Uncooperative Objects Pose, Motion and Inertia Tensor Estimation via Stereovision

Autonomous close proximity operations are an arduous and attractive problem in space mission design. In particular, the estimation of pose, motion and inertia properties of an uncooperative object is a challenging task because of the lack of available a priori information. In addition, good computational performance is necessary for real applications. This paper develops a method to estimate the relative position, velocity, angular velocity, attitude and inertia properties of an uncooperative space object using only stereo-vision measurements. The classical Extended Kalman Filter (EKF) and an Iterated Extended Kalman Filter (IEKF) are used and compared for the estimation procedure. The relative simplicity and low computational cost of the proposed algorithm allow for an online implementation for real applications. The developed algorithm is validated by numerical simulations in MATLAB using different initial conditions and uncertainty levels. The goal of the simulations is to verify the accuracy and robustness of the proposed estimation algorithm. The obtained results show satisfactory convergence of the estimation errors for all the considered quantities. An analysis of the computational cost is addressed to confirm the possibility of an onboard application. The obtained results, in several simulations, outperform similar works present in literature. In addition, a video processing procedure is presented to reconstruct the geometrical properties of a body using cameras. This method has been experimentally validated at the ADAMUS (ADvanced Autonomous MUltiple Spacecraft) Lab at the University of Florida

Nonlinear control of leader-follower formation flying

This paper considers the problem of relative motion control involved in a leader-follower formation keeping mission. More specifically, center of mass dynamics of two Earth orbiting satellite is modeled, including the nonlinearity due to Earth oblateness. Next, the differential algebra is exploited to compute an high order Taylor expansion of the State-Dependent Riccati Equation (SDRE) solution. This new approach reduces the computational cost of the online Algebraic Riccati Equation solution required by SDRE algorithm; in fact, the differential algebraic formulation gives a polynomial representation which can be directly evaluated for SDRE solutions or exploited to define an initial first guess for iterative SDRE algorithms

Polyvinyl butyral-based composites with carbon nanotubes: Efficient dispersion as a key to high mechanical properties

Even if the carbon nanotubes (CNTs) and their derivatives are commonly used as reinforcing phase in composite materials, also in commercial products, their tendency to agglomerate generally determines a scarce dispersion, thus not maximizing the effect due to the second phase. In this article, a perfect dispersion of highly entangled nanotubes was achieved by using a very simple approach: exploiting the dispersing effect of a low-cost polymer, polyvinyl butyral (PVB), coupled with standard ultrasound sonication. Several dispersion approaches were tested in order to develop a consistent and widely applicable dispersion protocol. The tape casting technology was subsequently used to produce 100 to 300 μm thick PVB-matrix composite tapes, reinforced by multiwall CNTs dispersed according to the optimized protocol. Their mechanical properties were evaluated, and a simple model was used to demonstrate that the effective dispersion of CNTs is the key to obtain significantly improved properties

Roughness tolerances for Cherenkov telescope mirrors

The Cherenkov Telescope Array (CTA) is a forthcoming international ground-based observatory for very high-energy gamma rays. Its goal is to reach sensitivity five to ten times better than existing Cherenkov telescopes such as VERITAS, H.E.S.S. or MAGIC and extend the range of observation to energies down to few tens of GeV and beyond 100 TeV. To achieve this goal, an array of about 100 telescopes is required, meaning a total reflective surface of several thousands of square meters. Thence, the optimal technology used for CTA mirrors' manufacture should be both low-cost (∼1000 euros/m2) and allow high optical performances over the 300-550 nm wavelength range. More exactly, a reflectivity higher than 85% and a PSF (Point Spread Function) diameter smaller than 1 mrad. Surface roughness can significantly contribute to PSF broadening and limit telescope performances. Fortunately, manufacturing techniques for mirrors are now available to keep the optical scattering well below the geometrically-predictable effect of figure errors. This paper determines first order surface finish tolerances based on a surface microroughness characterization campaign, using Phase Shift Interferometry. That allows us to compute the roughness contribution to Cherenkov telescope PSF. This study is performed for diverse mirror candidates (MAGIC-I and II, ASTRI, MST) varying in manufacture technologies, selected coating materials and taking into account the degradation over time due to environmental hazards

Theoretical analysis of the transmission phase shift of a quantum dot in the presence of Kondo correlations

We study the effects of Kondo correlations on the transmission phase shift of a quantum dot coupled to two leads in comparison with the experimental determinations made by Aharonov-Bohm (AB) quantum interferometry. We propose here a theoretical interpretation of these results based on scattering theory combined with Bethe ansatz calculations. We show that there is a factor of 2 difference between the phase of the S-matrix responsible for the shift in the AB oscillations, and the one controlling the conductance. Quantitative agreement is obtained with experimental results for two different values of the coupling to the leads.Comment: 4 pages, 4 figures, accepted for publication in Physical Review Letter

Validation of a Net Active Debris Removal Simulator within Parabolic Flight Experiment

Currently space debris is recognized as a major risk for space missions. In this frame it is involved the Patender project (Net parametric characterization and parabolic flight). The goal of this ESA funded activity (ending by March 2014) is to develop a confident mean to further investigate, develop and validate the concept of using nets for actively removing space debris of different characteristics. The net simulator will be validated in a parabolic flight experiment where microgravity conditions can be reached during some few tens of seconds. Different net shapes (pyramidal/planar) will be launched using a pneumatic-based dedicated mechanism in order to simulate the capture of a large space debris. High-speed motion cameras will record the experiment in order to allow the 3D reconstruction of the deployment and wrapping around the target phases and the validation of the software simulator

Cementitious composite materials for thermal energy storage applications: a preliminary characterization and theoretical analysis

The lack of robust and low-cost sorbent materials still represents a formidable technological barrier for long-term storage of (renewable) thermal energy and more generally for Adsorptive Heat Transformations—AHT. In this work, we introduce a novel approach for synthesizing cement-based composite sorbent materials. In fact, considering the number of available hygrosopic salts that can be accommodated into a cementitious matrix—whose morphological properties can be also fine-tuned—the new proposed in situ synthesis paves the way to the generation of an entire new class of possible sorbents for AHT. Here, solely focusing on magnesium sulfate in a class G cement matrix, we show preliminary morphological, mechanical and calorimetric characterization of sub-optimal material samples. Our analysis enables us to theoretically estimate one of the most important figures of merit for the considered applications, namely the energy density which was found to range within 0.088–0.2 GJ/m3 (for the best tested sample) under reasonable operating conditions for space heating applications and temperate climate. The above estimates are found to be lower than other composite materials in the literature. Nonetheless, although no special material optimization has been implemented, our samples already compare favourably with most of the known materials in terms of specific cost of stored energy. Finally, an interesting aspect is found in the ageing tests under water sorption-desorption cycling, where a negligible variation in the adsorption capability is demonstrated after over one-hundred cycles