Trajectory Planning for Spacecraft Rendezvous in Elliptical Orbits with On / Off Thrusters

The 19th World Congress of the International Federation of Automatic Control 2014 Cape Town, SudáfricaIn a previous work, the authors developed a trajectory planning algorithm for spacecraft rendezvous which computed optimal Pulse-Width Modulated (PWM) control signals, assuming that the target was moving in a circular Keplerian orbit. In this paper we extend the algorithm to the case of an elliptical target orbit with arbitrary eccentricity. Since the orbit is elliptical, the linear time-varying Tschauner-Hempel model is used, whose exact solution is possible by using true (or eccentric) anomaly instead of time (which is directly related to both via Kepler's equation). Unlike in the circular case, computing the PWM solution itself requires numerical integration. However, explicit linearization around the computed solution turns out to be possible and is exploited for rapidly improving the solution using linear programming (LP) techniques. The algorithm is initialized by solving the impulsive problem first; the impulses are converted to PWM signals, which are used as an initial guess. Using the explicit linearization and LP, the solution is refined until a (possibly local) optimal value is reached. The efficacy of the method is shown in a simulation study where it is compared to the impulsive-only approach

Model Predictive Control for Spacecraft Rendezvous in Elliptical Orbits with On/Off Thrusters

IFAC Workshop on Advanced Control and Navigation for Autonomous Aerospace Vehicles. 08/06/2015. SevillaIn previous works, the authors have developed a trajectory planning algorithm for spacecraft rendezvous which computed optimal Pulse-Width Modulated (PWM) control signals, for circular and eccentric Keplerian orbits. The algorithm is initialized by solving the impulsive problem first and then, using explicit linearization and linear programming, the solution is refined until a (possibly local) optimal value is reached. However, trajectory planning cannot take into account orbital perturbations, disturbances or model errors. To overcome these issues, in this paper we develop a Model Predictive Control (MPC) algorithm based on the open-loop PWM planner and test it for elliptical target orbits with arbitrary eccentricity (using the linear time-varying Tschauner-Hempel model). The MPC is initialized by first solving the open-loop problem with the PWM trajectory planning algorithm. After that, at each time step, our MPC saves time recomputing the trajectory by applying the iterative linearization scheme of the trajectory planning algorithm to the solution obtained in the previous time step. The efficacy of the method is shown in a simulation study where it is compared to MPC computed used an impulsive-only approach

Trajectory Planning for Spacecraft Rendezvous with On / Off Thrusters

18th World CongressThe International Federation of Automatic ControlMilano (Italy) August 28 - September 2The objective of this work is to present a trajectory planning algorithm for spacecraft rendezvous that is able to incorporate Pulse-Width Modulated (PWM) control signals. The algorithm is based on linearization around a previously computed solution. To initialize the algorithm, a first solution needs to be obtained. To do so, the trajectory planning problem is solved using Pulse-Amplitude Modulated (PAM) control signals; these are then converted to PWM signals, which are used as an initial guess. Iterating, the solution is refined until an optimal value is reached. Simulations show that this method converges after a few iterations. The algorithm is simple and fast, hence it could be implemented online or used together with a Model Predictive Controller

Robust Model Predictive Control for Spacecraft Rendezvous with Online Prediction of Disturbance Bounds

IFAC Workshop Aerospace Guidance, Navigation and Flight Control Systems (AGNFCS' 09) Samara, RUSSIA June 30 - July 2, 2009A Model Predictive Controller is introduced to solve the problem of rendezvous of spacecraft, using the HCW model and including additive disturbances and line-of-sight constraints. It is shown that a standard MPC is not able to cope with disturbances. Then a robust Model Predictive Control that introduces the concepts of robust satisfaction of constraints is proposed. The formulation also includes a predictor of the disturbance properties which are needed in the robust algorithm. In simulations it is shown that the robust MPC scheme is able to handle not only additive disturbances (which are the ones used in the formulation) but also large multiplicative disturbances and unmodelled dynamics (due to eccentricity of the orbit of the target spacecraft)

Pulse-width predictive control for LTV systems with application to spacecraft rendezvous

This work presents a Model Predictive Controller (MPC) that is able to handle Linear Time-Varying (LTV) plants with Pulse-Width Modulated (PWM) control. The MPC is based on a planner that employs a Pulse-Amplitude Modulated (PAM) or impulsive approximation as a hot-start and then uses explicit linearization around successive PWM solutions for rapidly improving the solution by means of quadratic programming. As an example, the problem of rendezvous of spacecraft for eccentric target orbits is considered. The problem is modeled by the LTV Tschauner–Hempel equations, whose state transition matrix is explicit; this is exploited by the algorithm for rapid convergence. The efficacy of the method is shown in a simulation study.Ministerio de Economía y Competitividad DPI2008–05818Ministerio de Economía y Competitividad MTM2015-65608-

Contextual Information Retrieval based on Algorithmic Information Theory and Statistical Outlier Detection

The main contribution of this paper is to design an Information Retrieval (IR) technique based on Algorithmic Information Theory (using the Normalized Compression Distance- NCD), statistical techniques (outliers), and novel organization of data base structure. The paper shows how they can be integrated to retrieve information from generic databases using long (text-based) queries. Two important problems are analyzed in the paper. On the one hand, how to detect "false positives" when the distance among the documents is very low and there is actual similarity. On the other hand, we propose a way to structure a document database which similarities distance estimation depends on the length of the selected text. Finally, the experimental evaluations that have been carried out to study previous problems are shown.Comment: Submitted to 2008 IEEE Information Theory Workshop (6 pages, 6 figures

