Communication and Mutual Physical Position Estimation System for CubeSat

In recent years, constellations of CubeSats organized as a swarm are redefining the classical concept of space missions. The biggest challenge for the realization of an efficient swarm is to provide to the CubeSats the ability to interact and communicate each other. In this paper we present a system able to provide to the CubeSats belonging to a swarm the ability to establish an inter-satellite communication crosslink and to determine the mutual physical positioning. The basic idea is to provide every CubeSat with a system involving a smart-antenna array. By exploiting the array, CubeSats can transmit or receive signals to / from every element of the swarm so as to perform the inter-satellite communication. The smart-antenna is managed by a beamforming control strategy: during the transmission, the beamforming algorithm controls the smart-antenna in order to shape the beam and establish a reliable and directive communication link with other spacecraft and/or with the ground station. Hence, the beam shaping avoid to perform attitude maneuvers to optimize the transmission. Every CubeSat acquires signals transmitted from other elements of the swarm and estimate the Direction-of-Arrival (DOA) and the distance (Range) in order to calculate the mutual physical positioning. By an appropriate distribution of the antennas on the structure of the CubeSat it is possible to obtain a working range of 4π steradians. Every element of the smart-antenna is connected to a signal conditioning chain able to modify the phase and the amplitude of the signal transmitted / received. The beamforming algorithm manages this signal conditioning chain dynamically to maximize the performance of the system. Thanks to his small footprint, the system can be mounted on every CubeSat geometry and it is completely integrated with the bus so as not to occupy space dedicated for the payload as shown in figure [1]. Through the use of a deployable structure fully developed at Politecnico di Torino, we increase the external surface of CubeSats: this surface allows to gain the interspace between elements of the smart-antenna (figure [2]). As a consequence, the directivity and detection performance of the DOA system in terms of directivity and accuracy are improved. Moreover, the deployable structure offers a greater usable surface, so a larger number of solar panels can be used, e.g.: up to 40x30 cm2 for a 1U CubeSat. Hence, the communication distance increase because a power up to 6W is available for the transmit mode. This paper describes the physical implementation of the antenna array system on a 1U CubeSat using the deployable structure developed. In section I we describe how the subsystem has been designed, we analyze how the hardware works and we focus on the main blocks that realize the positioning measurement / network communication. In the section II we describe how the swarm subsystem can be hosted on every CubeSat structure (even 1U) by exploiting a deployable structure able to increase the useful surface of the CubeSat and the antenna baseline. This structure allows to gain the available power supply for the transmission (also for the other on board systems) and improves the precision of the mutual positioning estimator. In section III we describe how the subsystem establishes the communication between the CubeSats and how it measures the direction of arrival (DOA) and the distance (Range) of the received signals in order to establish the mutual physical position of every CubeSat composing the swarm

Design Solutions For Modular Satellite Architectures

The cost-effective access to space envisaged by ESA would open a wide range of new opportunities and markets, but is still many years ahead. There is still a lack of devices, circuits, systems which make possible to develop satellites, ground stations and related services at costs compatible with the budget of academic institutions and small and medium enterprises (SMEs). As soon as the development time and cost of small satellites will fall below a certain threshold (e.g. 100,000 to 500,000 €), appropriate business models will likely develop to ensure a cost-effective and pervasive access to space, and related infrastructures and services. These considerations spurred the activity described in this paper, which is aimed at: - proving the feasibility of low-cost satellites using COTS (Commercial Off The Shelf) devices. This is a new trend in the space industry, which is not yet fully exploited due to the belief that COTS devices are not reliable enough for this kind of applications; - developing a flight model of a flexible and reliable nano-satellite with less than 25,000€; - training students in the field of avionics space systems: the design here described is developed by a team including undergraduate students working towards their graduation work. The educational aspects include the development of specific new university courses; - developing expertise in the field of low-cost avionic systems, both internally (university staff) and externally (graduated students will bring their expertise in their future work activity); - gather and cluster expertise and resources available inside the university around a common high-tech project; - creating a working group composed of both University and SMEs devoted to the application of commercially available technology to space environment. The first step in this direction was the development of a small low cost nano-satellite, started in the year 2004: the name of this project was PiCPoT (Piccolo Cubo del Politecnico di Torino, Small Cube of Politecnico di Torino). The project was carried out by some departments of the Politecnico, in particular Electronics and Aerospace. The main goal of the project was to evaluate the feasibility of using COTS components in a space project in order to greatly reduce costs; the design exploited internal subsystems modularity to allow reuse and further cost reduction for future missions. Starting from the PiCPoT experience, in 2006 we began a new project called ARaMiS (Speretta et al., 2007) which is the Italian acronym for Modular Architecture for Satellites. This work describes how the architecture of the ARaMiS satellite has been obtained from the lesson learned from our former experience. Moreover we describe satellite operations, giving some details of the major subsystems. This work is composed of two parts. The first one describes the design methodology, solutions and techniques that we used to develop the PiCPoT satellite; it gives an overview of its operations, with some details of the major subsystems. Details on the specifications can also be found in (Del Corso et al., 2007; Passerone et al, 2008). The second part, indeed exploits the experience achieved during the PiCPoT development and describes a proposal for a low-cost modular architecture for satellite

