This work presents the advancements in the development of simulation models of spacecraft components as part of a testbench for verification of onboard flight software. The satellite and its mission are briefly described as to give an idea of the conditions where the simulation has to run. The simulation environment, SimTG, is also introduced and a description of the developed models is presented. The models required interaction between different simulation environments, real hardware and simulated hardware, and also some data processing was necessary in order to filter undesired information. Finally, the performance of the models was tested and verified and a sensible improvement of the state of the testbench on the simulation side was achieved, although a considerable amount of work still lies ahead before a complete onboard software verification tool is ready.

Analysis was done to determine fuel optimal translunar trajectories from Earth geostationary transfer orbit to a specified target lunar orbit for a small satellite navigation and communication mission. The study included the optimization of impulsive and finite burn transfers. The inclusion of finite burns was necessary due to the low thrust nature of a small satellite propulsion system. Finite burn optimization was achieved using suboptimal parameterization control theory. The orbital parameters of the initial Earth orbit as well as the target lunar orbit were varied to see how this affected the optimal transfer results. Additionally, two engine thrust levels were explored to find the impact on the fuel mass required. All optimization analyses were completed using Copernicus, a trajectory optimization software package developed at the University of Texas at Austin for the National Aeronautics and Space Administration (NASA).

In my dissertation, I examine varied types of knowledge and how they contribute to innovation generation and selection at both the firm and the industry level using the emerging industry context of small satellites. My research is divided into three papers. In Paper One, I take a supply-demand perspective and examine how suppliers of technology—with their unique knowledge of science and technology—and users of technology—with their unique knowledge of demand—contribute to innovation generation and selection over the industry lifecycle. Results show that the contributions of suppliers and users vary based on unique aspects of innovation, such as novelty, breadth, and coherence – and also over the industry life cycle. In Paper Two, I study how firms overcome science-business tension in their pursuit of novel innovation. I examine unique aspects of knowledge: scientists' business knowledge and CEOs' scientific knowledge. I show that CEOs' scientific knowledge is an important driver of firms' novel pursuits and that this impact is higher when scientists do not have business knowledge. In the third paper, I further examine how scientists with high technological and scientific knowledge—i.e., star scientists—impact firm innovation generation and selection. With a focus on explorative and exploitative innovation, I develop theory on the boundary conditions of stars' impact on firm level outcomes. I propose that individual level contingencies—i.e., stage of employment—and organizational level contingencies—explorative or exploitative innovation—both facilitate and hinder stars' impact on firms' innovative pursuits. / Doctor of Philosophy / In my dissertation, I study innovation at both the firm level and the industry level using the emerging industry context of small satellites. My dissertation divides into three papers. In Paper One, I study unique aspects of innovation at the industry level taking a supply-demand perspective. Since novelty, breadth, and convergence of innovation are all important drivers of the emergence and evolution of industries, I examine how supply side or demand side actors contribute to unique aspects of innovation over the industry life cycle. Results suggest that both suppliers and users of technology make important contributions to innovation, however, their respective contributions vary to novelty, breadth, and convergence of innovation. This impact varies over the industry life cycle. In Paper Two, I study how firms pursue novel innovation as main creator of economic value for firms. Firms need both scientific and technological knowledge in their pursuit of novel innovation. However, firms often struggle to overcome science-business tensions. Focusing on CEOs and scientists as two main drivers of innovation, I study how CEOs’ scientific knowledge and scientists’ business knowledge help firms overcome business-science tension. Results suggest that the likelihood of firms’ novel pursuit is higher when CEOs have scientific knowledge and scientists do not have business knowledge. In Paper Three, I further examine how high-performing scientists—i.e., star scientists—impact explorative and exploitative innovation. I propose that the stage of employment of individuals and goal context of firms are important contingencies that impact how stars impact firm level innovation.

