The purpose of this paper was to implement Kalman filtering in the form of pre-existing Simulink blocks into a CubeSat attitude determination and control system simulation and to evaluate their performance. In recent versions of Simulink, the block library has been expanded, providing a new level of abstraction for simulation engineers. The capabilities of such library filter blocks have previously not been explored for space applications and could offer a faster and more simplified filter integration process. Three types of filter implementations have been realized, being classic Kalman filter, extended Kalman filter and unscented Kalman filter. These have been applied to the outputs of the coarse Sun sensor and Earth horizon sensor, as well as to the simulation attitude estimate. State propagation functions have been defined in the form of constant and linear approximations in addition to state propagation following the same structure as the simulation reference truth. Filter efficiency was evaluated using control error, pointing knowledge, pointing accuracy and variance as performance measures. Furthermore, interventions were introduced in the form of sensor data loss and solar panel deployment. The Kalman filter blocks were successfully integrated into the simulation. Performance measures revealed that constant state transition functions provided the best performance in most cases, exceptions being the extended Kalman filter and unscented Kalman filter of the attitude estimate application. Here, the true state propagation instead outperformed the other filters. Signal data loss showed that the true state propagation was the only one that could accurately predict the attitude state in a scenario when sensors fail to provide data. Solar panel deployment could not be utilized to evaluate the filter performance as the filter implementation did not support prediction of a dynamic attitude state. Results suggest that the pre-existing Simulink filter blocks can provide an easier alternative to defining filters from scratch. However, great care needs to be taken when tuning block parameters and constructing state transition functions to assure proper behavior. / Syftet med arbetet har varit att implementera Kalmanfilter i formen av fördefinierade Simulink-block i en simulering av ett system för attitydbestämning och styrning för en CubeSat, och utvärdera prestandan. I nyare versioner av Simulink har blockbiblioteken utökats, vilket har introducerat nya nivåer av abstraktion för simuleringsingenjörer. Möjligheterna hos filterblock i sådana bibliotek har ännu inte utforskats för rymdtekniska tillämpningar, och skulle kunna leda till snabbare och enklare integrering av filter. Tre typer av filterimplementationer har genomförts: klassiska Kalmanfilter, utökat Kalmanfilter och oparfymerat Kalmanfilter. Dessa har applicerats till utdata från solsensor och jordhorisontsensor, samt till simuleringens uppskattade attityd. Funktioner för tillståndspropagering har definierats i formen av konstanta och linjära approximationer tillsammans med den verkliga tillståndspropageringen, som har samma struktur som simuleringens sanna referensvärde. Effektiviteten hos filtren har utvärderats genom kontrollfel, riktningskunskap, riktningsnoggrannhet och varians som prestandamått. Vidare har interventioner introducerats i form av förlust av sensordata och utfällning av solpaneler. Kalmanfilterblocken integrerades med framgång i simuleringen. Prestandamåtten visade att de konstanta funktionerna för tillståndspropagering gav bäst prestanda i de flesta fallen, förutom i fallet av utökat Kalmanfilter och oparfymerat Kalmanfilter i appliceringen på den uppskattade attityden. I det sistnämnda fallet var det den verkliga tillståndspropageringen som presterade bättre än de andra filtren. Förlust av signaldata visade att den verkliga tillståndspropageringen är den enda som med säkerhet kan förutsäga utvecklingen av attityden i ett läge där sensorerna inte längre levererar data. Utfällningen av solpanelerna kunde inte utnyttjas för att utvärdera prestandan hos filtren, då implementeringen av filtren inte kan förutsäga utvecklingen av ett dynamiskt attitydtillstånd. Resultaten antyder att fördefinierade Simulink-filter kan erbjuda ett enklare alternativ till att definiera filter helt från början. Dock så krävs noga omsorg vid inställning av blockparametrar och vid konstruktion av funktioner för tillståndspropagering för att säkerställa korrekt beteende

