Tube-based robust model predictive control for spacecraft proximity operations in the presence of persistent disturbance

Rendezvous and Proximity Operations (RPOs) of two autonomous spacecraft have been extensively studied in the past years, taking into account both the strict requirements in terms of spacecraft dynamics variations and the limitations due to the actuation system. In this paper, two different Model Predictive Control (MPC) schemes have been considered to control the spacecraft during the final phase of the rendezvous maneuver in order to ensure mission constraints satisfaction for any modeled disturbance affecting the system. Classical MPC suitably balances stability and computational effort required for online implementation whereas Tube-based Robust MPC represents an appealing strategy to handle disturbances while ensuring robustness. For the robust scheme, the computational effort reduction is ensured adopting a time-varying control law where the feedback gain matrix is evaluated offline, applying a Linear Matrix Inequality approach to the state feedback stabilization criterion. An extensive verification campaign for the performance evaluation and comparison in terms of constraint satisfaction, fuel consumption and computational cost, i.e. CPU time, has been carried out on both a three degrees-of-freedom (DoF) orbital simulator and an experimental testbed composed by two Floating Spacecraft Simulators reproducing a quasi-frictionless motion. Main conclusions are drawn with respect to the mission expectations

Numerical Analysis and Wind Tunnel Validation of Droplet Distribution in the Wake of an Unmanned Aerial Spraying System in Forward Flight

Recent developments in agriculture mechanization have generated significant challenges towards sustainable approaches to reduce the environmental footprint and improve food quality. This paper highlights the benefits of using unmanned aerial systems (UASs) for precision spraying applications of pesticides, reducing the environmental risk and waste caused by spray drift. Several unmanned aerial spraying system (UASS) operation parameters and spray system designs are examined to define adequate configurations for specific treatments. A hexarotor DJI Matrice 600 equipped with T-Motor “15 × 5” carbon fiber blades is tested numerically using computational fluid dynamics (CFD) and experimentally in a wind tunnel. These tests assess the aerodynamic interaction between the wake of an advancing multicopter and the fine droplets generated by atomizers traditionally used in agricultural applications. The aim of this research is twofold. First, we analyze the effects of parameters such as flight speed (0, 2, and 3 m·s (Formula presented.)), nozzle type (hollowcone and fan), and injection pressure (2–3 bar) on spray distribution. In the second phase, we use data from the experimental campaign to validate numerical tools for the simulation of rotor–droplet interactions necessary to predict spray’s ground footprint and to plan a precise guidance algorithm to achieve on-target deposition and reduce the well-known droplet drift problem

Toward Virtual Testing of Unmanned Aerial Spraying Systems Operating in Vineyards

In recent times, the objective of reducing the environmental impact of the agricultural industry has led to the mechanization of the sector. One of the consequences of this is the everyday increasing use of Unmanned Aerial Systems (UAS) for different tasks in agriculture, such as spraying operations, mapping, or diagnostics, among others. Aerial spraying presents an inherent problem associated with the drift of small droplets caused by their entrainment in vortical structures such as tip vortices produced at the tip of rotors and wings. This problem is aggravated by other dynamic physical phenomena associated with the actual spray operation, such as liquid sloshing in the tank, GPS inaccuracies, wind gusts, and autopilot corrections, among others. This work focuses on analyzing the impact of nozzle position and liquid sloshing on droplet deposition through numerical modeling. To achieve this, the paper presents a novel six degrees of freedom numerical model of a DJI Matrice 600 equipped with a spray system. The spray is modeled using Lagrangian particles and the liquid sloshing is modeled with an interface-capturing method known as Volume of Fluid (VOF) approach. The model is tested in a spraying operation at a constant velocity of 2 m/s in a virtual vineyard. The maneuver is achieved using a PID controller that drives the angular rates of the rotors. This spraying mission simulator was used to obtain insights into optimal nozzle selection and positioning by quantifying the amount of droplet deposition

Preliminary Design of a Remotely Piloted Aircraft System for Crop-Spraying on Vineyards

This paper describes the preliminary design of an innovative concept rotary-wing Unmanned Aircraft System (UAS) for precision agriculture and aerial spraying applications. Aerial spraying of plant protection products and pesticides shows open challenges in terms of performance and regulatory requirements. In particular*the focus here is on highlighting the advantages of the proposed solution in performing precise and expeditious interventions, coping with the spray drift problem (i.e. minimization of drift). Flight performances and agronomists' requirements are combined to define the mission and the aerial vehicle and spray system design

Experimental and numerical analysis of hovering multicopter performance in low-Reynolds number conditions