Many satellites in LEO use a GNSS-based navigation system, taking advantage of the GNSS constellations in MEO to enhance navigation capabilities. The thesis work focused on developing the software enabling GNSS-based navigation for Hemeria's future small satellites operating in LEO. Real time algorithms were developed to perform on board accurate frame conversions based on the International Earth Rotation and Reference Systems Service 2010 convention. The implementation was tested and independently cross-validated using space mechanics libraries and data from Observatory of Weights and Measures of Paris. The method was based on the Earth Orientation Parameters, and the balance between autonomy and accuracy was assessed. In pursuit of an affordable navigation system, a commercial Off-The-Shelf GNSS receiver was used. The navigation solution, derived from single frequency measurements, suffered from a systematic bias caused by the ionosphere. Mitigation strategies with ionospheric corrections were included in the IONOS simulator. Several attitude control modes were simulated so the effect of spacecraft tumbling versus the availability of GNSS measurements in a degraded situation was quantified.  Through this thesis, algorithms for GNSS-based navigation of Hemeria's small satellites in LEO were developed. The results showed the successful implementation of real time frame conversions at the metre level at best. It was found that the implementation allowed an improved autonomy of the frame conversion at the decimetre level of accuracy over a period of two months. / Många satelliter i LEO använder GNSS-baserad navigering och drar nytta av GNSS-konstellationerna i MEO för att förbättra navigeringsförmågan. Avhandlingsarbetet fokuserade på att utveckla mjukvaran som möjliggör GNSS-baserad navigering för Hemerias framtida småsatelliter som opererar i LEO. Realtidsalgoritmer utvecklades för att utföra exakta ramkonverteringar ombord baserat . Implementeringen testades och korsvaliderades oberoende med hjälp av rymdmekanikbibliotek och data från Observatory of Weights and Measures of Paris. Metoden baserades på jordorienteringsparametrarna, och balansen mellan autonomi och noggrannhet utvärderades. I jakten på ett prisvärt navigationssystem användes en kommersiell off-the-shelf GNSS-mottagare. Denna navigeringslösning, som härrörde från mätningar med en enda frekvens, led av en systematisk bias orsakad av jonosfären. I IONOS-simulatorn ingick strategier för att mildra effekterna med jonosfäriska korrigeringar. Flera lägen för attitydkontroll simulerades så att effekten av rymdfarkostens tumlande kontra tillgängligheten av GNSS-mätningar i en försämrad situation kunde kvantifieras.  Genom denna avhandling utvecklades algoritmer för GNSS-baserad navigering av Hemerias små satelliter i LEO. Resultaten visade en framgångsrik implementering av ramkonverteringar i realtid på meternivå som bäst. Det visade sig att implementeringen möjliggjorde en förbättrad autonomi för ramkonverteringen på decimeternivå under en period av två månader.

<div>As small satellites are increasingly used in the space industry, creative solutions for the use of their limited volume will be required. Conformal tanks are one idea to better make use of this volume. These tanks are non-traditionally shaped and non-axisymmetric. Because slosh can have detrimental effects on a spacecraft, it should be understood. However, slosh in these more complicated geometries has not been thoroughly investigated in the past.</div><div><br></div><div>This research looks at slosh within six geometries, five of which are conformal tanks. These geometries are evaluated in both an experiment and using CFD simulations. It was found that the total slosh motion appears to be the sum of slosh behavior along each dimension. Slosh along a line of symmetry will have center of mass movement that stays along that line. Slosh off the line of symmetry will deviate from that line unless slosh frequency is the same in each direction.</div>