As part of a continuous trend of the space sector for obtaining higher performance space science and Earth observations, there is an increasing demand for higher requirements in pointing accuracy and disturbance prediction. The Space Rider System (SRS) is a Low Earth Orbit (LEO) reusable vehicle that aims at answering to that demand. It is a real science platform for short orbital missions, and its service module is being developed for European Space Agency (ESA) by Italian company AVIO S.p.A. The module possesses several rotating parts such as the solar arrays and the reaction wheels, that both create vibration disturbances that might jeopardize the Micro-Gravity (MG) requirements set on the project. At the same time, these reaction wheels were found to be failing to complete certain slew maneuvers, although they are the preferred actuator for most attitude controls. In a perspective to studying these aspects and exploring possible enhancements, this study develops two generic models to simulate the vibration disturbances from Solar Array (SA) and Reaction Wheel (RW). Furthermore, the optimization routine of a different guidance approach using a quaternion shape method is developed to tackle the Reaction Wheels Assembly (RWA) saturation. Through extensive validation work coupled with research and simulations, the developed models were found to enable a good estimation of the vibrations on the spacecraft, and enhance the ability of the company to validate requirements in a more agile way. Furthermore, an optimization algorithm was developed and has shown great performance in desaturating all the problematic maneuvers using reaction wheels during orbital phases, with low computational requirements. / Som en del av rymdsektorns kontinuerliga strävan att uppnå högre prestanda inom rymdvetenskap och jordobservationer ökar kraven på högre precision i riktningen och störningsförutsägelser. Space Rider System (SRS) är en återanvändbar farkost för låg jordbana (LEO) som syftar till att uppfylla dessa krav. SRS är en vetenskapsplattform för korta rymduppdrag i omloppsbana, och dess servicemodul utvecklas för ESA av det italienska företaget AVIO S.p.A. Modulen har flera roterande delar, t.ex. solpanelerna och reaktionshjulen, som båda skapar vibrationsstörningar som kan äventyra de krav på mikrovibrationer som ställs på projektet. Samtidigt konstaterades det att reaktionshjulen inte klarar av att genomföra vissa svängningsmanövrar, trots att de är det föredragna manöverdonet för de flesta attitydkontroller. För att studera dessa aspekter och utforska möjliga förbättringar utvecklas i denna studie två generiska modeller för att simulera vibrationsstörningar från solpanelerna och reaktionshjulen. Dessutom utvecklas optimeringsrutinen för en annan styrningsmetod med hjälp av en kvaternion-formmetod för att hantera mättnaden av reaktionshjulen. Genom ett omfattande valideringsarbete med forskning och simuleringar visade sig de utvecklade modellerna möjliggöra en god uppskattning av vibrationerna på rymdfarkosten och förbättra företagets förmåga att validera krav på ett smidigare sätt. Vidare utvecklades en optimeringsalgoritm som har visat stor prestanda när det gäller att avmätta alla problematiska manövrar med hjälp av reaktionshjul under omloppsfaserna, med låga beräkningskrav.

Vehicle electrification plays a significant role in the effort to reduce the environmental impact of the automotive industry. Scania is one of the leading manufacturers ofheavy vehicles which is currently moving towards a sustainable transport system by manufacturing a new generation of heavy vehicles powered by batteries. Oneof the major concerns with these vehicles is related to the noise generated by the electric axial fans used in the cooling system. This project was conducted with thepurpose of investigating the factors that positively affect both noise and performance in the electric fans. Based on two different blade design methods and several noisecontrol techniques, 11 fan models were developed. The fan models created with design method 1 are equipped with cambered-plate blades, while the models madewith design method 2 consist of airfoil-shaped blades. Moreover, the performance of these models was analyzed by using theoretical methods and Computational FluidDynamics (CFD). In addition, two empirical approaches were used to estimate the acoustic energy emitted by the fan models. Furthermore, the developed modelswere compared with two commercially available fans. It was found that both design methods provide similar performance in low pressure differences. On the other hand,the efficiency and acoustic energy are influenced by the choice of the noise control methods. / Fordonselektrifiering har en väsentlig roll i arbetet med att minska bilindustrins miljöpåverkan. Scania är en av de ledande tillverkarna av tunga fordon som för närvarandegår mot ett hållbart transportsystem, genom att tillverka en ny generation tunga fordon drivna med batterier. Ett stort bekymmer med dessa fordon är relaterattill det ljud som genereras av de elektriska axialfläktarna som används i kylsystemet. Detta projekt genomfördes i syfte till att undersöka de faktorer som positivtpåverkar både buller och prestanda hos de elektriska fläktarna. Baserat på två olika bladdesignmetoder och flera brusstyrningstekniker, utvecklades 11 fläktmodeller.Fläktmodellerna som är utformade med konstruktionsmetod 1 är utrustade med krökformade plattor, medan modellerna som skapades med designmetod 2 bestårav vingprofil blad. Dessutom analyserades prestandan för dessa modeller med användning av teoretiska metoder och strömningsmekaniska beräkningar. Ytterligaretvå empiriska tillvägagångssätt användes för att uppskatta den akustiska energin som släppts ut av fläktmodellerna. Utöver det jämfördes de utvecklade modellernamed två kommersiellt tillgängliga fläktar. Detta visade att båda konstruktionsmetoderna resulterar i liknande prestanda vid lågtrycksskillnader, däremot påverkasverkningsgraden och den akustiska energin av valet av brusstyrningsmetoder.