Empirical Mathematical Model of Microprocessor Sensitivity and Early Prediction to Proton and Neutron Radiation-Induced Soft Errors

A mathematical model is described to predict microprocessor fault tolerance under radiation. The model is empirically trained by combining data from simulated fault-injection campaigns and radiation experiments, both with protons (at the National Center of Accelerators (CNA) facilities, Seville, Spain) and neutrons [at the Los Alamos Neutron Science Center (LANSCE) Weapons Neutron Research Facility at Los Alamos, USA]. The sensitivity to soft errors of different blocks of commercial processors is identified to estimate the reliability of a set of programs that had previously been optimized, hardened, or both. The results showed a standard error under 0.1, in the case of the Advanced RISC Machines (ARM) processor, and 0.12, in the case of the MSP430 microcontroller.This work was supported in part by Spanish MINECO under Project ESP-2015-68245-C4-3-P and Project ESP-2015-68245-C4-4-P

A Hardware-Software Approach for On-Line Soft Error Mitigation in Interrupt-Driven Applications

Integrity assurance of configuration data has a significant impact on microcontroller-based systems reliability. This is especially true when running applications driven by events which behavior is tightly coupled to this kind of data. This work proposes a new hybrid technique that combines hardware and software resources for detecting and recovering soft-errors in system configuration data. Our approach is based on the utilization of a common built-in microcontroller resource (timer) that works jointly with a software-based technique, which is responsible to periodically refresh the configuration data. The experiments demonstrate that non-destructive single event effects can be effectively mitigated with reduced overheads. Results show an important increase in fault coverage for SEUs and SETs, about one order of magnitude.This work was funded in part by the Spanish Ministry of Education, Culture and Sports with the project “Developing hybrid fault tolerance techniques for embedded microprocessors” (PHB2012–0158-PC)

Analysis and Design of Integrated Magnetorquer Coils for Attitude Control of Nanosatellites

The nanosatellites typically use either magnetic rods or coil to generate magnetic moment which consequently interacts with the earth magnetic field to generate torque. In this research, we present a novel design which integrates printed embedded coils, compact coils and magnetic rods in a single package which is also complaint with 1U CubeSat. These options provide maximum flexibility, redundancy and scalability in the design. The printed coils consume no extra space because the copper traces are printed in the internal layers of the printed circuit board (PCB). Moreover, they can be made reconfigurable by printing them into certain layers of the PCB, allowing the user to select any combination of series and parallel coils for optimized design. The compact coil is wound around the available space in a 1U complaint CubeSat panel and it can accommodate much more number of turns compared to printed coil; consequently generating more torque. The magnetic rod is made complaint with the existing available options and can easily be integrated in the panel. This design gives a lot of flexibility because one can choose to optimize power, optimized torque or rotation time by choosing among the available magnetorquer options. The proposed design approach occupies very low space, consume low power and is cost effective. The analysis in terms of generated torque with certain applied voltages, trace widths. The analysis results in terms of selection of optimized parameters including torque to power ratio will be presented

A Compact Model to Evaluate the Effects of High Level C++ Code Hardening in Radiation Environments