This thesis provides a description of the analysis, design, and tests of an X-band RF Transmitter communication system for small satellites. X-band transmitter systems are becoming popular in the upcoming deep space missions. Most of the deep-space ground stations have been using X-band frequencies to receive or transmit signals. The X-band (<10 GHz) can offer lower atmospheric losses and up to a couple of Mbps data rates for multiple satellite operations. Nowadays, many small satellites have been using frequency bands such as VHF, UHF, L, and S-band frequencies for communication. From deep space to the ground station, the low-frequency ranges are inadequate in providing Mbps level data rates and enough bandwidth for deep space missions. The main focus of this thesis was the development of the subsystems such as gain block amplifier, Mixer, Bandpass Filter, and RF power amplifier. The subsystems were designed separately, then they were connected together to perform an end-to-end system test. One of the thesis aims is to design a manageable, power-efficient, and especially cost-effective X-band RF transmitter system. We presented a transmitter system demonstration in this thesis that can also be used in other orbits such as LEO, MEO, or GEO. Additionally, we presented a whole transceiver architecture. However, we focused on specifically designing transmitter subsystems. Initially, the top-level transmitter system objectives were determined. Then, the link budget was calculated. In the next stage, the RF front-end components were determined. Moreover, we simulated a transmitter system to foresee the output power, EVM, LO and IF frequency requirements, harmonics and spurious signals, cascaded gain and noise figure, and phase noise. From the calculated link budget, we were able to close the link by obtaining a 3 dB link margin. At the end of this calculation, we successfully obtained 1.45 Mbps for uplink data rate and 3.05 Kbps downlink rate. We used modulated signal to evaluate EVM. From the simulated transmitter chain, the output EVM was obtained as 1.456% RMS. From the filter board, we obtained an 8.5 dB insertion loss at 8.45 GHz. From the Mixer board, we’ve got 10 dB conversion loss and greater than 20 dB isolation between LO-RF ports. From the gain block amplifier board, we obtained a +9 dB gain at 8.45 GHz. The bandpass filter, mixer, and gain block amplifier boards were designed by using FR-4 dielectric material. We also designed a 5 W RF power amplifier board. From this board, we successfully obtained +37 dBm output at bias current at 200 mA. We reached almost 30% Power-added efficiency (PAE). In the end, we connected all the subsystems together using male-to-male SMA connectors to observe output by using a spectrum analyzer. We obtained transmitter output as +10.67 dBm at 8.45 GHz with a -10.7 dBm input power level. One benefit of this thesis is that its content has inspired other students in the department to develop similar subsystems. The other benefit of this work might be to inspire the way for next-generation X-band communication systems for use in small satellites, such as for deep space missions. This thesis might also be a reference source for institutions with a limited budget to develop a cost-effective satellite communication subsystem and contribute to space exploration for their educational and research objectives.

<p>As the small satellite market has grown from a niche of the space economy to a full commercial force,  microthrusters remain an area of significant growth in the space industry as new technologies mature. The \textit{Film-Evaporation Microelectricalmechanical Tunable Array} (FEMTA) is one such device. FEMTA is \textit{microelectricalmechanical system} (MEMS) device that harnesses the microcapillary action of water and vacuum boiling to generate thrust. The water propellant is not chemically altered at all by the process; it is simply evaporated. This technology has been tested in relevant laboratory environments, and a suborbital flight opportunity in 2023 as a payload on a Blue Origin New Shepard rocket  will grant FEMTA a demonstration in a space environment. The flight will provide 150 seconds of weightlessness at the zenith of the suborbital flight path before the booster returns to land. During weightlessness, the experiment will be exposed to the ambient environment allowing for a full capability test of the thruster. The experiment is meant to demonstrate the propellant management system for FEMTA in 0G and measure the thrust produced by a FEMTA thruster.</p> <p><br></p> <p>The propellant management system portion of the experiment consists of an oversized version of the subsystem intended for use in the thruster. The propellant management system uses a hydrofluoroether to inflate a diaphragm to ensure constant wetting of the propellant tank exit and nozzle inlet. The experiment will take tank pressure data and flow sensor data to understand the system's behavior. The system is duplicated for redundancy and to double the possible data. This system requires further testing before being prepared for launch, vibrational testing, thermal testing, and vacuum testing. </p> <p><br></p> <p>The 0G thrust experiment and plume analysis portion of the experiment consists of numerical modeling and a novel thrust measurement approach. \textit{Direct Simulation Monte Carlo} (DSMC) is being applied to understand the pressure, density, and temperature distributions of the plume of water vapor produced by the FEMTA thruster. The FEMTA nozzle environment is challenging to simulate with computational fluid dynamics  or DSMC due to chaotic transient effects and because both the continuum and molecular regimes must be considered. The current analysis consisted of a two-dimensional model and investigated the effect of meniscus location and contact angle on thrust generated.</p> <p><br></p> <p>It is not possible to use traditional thrust measurement devices (sensitive torsional thrust stands or microsensors intended for use on small satellites) for microthrusters on a rocket booster. Two  novel approaches for performing thrust measurement in the range of 100 microNewtons have been investigated. The first approach ionizes the FEMTA thruster plume and analyzes the plasma by optical emission spectroscopy. The theory states that the relative intensity of a given wavelength observed correlates to the density of the species in the plasma. The density of water would be directly correlated to the thrust generated by FEMTA during the experiment, as more water is evaporated as thrust is increased. This method is no longer being considered for the suborbital experiment but did yield promising results. </p> <p><br></p> <p>The second approach employs a d'Arsonval meter, a photo-interrupt, and an Arduino controller. The d'Arsonval meter consists of a stationary permanent magnet with a moving coil and a pointer. Increasing the voltage in the coil causes a torque on the system due to the magnetic field induced by the permanent magnet. This torque causes a deflection of the pointer that is proportional to the voltage applied. The flag of the sensor will be placed in the path of the gas jet from the thruster. The force caused by the jet pressure will move the flag. An Arduino controller will vary the voltage to hold the flag in place. As the mass flow rate increases, the reaction force required to hold the flag in place will increase. This sensor can be calibrated using an analog cold gas system that passes various gases (air nitrogen, argon, etc.) through an orifice nozzle at mass flow rates that are set by a mass flow rate controller. DSMC analysis has been performed to understand the flow field and flow properties and how they directly relate to the force experienced by the flag sensor. </p> <p>An undergraduate course has supported parts of the work described in this dissertation. This course has applied the Vertically Integrated Projects approach to project-based learning. This method and its results were analyzed and lessons learned as well as a blueprint for future application of this method to other small satellite projects are discussed.</p>

