a flame propagating through a tube recorded by high-speed cameras. Thus, the flame propagation test is carried out inside a vertical prototype made of glass. The study considers two optical technique: the direct visualization of the light emitted by the flame and the Particle Image Velocimetry (PIV) technique. These techniques were used simultaneously and allow the determination of two velocities: the flame propagation velocity and the flow velocity of the unburnt mixture. Since the burning velocity is defined by these two quantities, its direct determination is done by substracting the flow velocity of the fresh mixture from the flame propagation velocity. The results obtained by this direct determination, are approximated by a linear curve and different non-linear curves, which show a fluctuating behaviour of burning velocity. Furthermore, the burning velocity is strongly affected by turbulence. Turbulence intensity can be evaluated from PIV technique data. A comparison between burning velocity and turbulence intensity highlighted that both have a similar trend.

Long-period oscillations in GPS Up time series. Study over the European/Mediterranean area

The surface of the Earth is subjected to vertical deformations caused by geophysical and geological processes which can be monitored by Global Positioning System (GPS) observations. The purpose of this work is to investigate GPS height time series to identify interannual signals affecting the Earth’s surface over the European and Mediterranean area, during the period 2001-2019. Thirty-six homogeneously distributed GPS stations were selected from the online dataset made available by the Nevada Geodetic Laboratory (NGL) on the basis of the length and quality of the data series. The Principal Component Analysis (PCA) is the technique applied to extract the main patterns of the space and time variability of the GPS Up coordinate. The time series were studied by means of a frequency analysis using a periodogram and the real-valued Morlet wavelet. The periodogram is used to identify the dominant frequencies and the spectral density of the investigated signals; the second one is applied to identify the signals in the time domain and the relevant periodicities. This study has identified, over European and Mediterranean area, the presence of interannual non-linear signals with a period of 2-to-4 years, possibly related to atmospheric and hydrological loading displacements and to climate phenomena, such as El Niño Southern Oscillation (ENSO). A clear signal with a period of about six years is present in the vertical component of the GPS time series, likely explainable by the gravitational coupling between the Earth’s mantle and the inner core. Moreover, signals with a period in the order of 8-9 years, might be explained by mantle-inner core gravity coupling and the cycle of the lunar perigee, and a signal of 18.6 years, likely associated to lunar nodal cycle, were identified through the wavelet spectrum. However, these last two signals need further confirmation because the present length of the GPS time series is still too short when compared to the periods involved.

Stability issues in racing motorcycles: an in-depth analysis of the chatter vibration

Racing motorcycles are prone to an unstable oscillatory motion of the swingarm and rear wheel, commonly known as ‘chatter’. This vibration mode typically has a frequency of 17 Hz to 22 Hz and typically occurs during heavy braking manoeuvres. The appearance of chatter can cause reduced rider confidence, and therefore lead to longer lap times during races and the increased risk of crashing. This thesis looks to further the understanding of this mode. It includes the development of a simplified model to explore the effects roll angle and lateral dynamics have on the chatter mode using linear analysis. The mechanisms of instability and parameter sensitivities are also examined. The effects of the nonlinearities present in the minimal model equations of motion are examined, including the identification of limit cycles and their stability, inspecting individual nonlinear terms and their effects, and introducing tyre relaxation and determining the effect it has on the dynamics. Finally, an exploratory study of the mid-corner region of a typical racing manoeuvre is performed in hopes to better understand if any high frequency tyre induced instabilities like chatter can occur.

Evaluation and management of demersal stocks in the Adriatic: the case of common sole (Solea solea, L.) in the northern and central Adriatic Sea

This PhD thesis aimed to assess the status of common sole, one of the main commercial stocks in the Adriatic Sea, using a mix of conventional and innovative techniques to provide more reliable estimates of stock status compared to past advice. First, a meta-analysis was carried out using data-poor assessment model to analyze the whole catch assemblage of rapido fishery. The outcomes were used to estimate rebuilding time and forecast catches under different harvest control rule scenarios, with a reduction of 20% of fishing effort being suggested as a way to allow most of the species to recover to sustainable levels. Secondly, an ensemble of data-rich assessment models was developed to better incorporate uncertainty by using alternative hypotheses of main parameters. This was the first time an ensemble of models has been used in the Mediterranean to provide management advice. Consistent with data-poor analysis results, the ensemble outcomes indicated that the common sole stock was showing a recovering trend probably due to the effective management actions underway in the area rather than the moderate effort reduction according to the actual management plan. Moreover, back-calculation measurements were used to fit and compare monophasic and biphasic growth curves through the use of non-linear mixed effects models. The analyses revealed that the fitting of the biphasic curve was superior, confirming the theory that growth in size would decrease as a consequence of reproductive effort. A stock assessment simulation showed how the use of the monophasic pattern would result in a critical overestimation of biomass that could lead to a greater risk of overfishing. As a final step, a simulation-testing procedure was applied to determine the best performing reference points using stock-specific characteristic. The procedure could be routinely adopted to increase transparency in reference points calculation enhancing the credibility of scientific advice.