Quantum Key Distribution (QKD) is a promising method for information exchange that relies on quantum mechanical principles to increase the security of encodedinformation in comparison with traditional cryptography. The objective of this degree project was to plan, build and validate a receiver system for Free-Space QKD. To testit, a simple state-preparation setup was built, using a 780 nm laser for the QKD channel and a 680 nm laser for tracking, and both were sent over a single free-spacequantum channel. On the receiver side, the beam is received by a telescope that focuses it into the eye-opening where the receiver is positioned. Here, the tracking laser isdeflected to a camera (intended for a tracking algorithm, to be implemented in the future) and the QKD laser beam is split, and its polarization measured in |H⟩/|V⟩ and|+⟩/|−⟩ basis. Finally, the system is validated by testing that the beam propagates over the free-space channel, that the polarization correction is properly applied and,finally, that each polarization is routed into the right detector. By replacing the test sender with another with a capacity for sending states random number generation, thedeveloped receiver should be able to take part in quantum communication via protocols such as BB84, B92 or Decoy-State. / Kvantnyckeldistribution (QKD) är en lovande metod för informationsutbyte som förlitar sig på kvantmekaniska principer för att öka säkerheten för kodad informationjämfört med traditionell kryptografi. Syftet med detta examensprojekt var att planera, bygga och validera ett mottagarsystem för Fritt Rymd QKD. För att testa det,byggdes en enkel state-preparation setup, med hjälp av en 780 nm laser för QKD kanal och en 680 nm- laser för spårning, och båda skickades över en enda fri-rymdkvantkanal. På mottagarens sida tas strålen emot av ett teleskop som fokuserar den i ögonöppningen där mottagaren är placerad. Här avlägsnas spårningslasern till enkamera (som är avsedd för en spåringsalgoritm, som ska genomföras i framtiden) och QKD-laserstrålen är uppdelad, och polariseringen mäts i |H⟩/|V⟩ och |+⟩/|−⟩ bas.Slutligen valideras systemet genom att testa att strålen sprider sig över den fria rymdkanalen, att polariseringskorrigering tillämpas korrekt och, slutligen, att varjepolarisering riktas till rätt detektor. Genom att ersätta testsändaren med en annan med en kapacitet för att sända stater slumptalsgenerering, bör den utvecklademottagaren kunna delta i kvantkommunikation via protokoll som BB84, B92 eller Decoy-State.

<p>Magnetized planets, such as Earth, are strongly influenced by the solar wind. The Sun is very dynamic, releasing varying amounts of energy, resulting in a fluctuating energy and momentum exchange between the solar wind and planetary magnetospheres. The efficiency of this coupling is thought to be controlled by magnetic reconnection occurring at the boundary between solar wind and planetary magnetic fields. One of the main tasks in space physics research is to increase the understanding of this coupling between the Sun and other solar system bodies. Perhaps the most important aspect regards the transfer of energy from the solar wind to the terrestrial magnetosphere as this is the main source for driving plasma processes in the magnetosphere-ionosphere system. This may also have a direct practical influence on our life here on Earth as it is responsible for Space Weather effects. In this thesis I investigate both the global scale of the varying solar-terrestrial coupling and local phenomena in more detail. I use mainly the European Space Agency Cluster mission which provide unprecedented three-dimensional observations via its formation of four identical spacecraft. The Cluster data are complimented with observations from a broad range of instruments both onboard spacecraft and from groundbased magnetometers and radars.</p><p>A period of very strong solar driving in late October 2003 is investigated. We show that some of the strongest substorms in the history of magnetic recordings were triggered by pressure pulses impacting a quasi-stable magnetosphere. We make for the first time direct estimates of the local energy flow into the magnetotail using Cluster measurements. Observational estimates suggest a good energy balance between the magnetosphere-ionosphere system while empirical proxies seem to suffer from over/under estimations during such extreme conditions.</p><p>Another period of extreme interplanetary conditions give rise to accelerated flows along the magnetopause which could account for an enhanced energy coupling between the solar wind and the magnetosphere. We discuss whether such conditions could explain the simultaneous observation of a large auroral spiral across the polar cap.</p><p>Contrary to extreme conditions the energy conversion across the dayside magnetopause has been estimated during an extended period of steady interplanetary conditions. A new method to determine the rate at which reconnection occurs is described that utilizes the magnitude of the local energy conversion from Cluster. The observations show a varying reconnection rate which support the previous interpretation that reconnection is continuous but its rate is modulated.</p><p>Finally, we compare local energy estimates from Cluster with a global magnetohydrodynamic simulation. The results show that the observations are reliably reproduced by the model and may be used to validate and scale global magnetohydrodynamic models.</p>