A student-based university environment for engineering design and development is much different from a product development environment within the aerospace industry. Therefore, a different approach to systems engineering should be considered. By its very nature, a university product development laboratory thrives on creativity and rejects bureaucracy. Experience shows that continuity and discipline within a project is crucial for success. The practice of systems engineering enables technical project discipline. Systems engineering is the art and science of developing an operable system that meets requirements within imposed constraints. The purpose of this thesis is to describe the systems engineering processes and techniques necessary for a student-based project, and explicitly show how to implement these processes. Although attempts have been made to utilize a few systems engineering techniques in past projects, many students did not properly and consistently apply those techniques to the technical design work. The goal of the thesis is to tailor the NASA systems engineering processes to a student-based design laboratory environment and to apply the methodologies to the mission design of Paradox. The Picosatellite for Autonomous Rendezvous and Docking on-Orbit eXperiment, or Paradox, is the second of four missions to demonstrate autonomous rendezvous and docking with a picosatellite-class satellite. A strong technical contribution highlighted within the thesis involves developing an open architecture rendezvous targeting algorithm for the Paradox mission in the face of large mission architecture uncertainties. The robust targeting algorithm builds from previous work utilizing an optimizer based on the Clohessey-Wiltshire equations and an iterative Lambert targeter. The contribution extends the rendezvous transfer times by including a multi-revolution Lambert targeter. The rendezvous algorithm will perform successfully given any launch vehicle and target spacecraft vehicle supporting the notion of an open architecture to satisfy the mission. The development of the algorithm is embedded within the context of the systems engineering processes to clearly showcase the intimate connection between systems engineering processes and the technical engineering design of a mission. / text

Small satellites are gaining popularity in a wide range of applications where attitude systems require high precision performance. One of the main sources of errors, in case of magnetic attitude control systems, is the residual magnetic moment (RMM) of the spacecraft. To keep the RMM low and stable, mitigation methods shall be applied based on the satellite’s magnetic dipole moment (MDM) characterization, which shall be measured accurately. For small satellites, the most common technique involves the generation of a field-free region for the magnetic measurements using a test bed. The test bed measurement setup is normally mechanical, where measurements from the device under test (DUT) are very tedious. Optical magnetic test beds (OMTB) are being developed for MDM characterization providing simpler set ups and faster measurements than mechanical test beds. In this work, accuracy of OMTB of Aalto University has been evaluated by measuring three permanent magnets in two configurations. The measurements show a relationship between the estimation accuracy and the DUT’s marker area seen by the camera. Moreover, it was observed that the field-free region generated by Helmholtz coil cage can generate false data points. Based on these observations, the detection of the marker’s positions have been evaluated using the view area (VA) and the pointing angle (PA). The analysis shows that there is a consistent pattern depending on the combination of the VA and PA. Hence, the method of data acquisition was improved in order to prioritize the markers which position allow better accuracy. The achieved improvement of MDM estimation results is 2 %, and the test bed’s overall error evaluated is a 13 % in MDM position estimation and 23 % in MDM magnitude estimation. The improved OMTB was used to characterize the MDM of four magnetic attitude coils of Foresail-1 satellite. The measurements results are consistent with design parameters, showing three dipole configuration in all coils with a MDM magnitude order of 10−2 A·m2. / Foresail-1