A next-to-leading order calculation of the impact of primordial magnetic fields into cosmological observables

In this thesis, we perform a next-to-leading order calculation of the impact of primordial magnetic fields (PMF) into the evolution of scalar cosmological perturbations and the cosmic microwave background (CMB) anisotropy. Magnetic fields are everywhere in the Universe at all scales probed so far, but their origin is still under debate. The current standard picture is that they originate from the amplification of initial seed fields, which could have been generated as PMFs in the early Universe. The most robust way to test their presence and constrain their features is to study how they impact on key cosmological observables, in particular the CMB anisotropies. The standard way to model a PMF is to consider its contribution (quadratic in the magnetic field) at the same footing of first order perturbations, under the assumptions of ideal magneto-hydrodynamics and compensated initial conditions. In the perspectives of ever increasing precision of CMB anisotropies measurements and of possible uncounted non-linear effects, in this thesis we study effects which go beyond the standard assumptions. We study the impact of PMFs on cosmological perturbations and CMB anisotropies with adiabatic initial conditions, the effect of Alfvén waves on the speed of sound of perturbations and possible non-linear behavior of baryon overdensity for PMFs with a blue spectral index, by modifying and improving the publicly available Einstein-Boltzmann code SONG, which has been written in order to take into account all second-order contributions in cosmological perturbation theory. One of the objectives of this thesis is to set the basis to verify by an independent fully numerical analysis the possibility to affect recombination and the Hubble constant.

Modeling and Model Predictive Control of an Industrial Hydraulic System

This thesis aims to illustrate the construction of a mathematical model of a hydraulic system, oriented to the design of a model predictive control (MPC) algorithm. The modeling procedure starts with the basic formulation of a piston-servovalve system. The latter is a complex non linear system with some unknown and not measurable effects that constitute a challenging problem for the modeling procedure. The first level of approximation for system parameters is obtained basing on datasheet informations, provided workbench tests and other data from the company. Then, to validate and refine the model, open-loop simulations have been made for data matching with the characteristics obtained from real acquisitions. The final developed set of ODEs captures all the main peculiarities of the system despite some characteristics due to highly varying and unknown hydraulic effects, like the unmodeled resistive elements of the pipes. After an accurate analysis, since the model presents many internal complexities, a simplified version is presented. The latter is used to linearize and discretize correctly the non linear model. Basing on that, a MPC algorithm for reference tracking with linear constraints is implemented. The results obtained show the potential of MPC in this kind of industrial applications, thus a high quality tracking performances while satisfying state and input constraints. The increased robustness and flexibility are evident with respect to the standard control techniques, such as PID controllers, adopted for these systems. The simulations for model validation and the controlled system have been carried out in a Python code environment.

Limiar ventilatorio e comportamento do sinal eletromiografico durante exercicio incremental no cicloergometro

Universidade Estadual de Campinas . Faculdade de Educação Física

Teoria para o trabalho de expansão aplicada às brisas do nordeste Brasileiro

Neste artigo investiga-se numericamente a interação entre brisas marítima-terrestre e de vale-montanha, que ocorrem no nordeste brasileiro devido à presença do Planalto da Borborema, aplicando o trabalho de expansão associado ao ramo inferior das circulações. Resultados da teoria da máquina térmica são comparados aos resultados 3D, obtidos com a versão brasileira do modelo RAMS. Os resultados indicaram que o efeito do contraste de temperatura no trabalho ligado às circulações (Wa), isoladamente, contribui para a formação de brisas marítimas mais intensas e de brisas terrestres menos intensas. Na realidade, o que se observa são brisas terrestres com intensidades iguais ou até maiores que das brisas marítimas. Assim, a contribuição da montanha para a intensidade das circulações de brisa no período noturno mostra-se extremamente não-linear. O trabalho de expansão que realmente está ligado às circulações, contribui em apenas 7% para o trabalho total. Dessa forma, a maior parte do trabalho total está associada ao trabalho de compressão que a atmosfera realiza para compensar a perda por resfriamento radiativo, e muito da energia disponibilizada para as circulações é gasta para vencer os processos dissipativos.