A high-level C++ hardening library is designed for the protection of critical software against the harmful effects of radiation environments that can damage systems. A mathematical and empirical model to predict system behavior in the presence of radiation induced faults is also presented. This model generates a quick evaluation and adjustment of several reliability vs. performance trade-offs, to optimize radiation hardening based on the proposed C++ hardening library. Several simulations and irradiation campaigns with protons and neutrons are used to build the model and to tune it. Finally, the effects of our hardening approach are compared with other hardened and non-hardened approaches.This work was funded by the Spanish Ministry of Economy and Competitiveness and the European Regional Development Fund through the following projects: ‘Evaluación temprana de los efectos de radiación mediante simulación y virtualización. Estrategias de mitigación en arquitecturas de microprocesadores avanzados’ and ‘Centro de Ensayos Combinados de Irradiación’, (Refs: ESP2015-68245-C4-3-P and ESP2015-68245-C4-4-P, MINECO/FEDER, UE)

Effetti di tipologie di suolo e colture foraggere sulle perdite per ruscellamento di azoto, fosforo e potassio in differenti areali italiani

Le colture foraggere svolgono un ruolo importante in molti areali italiani. Per una corretta pianificazione del territorio agricolo è necessario approfondire la conoscenza non solo delle caratteristiche produttive di queste colture, ma anche dei loro rapporti con l'ambiente. Questo lavoro prende in considerazione le perdite di azoto, fosforo e potassio dovute al ruscellamento in colture foraggere a diverso livello di intensificazione (dal pascolo alla coltura di erba medica, dal mais al doppio ciclo di mais e loiessa) in tre ambienti italiani: la Pianura Padana nord-occidentale, l'Appennino Toscano e la pianura sarda, con suoli varianti da franco-sabbioso a franco-argilloso. Il monitoraggio quanti-qualitativo del ruscellamento è stato fatto per periodi variabili da due a sei anni. La pendenza era dello 0,5% per gli appezzamenti in Piemonte e Sardegna e del 10% in Toscana. Per quanto riguarda l'azoto i rilasci sono risultati più bassi nei terreni più pianeggianti, anche per i ridotti volumi di ruscellamento registrati, non superando mai 15 kg di N ha -1 anno -1. Nei terreni in pendenza si sono invece registrati valori più elevati, con un massimo annuale di circa 30 kg ha -1 anno -1 di azoto, in relazione anche all'elevato ruscellamento ed erosione di un evento eccezionale. Per il fosforo solo in pochi casi si sono raggiunte perdite di 5 kg ha -1 anno -1, mentre nella maggior parte dei casi non sono stati superati 2 kg ha -1 anno -1. In Sardegna i rilasci di tale elemento sono da considerarsi pressoché trascurabili. Le perdite di potassio sono risultate minime in Sardegna e massime in Piemonte, dove si sono registrati valori dell' ordine di 10 kg ha -1 anno -1. Ove era possibile il confronto, si è verificato che le colture prative riducono il rilascio di elementi nutritivi rispetto alla coltura del mais e che la qualità delle acque di superficie appare legata piuttosto alle tecniche colturali che alla tipologia di suolo. Fodder crops play an important role in many Italian environments. The knowledge of the main productive characteristics of these crops is as important as their relationships with the environment, expecially for a proper territorial management. This paper compares nitrogen, phosphorous and potassium contents in runoff of some forage crops of different intensity (pasture, lucerne, silage maize, Italian ryegrass/maize double cropping) in different ltalian environments (north-western plain of Piemonte, Apennines hills of Tuscany and Mediterranean plain of Sardegna) on different typology of soils. Runoff data have been collected for periods ranging between two and six year, from plots of different extension and slope (0,5% in the plains, 10% in Apennine hills). Nitrogen losses, for the small amount of runoff, have been qui te low from ilat fields, being always less than 15 kg ha -1 year-1. Losses from slope fields have been higher, with a maximum of 30 kg ha -1 year-1, due to very high level of runoff and erosion in a conspicuous episode. Phosphorous losses only in a few cases were higher than 5 kg ha -I year -I, while mostly they have b>!en less than 2 kg ha -1 year-1. In the Mediterranean plain such losses have been quite insignificant. Minimum potassium 10sses were recorded in the Mediterranean plain, while in north-western plain they reached about 10 kg-1 year-1. Maize was, on average, the crop with highest nutrient losses, while quality of the runoff water was more related to agricultural practices than to soil types