Aircraft system identification has been widely used to this day in applications like control law design, building simulators or extending flight envelopes. It can also be utilized for determining flight-mechanical characteristics in the preliminary design phase of a flight vehicle. In this thesis, three common time-domain methods were implemented in MATLAB for determining the aerodynamic derivatives of a subscale aircraft. For parameter estimation, the equation-error method is quick, robust and can provide good parameter estimates on its own. The output-error method is computationally intensive but keeps account of the aircraft's evolution in time, being more suitable for fine-tuning predictive models. A new model structure is identified using multivariate orthogonal functions with a predicted squared error stopping criteria. This method is based on linear regression (equation-error). The code written is flexible and can also be used for other aircraft and with other aerodynamic models. Simulations are compared with experimental data from a previous flight test campaign for validation. In the future, this tool may help taking decisions in conceptual design after a prototype is tested.

Many space probes have conducted in situ explorations of asteroids, in recent decades, intent on identifying evidence of the solar system's earliest processes of formation within the asteroids' interiors. Several future asteroid missions are planned, among which include ESA's Hera mission to explore the Didymos binary asteroid pair. An ion mass analyzer is currently being designed at the Swedish Institute of Space Physics for use as part of the Hera mission. This thesis aims to optimize the instrument such that each of its parameters meets the requirement for performance. A computer simulation is used to calculate the trajectories of low-energy ions inside the instrument, where the electrostatic potential are imposed by grids and electrodes embedded inside the instrument. From the data analysis of the simulation results, the performance for each parameter can be derived. By changing the settings of the grids and electrodes (e.g., positions and voltages), the instrument parameters are to be optimized. Two tasks are set up in this project--- the first task is to optimize the focusing system of the incoming ions at the instrument's entrance, and the second task is to investigate the reflectron system so that the mass resolution of the instrument can be optimized via reducing the spread of the ions' time of flight spectra. The focusing system is found to already be optimized, but instead, a relation between its position of the grid at the instrument's entrance and the instrument's performance is derived. The method of and parameters for optimization within the reflectron are extensively tested individually during this project. Although several performances in each trial from the reflectron analysis cannot meet at least one of the requirements, enough scenarios are examined such that every parameter tested ends with a value suitable to be applied individually to optimize the ion mass analyzer. The findings from the individual tests done in this project can be applied to further optimization, particularly to optimize multiple parameters simultaneously in the near future.

<p>The Auroral Large Imaging System (ALIS) was proposed in 1989 by Åke Steen as a joint Scandinavian ground-based nework of automated auroral imaging stations. The primary scientic objective was in the field of auroral physics, but it was soon realised that ALIS could be used in other fields, for example, studies of Polar Stratospheric Clouds (PSC), meteors, as well as other atmospheric phenomena.</p><p>This report describes the design, operation and scientic results from a Swedish prototype of ALIS consisting of six unmanned remote-controlled stations located in a grid of about 50 km in northern Sweden. Each station is equipped with a sensitive high-resolution (1024 x 1024 pixels) unintensified monochromatic CCDimager. A six-position filter-wheel for narrow-band interference filters facilitates absolute spectroscopic measurements of, for example, auroral and airglow emissions. Overlapping fields-of-view resulting from the station baseline of about 50 km combined with the station field-of-view of 50° to 60°, enable triangulation as well as tomographic methods to be employed for obtaining altitude information of the observed phenomena.</p><p>ALIS was probably one of the first instruments to take advantage of unintensi- fied (i.e. no image-intensifier) scientific-grade CCDs as detectors for spectroscopic imaging studies with multiple stations of faint phenomena such as aurora, airglow, etc. This makes absolute calibration a task that is as important as it is dificult.</p><p>Although ALIS was primarily designed for auroral studies, the majority of the scientific results so far have, quite unexpectedly, been obtained from observations of HF pump-enhanced airglow (recently renamed Radio-Induced Aurora). ALIS made the first unambiguous observation of this phenomena at high-latitudes and the first tomography-like inversion of height profiles of the airglow regions. The scientific results so far include tomographic estimates of the auroral electron spectra, coordinated observations with satellite and radar, as well as studies of polar stratospheric clouds. An ALIS imager also participated in a joint project that produced the first ground-based daytime auroral images. Recently ALIS made spectroscopic observations of a Leonid meteor-trail and preliminary analysis indicates the possible detection of water in the Leonid.</p>