Trade unions and the economic performance of brazilian establishments

Este artigo analisa, pela primeira vez na literatura, o impacto dos sindicatos de trabalhadores em vários indicadores de desempenho econômico de firmas industriais brasileiras. Realizou-se uma pesquisa retrospectiva sobre a densidade sindical de 1000 estabelecimentos industriais brasileiros e seus resultados foram combinados aos indicadores de desempenho econômico da Pesquisa Industrial Anual (PIA) de 1990 a 2000. Os resultados indicam que a relação entre a densidade sindical na firma e seus salários, emprego e produtividade, é não-linear, ou seja, um aumento no grau de sindicalização leva a um melhor desempenho, porém a taxas decrescentes. Observou-se, também, uma relação negativa entre sindicalização e rentabilidade. Finalmente, estabelecimentos que introduziram mecanismos de 'participação nos lucros' aumentaram sua produtividade e rentabilidade no período e pagaram maiores salários nas firmas onde o grau de sindicalização era maior.

Effect of therapeutic dose X rays on mechanical and chemical properties of esthetic dental materials

The aim of this study was to investigate the influence of therapeutic dose X rays on the microhardness (MH) and degree of conversion (DC) of two different esthetic restorative dental materials. The materials were photo-activated with a LED light-curing unit using three cure-times: 5, 20 and 40 seconds. The photo-activation was carried out in two distinct periods: before and after irradiation with doses of 5, 35 and 70 Gy, from a 6 MV X rays beam. In accordance with the methodology used, it was conclude that a therapeutic dose does not have a detrimental effect on the photoinitiator molecules, because the photo-activation occurred after they were irradiated. When the irradiation was applied before photo-activation, the materials showed MH improvement, but when photo-activation was performed after irradiation, there was less improvement. However, there was no correlation between MH and DC. Thus, a therapeutic dose applied to cured material can promote linking and breaking of chain bonds in a non-linear way.

Comparison of some theoretical models for fittings of the temperature dependence of the fundamental energy gap in GaAs

In this work we report on a comparison of some theoretical models usually used to fit the dependence on temperature of the fundamental energy gap of semiconductor materials. We used in our investigations the theoretical models of Viña, Pässler-p and Pässler-ρ to fit several sets of experimental data, available in the literature for the energy gap of GaAs in the temperature range from 12 to 974 K. Performing several fittings for different values of the upper limit of the analyzed temperature range (Tmax), we were able to follow in a systematic way the evolution of the fitting parameters up to the limit of high temperatures and make a comparison between the zero-point values obtained from the different models by extrapolating the linear dependence of the gaps at high T to T = 0 K and that determined by the dependence of the gap on isotope mass. Using experimental data measured by absorption spectroscopy, we observed the non-linear behavior of Eg(T) of GaAs for T > ΘD.

Mortes evitáveis em menores de um ano, Brasil, 1997 a 2006: contribuições para a avaliação de desempenho do Sistema Único de Saúde

Os óbitos de menores de um ano foram classificados em causas evitáveis, mal definidas e não evitáveis empregando a Lista Brasileira de Mortes Evitáveis, entre 1997-2006. Foram calculados tendências dos coeficientes de mortalidade infantil por causas de morte e se usou regressão não linear para avaliação de tendência. As causas evitáveis e as causas mal definidas apresentaram significativa redução (p < 0,001). As causas reduzíveis de mortalidade apresentaram redução de 37%. A mortalidade por causas reduzíveis por adequada atenção ao parto declinou em 27,7%; adequada atenção ao recém-nascido, 42,5%; e por adequada atenção à gestação cresceu 28,3%. Concluiu-se que os serviços de saúde contribuíram para a redução da mortalidade infantil. O declínio das causas mal definidas de morte indica ampliação do acesso aos serviços de saúde. O aumento do acesso e atenção ao parto e aos cuidados com recém-nascido contribuíram para a redução de óbitos infantis. O aumento da mortalidade por adequada atenção à gestação revela a necessidade de aprimoramento da atenção pré-natal.