Análise da estabilidade do movimento rotacional de satélites artificiais com quatérnions e sob a influência de torques externos

The aim of this work is to analyze the stability of the rotational motion’s artificial satellite using the Routh Hurwitz Algorithm (CRH) and the quaternions to describe the satellite’s attitude. This algorithm allows the investigation of the stability of the motion using the coefficients of the characteristic equation associated with the equation of the rotational motion in the linear form. The equations of the rotational motion are given by the four cinematic equations for the quaternion and the three equations of Euler for the spin velocity’s components. In the Euler equations are included the components of the gravity gradient torque (TGG) and the solar radiation torque (TRS). The TGG is generated by the difference of the Earth gravity force direction and intensity actuating on each satellite mass element and it depends on the mass distribution and the form of the satellite. The TRS is created by changing of the linear momentum, which happens due to the interactions of solar photons with the satellite surface. The equilibrium points are gotten by the equation of rotational motion and the CRH is applied in the linear form of these equations. Simulations are developed for small and medium satellites, but the gotten equilibrium points are not stable by CRH. However, when some of the eigenvalues of the characteristic equation are analyzed, it is found some equilibrium points which can be pointed out as stables for an interval of the time, due to small magnitude of the real part of these eigenvalue

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.

Semi-analytical study of the rotational motion stability of artificial satellites using quaternions

This study at aims performing the stability analysis of the rotational motion to artificial satellites using quaternions to describe the satellite attitude (orientation on the space). In the system of rotational motion equations, which is composed by four kinematic equations of the quaternions and by the three Euler equations in terms of the rotational spin components. The influence of the gravity gradient and the direct solar radiation pressure torques have been considered. Equilibrium points were obtained through numerical simulations using the softwares Matlab and Octave, which are then analyzed by the Routh-Hurwitz Stability Criterion.

Neonatal palliative care attitude scale : development of an instrument to measure the barriers to and facilitators of palliative care in neonatal nursing

OBJECTIVE The aim of this research project was to obtain an understanding of the barriers to and facilitators of providing palliative care in neonatal nursing. This article reports the first phase of this research: to develop and administer an instrument to measure the attitudes of neonatal nurses to palliative care. METHODS The instrument developed for this research (the Neonatal Palliative Care Attitude Scale) underwent face and content validity testing with an expert panel and was pilot tested to establish temporal stability. It was then administered to a population sample of 1285 neonatal nurses in Australian NICUs, with a response rate of 50% (N 645). Exploratory factor-analysis techniques were conducted to identify scales and subscales of the instrument. RESULTS Data-reduction techniques using principal components analysis were used. Using the criteria of eigenvalues being 1, the items in the Neonatal Palliative Care Attitude Scale extracted 6 factors, which accounted for 48.1% of the variance among the items. By further examining the questions within each factor and the Cronbach’s of items loading on each factor, factors were accepted or rejected. This resulted in acceptance of 3 factors indicating the barriers to and facilitators of palliative care practice. The constructs represented by these factors indicated barriers to and facilitators of palliative care practice relating to (1) the organization in which the nurse practices, (2) the available resources to support a palliative model of care, and (3) the technological imperatives and parental demands. CONCLUSIONS The subscales identified by this analysis identified items that measured both barriers to and facilitators of palliative care practice in neonatal nursing. While establishing preliminary reliability of the instrument by using exploratory factor-analysis techniques, further testing of this instrument with different samples of neonatal nurses is necessary using a confirmatory factor-analysis approach.

Computer attitude and classroom computers

Computers not only increase the speed and efficiency of our mental efforts, but in the process they also alter the problem-solving tasks we are faced with and, in so doing, they alter the cognitive processes we use to solve problems. Computers are fundamentally changing our forms of thinking (Colc & Griffin, 1980). Therefore, the computer should be seen as not only having the potential to amplify human mental capabilities, but also of providing a catalyst for intellectual development.

The family attitude scale : reliability and validity of a new scale for measuring the emotional climate of families

Research on outcomes from psychiatric disorders has highlighted the importance of expressed emotion (EE), but its cost-effective measurement remains a challenge. This article describes development of the Family Attitude Scale (FAS), a 30-item instrument that can be completed by any informant. Its psychometric characteristics are reported in parents of undergraduate students and in 70 families with a schizophrenic member. The total FAS had high internal consistency in all samples, and reports of angry behaviour in FAS items showed acceptable inter-rater agreement. The FAS was associated with the reported anger, anger expression and anxiety of respondents. Substantial associations between the parents' FAS and the anger and anger expression of students was also observed. Parents of schizophrenic patients had higher FAS scores than parents of students, and the FAS was higher if disorder duration was longer or patient functioning was poorer. Hostility, high criticism and low warmth on the Camberwell Family Interview (CFI) were associated with a more negative FAS. The highest FAS in the family was a good predictor of a highly critical environment on the CFI. The FAS is a reliable and valid indicator of relationship stress and expressed anger that has wide applicability.

Unmanned Aerial Vehicles UAVs attitude, height, motion estimation and control using visual systems

This paper presents an implementation of an aircraft pose and motion estimator using visual systems as the principal sensor for controlling an Unmanned Aerial Vehicle (UAV) or as a redundant system for an Inertial Measure Unit (IMU) and gyros sensors. First, we explore the applications of the unified theory for central catadioptric cameras for attitude and heading estimation, explaining how the skyline is projected on the catadioptric image and how it is segmented and used to calculate the UAV’s attitude. Then we use appearance images to obtain a visual compass, and we calculate the relative rotation and heading of the aerial vehicle. Additionally, we show the use of a stereo system to calculate the aircraft height and to measure the UAV’s motion. Finally, we present a visual tracking system based on Fuzzy controllers working in both a UAV and a camera pan and tilt platform. Every part is tested using the UAV COLIBRI platform to validate the different approaches, which include comparison of the estimated data with the inertial values measured onboard the helicopter platform and the validation of the tracking schemes on real flights.

The relationship between culture, attitude, social networks and quality of life in midlife Australian and Taiwanese citizens

Objectives: The objectives of this study were to specifically investigate the differences in culture, attitudes and social networks between Australian and Taiwanese men and women and identify the factors that predict midlife men and women’s quality of life in both countries. Methods: A stratified random sample strategy based on probability proportional sampling (PPS) was conducted to investigate 278 Australian and 398 Taiwanese midlife men and women’s quality of life. Multiple regression modelling and classification and regression trees (CARTs) were performed to examine the potential differences on culture, attitude, social networks, social demographic factors and religion/spirituality in midlife men and women’s quality of life in both Australia and Taiwan. Results: The results of this study suggest that culture involves multiple functions and interacts with attitudes, social networks and individual factors to influence a person’s quality of life. Significant relationships were found between the interaction between cultural circumstances and a person’s internal and external factors. The research found that good social support networks and a healthy optimistic disposition may significantly enhance midlife men and women’s quality of life. Conclusion: The study indicated that there is a significant relationship between culture, attitude, social networks and quality of life in midlife Australian and Taiwanese men and women. People who had higher levels of horizontal individualism and collectivism, positive attitudes and better social support had better psychological, social, physical and environmental health, while it emerged that vertical individualists with competitive characteristics would experience a lower quality of life. This study has highlighted areas where opportunities exist to further reflect upon contemporary social health policies for Australian and Taiwanese societies and also within the global perspective, in order to provide enhanced quality care for growing midlife populations.