Crescimento vegetativo de sorgo granífero em resposta à nutrição fosfatada

Morphological variables such as phytomass, plant height, leaf area, number of leaves, have been used to express the influence of mineral nutrients on plant growth patterns, since the vegetative development responds, in general, favorably to fertilizer applications. This work evaluates the effect of P on both, some morphological characteristics and total [P] in the shoot of eight grain sorghum (Sorghum bicolor L. Moench) genotypes. Genetic materials were grown in nutrient solution under three concentrations of P (0; 0.5 and 1.0 mmol L-1). Plants were harvested 41 days after sowing, and leaf area per plant (LA), number of leaves (NL) per plant, root volume (RV), plant height (PH), root dry matter (RDM), shoot dry matter (SDM), total dry matter (TDM), RDM/SDM ratio, and total P concentration in shoot were determined. RDM/SDM was high for treatment P(0) and diminished about twice when P was added. Lack of applied P decreased the final NL and LA. Shoot [P] was positively correlated with solution [P], but the increase in P concentration in the nutrient solution from 0.5 to 1.0 mmol L-1 had a negative effect on growth. Both under deficiency and sufficiency conditions of P, Himeca-101 showed the best behavior in terms of RDM, SDM, TDM, RV, LA and NL. LA and PH were identified as the best indicators to predict dry matter yield of sorghum plants under P supply conditions.Peso da matéria (fresca e/ou seca), altura de planta, área foliar e número de folhas por planta são variáveis usadas para estudar o efeito dos nutrientes minerais sobre o crescimento das plantas ou de alguns de seus órgãos. Assim, é indicado que o crescimento vegetativo responde favoravelmente a aplicações de P. Avaliou-se o efeito do P em oito genótipos de sorgo granífero (Sorghum bicolor L. Moench). Os materiais genéticos foram crescidos em solução nutritiva sob condições de casa de vegetação, com três concentrações de P (0, 0,5 e 1,0 mmol L-1). Plantas foram colhidas 41 dias após a semeadura e o número de folhas por planta (NL), área foliar por planta (LA), volume de raízes (RV), altura de planta (PH), matéria seca de raízes (RDM), matéria seca da parte aérea (SDM), matéria seca total (TDM), razão raiz/parte aérea (RDM/SDM) e o teor de P total na parte aérea foram usados para avaliar o crescimento vegetativo. RDM/SDM foi alta no tratamento deficiente em P e diminuiu perto de duas vezes nos tratamentos que receberam o nutriente. [P] na parte aérea foi positivamente correlacionada à [P] na solução nutritiva. Observou-se diminuição do crescimento quando os genotipos passaram de 0,5 a 1,0 mmol L-1. Sob condições de carência e suprimento de P, Himeca-101 mostrou o melhor comportamento em termos de RDM, SDM, TDM, RV, LA e NL. LA e PH foram os melhores indicadores para predizer o rendimento da matéria seca sob condições de suprimento de P

Cyclophosphamide and Epirubicin Induce Apoptotic Cell Death In Microglia Cells

Background. Chemotherapy Related Cognitive Impairment’s (CRCI), diminish patient’s quality life, being breast cancer (BC) patients the most affected. Microglia is described to play a major role in CRCI; hence, the aim of this research was to describe the cytotoxicity of cyclophosphamide (CTX) and Epirubicin (EPI), on microglia (SIM-A9), compared to BC cells (4T1). Methods. We assessed cell viability (Resazurin) and cell death (AnnV), as well as nuclear damage with γ-H2AX, p53, p16 and cell cycle analysis (PI staining) by flow cytometry (FC). Furthermore, we evaluated ΔΨm (DIOC6), ROS (DCFDA) and NO (DAF-FM) production. Finally, caspase activation (TF2-VAD-FMK) and autophagy (CYTO-ID). Results. Chemotherapies decrease microglia-cell viability and increase cell death in concentration dependent manner. Increases in p53, p16 and γ-H2AX and, cell cycle arrest was noted by CTX and EPI in SIMA-9 and 4T1 cells.Furthermore, Chemotherapy treatment induces, loss of ΔΨm, and ROS production on SIM-A9 and 4T1, demonstrating that NAC decreases EPI-induced cell death in SIM-A9 and CTX-induced in 4T1. Moreover, caspase activation increases with treatments and its pharmacological blockade inhibits CTX and EPI induced-cell death. Autophagosome formation was observed by EPI and CTX treatment in SIM-A9 as a protective mechanism. Lower EPI concentrations induced cell cycle arrest, γ-H2AX, NO production and pro-inflammatory cytokine release. Conclusions. Chemotherapies induce higher cytotoxicity in microglia than in BC cells. ROS and caspase-dependent, as well as caspase dependent cell death was observed after EPI and CTX treatment in microglia respectively. Low concentrations of EPI induce DNA damage, NO production and cytokine dysregulation

Combining Heuristics in Assembly Sequence Planning

Assembly Sequence Planning is tackled by modelling and solving a planning problem that considers the execution of the plan in a system with multiple assembly machines. The objective of the plan is the minimization of the total assembly time (makespan). To meet this objective, the model takes into account the durations and resources for the assembly tasks, the change of configuration in the machines, and the transportation of intermediate subassemblies between different workstations. In order to solve the problem, different heuristics has been defined from two relaxed model of it, one considering only the precedence constraints among tasks, and the other one considering only the use of shared resources. From these basic heuristics, other ones have been defined, combining both types of information from the problem, so that the refinement produces substantial improvements over the initial heuristics.Ministerio de Ciencia y TecnologíaDPI2003-07146-C02-0