Unmanned Aircraft Systems (UAS) are state of the art in the aerospace industry and are involved in many operations. Although initially developed for military purposes, commercial applications of small- scale UAS, such as multicopters, are abundant today. Accurate engineering tools are required to assess the performance of these vehicles and optimize power consumption. The thrust and power curves of the rotors used by small-scale UAS are essential elements in designing efficient aircraft. The scarcity of experimental data and sufficiently accurate prediction models to evaluate rotor aerodynamic performance in the flight envelope are primary limitations in UAS science. In addition, for small-scale rotors at usual rotation rates, chord-based Reynolds numbers are typically smaller than 100,000, a flow regime in which performance tends to degrade. In this paper, experimental data on small-scale multicopter propulsion systems are presented and combined with a Computational Fluid Dynamics (CFD) model to describe the aerodynamics of these vehicles in low Reynolds numbers conditions. We use the STAR-CCM+ software to perform CFD simulations adopting both a dynamic-grid, time-accurate analysis and a static-grid, steady- state technique that solves the Navier-Stokes equations in a suitable framework. Comparing numerical simulation results on a conventional UAS propeller with related experimental data suggests that the proposed approach can correctly describe the thrust and torque coefficients in the range of Reynolds numbers characterizing the UAS flight envelope

Revertant fibres and dystrophin traces in Duchenne muscular dystrophy: Implication for clinical trials

Duchenne muscular dystrophy (DMD) is characterised by the absence of dystrophin in muscle biopsies, although residual dystrophin can be present, either as dystrophin-positive (revertant) fibres or traces. As restoration of dystrophin expression is the end point of clinical trials, such residual dystrophin is a key factor in recruitment of patients and may also confound the analysis of dystrophin restoration in treated patients, if, as previously observed in the mdx mouse, revertant fibres increase with age. In 62% of the diagnostic biopsies reports of 65 DMD patients studied, traces or revertants were recorded with no correlation between traces or revertants, the patients' performance, or corticosteroids response. In nine of these patients, there was no increase in traces or revertants in biopsies taken a mean of 8.23 years (5.8-10.4 years) after the original diagnostic biopsy. This information should help in the design and execution of clinical trials focused on dystrophin restoration strategies. (C) 2010 Elsevier B.V. All rights reserved

Comportamento de forrageiras nativas em sistemas silvipastoris com acácia-negra no Rio Grande do Sul.

As plantações de acácia-negra do Rio Grande do Sul são tradicionalmente utilizadas em sistemas silvipastoris. O objetivo deste trabalho foi avaliar o comportamento das principais forrageiras das pastagens nativas sob o sombreamento desta plantação florestal. Foram avaliadas a cobertura das espécies herbáceas em plantações de acácia-negra com 1, 2 e 6 anos de idade e de um campo nativo sem a presença de árvores. As avaliações foram realizadas através da estimativa visual de cobertura das espécies, solo descoberto e material morto. As gramíneas apresentaram a maior cobertura, tanto nas áreas de plantações florestais como no campo aberto. As pastagens sob sombreamento apresentaram menor porcentagem de solo descoberto, indicando a adaptação da vegetação herbácea ao sombreamento. Observaram-se diferentes respostas das espécies nativas ao sombreamento. Paspalum notatum e Axonopus affinis, reduziram sua cobertura ou tenderam a desaparecer das áreas com plantações de acácia-negra. Por outro lado, Piptochaetium montevidense e Dichantelium sabulorum mantiveram ou aumentaram sua cobertura nas áreas com acácia-negra, indicando a tolerância destas espécies ao sombreamento. Observou-se também que gramíneas típicas de sub-bosques de fragmentos florestais nativos, como Homolepis glutinosa, Paspalum mandiocanum, Oplismenus hirtelus, Panicum sellowii e P. pantrichum, colonizaram as plantações de acácia-negra, sendo sua dispersão facilitada pelos bovinos que utilizaram a área para pastoreio

Cognitive Based Design of a HMI for Telenavigation of A Space Rover

Human Machine Interface (HMI) design is a critical field of work because no general guidelines or rules have been assessed. In order to aid practitioners to design effective HMIs, different methodologies have been studied. To understand task objectives and plan goal-oriented actions, human operators exploit specific cognitive processes that have to be supported with advanced interfaces. Including cognitive aspects in HMI design allows generating an information flow that reduces user mental workload, increasing his/her situation awareness. This paper focuses on design and test of aGraphical User Interface (GUI) for the telenavigation of a space rover that makes the cognitive process of the user a priority in relation to the other development guidelines. To achieve this, a Cognitive Task Analysis (CTA) techinque, known as Applied Cognitive Work Analysis (ACWA), is combined with a multi-agent empirical test to ensure the GUI effectiveness. The ACWA allows evaluating mission scenarios, i.e. piloting the rover on the Mars surface, in order to obtain a model of the human cognitive demands that arise in these complex work domains. These demands can be used to obtain an effective information flow between the GUI and the operator. The multi-agent empirical test, on the other hand, allows an early feedback on the user mental workload aiming to validate the GUI. The result of the methodology is a GUI that eases the information flow through the interface, enhancing operator’s performance