<p>This thesis discusses the reasons for space exploration and space science. Space plasma physics is identified as an essential building block to understand the space environment and it is argued that observation and analysis of space plasma waves is an important approach.</p><p>Space plasma waves are the main actors in many important processes. So-called broadband waves are found responsible for much of the ion heating in the auroral region. We investigate the wave properties of broadband waves and show that they can be described as a mixture of electrostatic wave modes. In small regions void of cold electrons the broadband activity is found to be ion acoustic waves and these regions are also identified as acceleration regions. The identification of the wave modes includes reconstructions of the wave distribution function. The reconstruction technique allow us to determine the wave vector spectrum, which cannot be measured directly. The method is applied to other wave events and it is compared in some detail with a similar method.</p><p>Space plasma wave are also sensitive tools for investigations of both the fine-structure and the dynamics of space plasmas. Studies of whistler mode waves observed in the boundary layer on the magnetospheric side of the magnetopause reveal that the plasma is organized in tube-like structures moving with the plasma drift velocity. The perpendicular dimension of these tubes is of the order of the electron inertial length. We present evidence that each tube is linked to a reconnection site and argue that the high density of tube-like structures indicates patchy reconnection.</p>

<p>The concept of energy production through the fusion of two light nuclei has been studied since the 1950’s. One of the major problems that fusion scientists have encountered is the confinement of the hot ionised gas, i.e. the plasma, in which the fusion process takes place. The most common way to contain the plasma is by using at magnetic field configuration, in which the plasma takes a doughnut-like shape. Experimental devices of this kind are referred to as tokamaks. For the fusion process to proceed at an adequate rate, the temperature of the plasma must exceed 100,000,000C. Such a high temperature forces the plasma out of thermodynamical equilibrium which plasma tries to regain by exciting a number of turbulent processes. After successfully quenching the lager scale magnetohydrodynamic turbulence that may instantly disrupt the plasma, a smaller scale turbulence revealed itself. As this smaller scale turbulence behaved contrary to the common theory at the time, it was referred to as anomalous. This kind of turbulence does not directly threaten existents of the plasma, but it allows for a leakage of heat and particles which inhibits the fusion reactions. It is thus essential to understand the origin of anomalous turbulence, the transport it generates and most importantly, how to reduce it. Today it is believed that anomalous transport is due to drift-type waves driven by temperature and density inhomogeneities and the theoretical treatment of these waves is the topic of this thesis.</p><p>The first part of the thesis contains a rigorous analytical two-fluid treatment of drift waves driven solely by density inhomogeneities. Effects of the toroidal magnetic field configuration, the Landau resonance, a peaked diamagnetic frequency and a sheared rotation of the plasma have been taken into account. These effects either stabilise or destabilise the drift waves and to determine the net result on the drift waves requires careful analysis. To this end, dispersion relations have been obtained in various limits to determine when to expect the different effects to be dominant. The main result of this part is that with a large enough rotational shear, the drift waves will be quenched.</p><p>In the second part we focus on temperature effects and thus treat reactive drift waves, specifically ion temperature gradient and trapped electron modes. In fusion plasmas the α-particles, created as a by-product of the fusion process, transfer the better part of their energy to the electrons and hence the electron temperature is expected to exceed the ion temperature. In most experiments until today, the ion temperature is greater than the electron temperature and this have been proven to improve the plasma confinement. To predict the performance of future fusion plasmas, where the fusion process is ongoing, a comprehensive study of hot-electron plasmas and external heating effects have been carried out. Especially the stiffness (heat flux vs. inverse temperature length scale) of the plasma has been examined. This work was performed by simulations done with the JETTO code utilising the Weiland model. The outcome of these simulations shows that the plasma response to strong heating is very stiff and that the plasma energy confinement time seems to vary little in the hot-electron mode.</p>