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Flux-Pinned Dynamical Systems with Application to Spaceflight

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Flux-Pinned Dynamical Systems with Application to Spaceflight FLUX-PINNED DYNAMICAL SYSTEMS WITH APPLICATION TO SPACEFLIGHT A Dissertation Presented to the Faculty of the Graduate School of Cornell University in Partial Fulfillment of the Requirements for the Degree of Doctor of Philosophy by Frances Zhu May 2019 © 2019 Frances Zhu ii FLUX-PINNED DYNAMICAL SYSTEMS WITH APPLICATION TO SPACEFLIGHT Frances Zhu, Ph. D. Cornell University 2019 Technology enables space exploration and scientific discovery. At this amazing intersection of time, new software and hardware capabilities give rise to daring robotic exploration and autonomy. Close-proximity operations for spacecraft is a particularly critical portion of any robotic mission that enables many types of maneuvers, such as docking and capture, formation flying, and on-orbit assembly. These dynamic maneuvers then enable different missions, like sample return, spacecraft construction larger than a single rocket faring, and deep-space operations. Commonly, spacecraft dynamic control uses thrusters for position and attitude control, which rely on active sensing and consumable propellant. The development of other dynamic control techniques opens new capabilities and system advantages, and further offers a more diverse technological trade space for system optimization. This research comprehensively investigates the utilization of flux-pinning physics to manipulate spacecraft dynamics. Flux-pinned interfaces differ from conventional dynamic control through its passive and compliant behavior. These unique characteristics are extremely attractive for certain applications, but flux-pinned technology must mature considerably before adoption for spaceflight missions. A dynamic capture and docking maneuver in an upcoming mission concept, i Mars Sample Return, motivates the technology design. This body of work as much as possible follows a progression from cradle to grave. A flux-pinning theoretical dynamics model and a system architecture are presented to specify general capabilities of such a spacecraft system. Different analyses on stability, state sensitivity, backwards reachability result from a physics-based dynamics model. An extensive literature review and basic science experiments inform a theoretical dynamics model about the incorporation of physical parameters when simulating realistic dynamics. A series of testbeds enable experimentation and precise investigation of flux-pinned interface capabilities in the context of docking and capture. The testbeds ranged from the simplest expression of dynamics, in a single degree of freedom, to a flight traceable expression, in all six degrees of freedom. Experiments from these testbeds define and characterize system level capabilities specific to flux-pinned capture. Data collected from these experiments then supports development of a predictive dynamics model of the hardware system. Various system identification methods aid in creating a dynamics model that accurately predicts the dynamics observed during experiments. Several objective metrics are considered to evaluate the model fidelity. The types of system identification methods are separated into analytical methods and numerical methods. The analytical method involves parameter estimation in a physics-based model. Numerical methods involve Taylor expansion, bag of functions, symbolic regression, and neural networks. Theoretical extensions towards verification further develops neural network approximation methods, driving at safe, real-time system identification. ii BIOGRAPHICAL SKETCH Frances Zhu was born in Austin, Texas. She grew up in part in Boston, Massachusetts and in part in Overland Park, Kansas. After her high school graduation in 2010, she attended Cornell University where she obtained the degree of Bachelor of Science in Mechanical Engineering in 2014. A serendipitous encounter in the second year of her undergraduate degree led Frances to conduct research with Dr. Mason Peck through his graduate student Laura Jones, which led to other opportunities like leading the attitude, controls, and sensing subsystem for the Violet satellite. In 2015, Frances joined Dr. Peck’s Space Systems Design Studio and received the NASA Space Technology Research Fellowship (NSTRF). Her research focuses on developing spacecraft interfaces that leverage unique physical phenomena and extending machine learning techniques to aerospace applications. Frances graduated in the spring of 2019 with her Ph.D. in Aerospace Engineering, with a concentration in Dynamics and Controls and a minor in Computer Science. iii ACKNOWLEDGEMENTS I am eternally grateful to my advisor of nearly a decade, Dr. Mason Peck. No, I’ve not had a nine-year PhD, but a prolonged stay since sophomore year of my undergraduate degree, when I first started working with Mason. I stayed to work with him through a PhD because of his drive, his ideas, and his never-ending generous support. He has an everlasting impact on my research and mentorship vision. I would like to thank my committee, consisting of Dr. Hadas Kress-Gazit and Dr. Silvia Ferrari, a duo of fiercely accomplished and supportive role models. Their separate lines of research have inspired threads of this thesis and my future interests. I’d also like to express gratitude to my mentors at other agencies. To Dr. Laura Jones- Wilson, who is my professional big sister and fearless leader of the flux pinning crew. To Dr. Alvin G. Yew, who first gave me a chance to work with him at Goddard Spaceflight Center and since selflessly dedicated immense support throughout all my career endeavors. To Joe Parrish, a first-class microgravity flyer, program manager, and humble wise sage who continues to be a vocal sponsor for me. To Dr. Fred Leve, who graciously makes time and energy to talk about our machine learning research despite having a full-time job as a program manager. I appreciate and have had an immense amount of fun with the flux pinning team over the years. Of the JPL team led by Laura and Joe, I’d like to recognize William Jones-Wilson, Ian McKinley, Chris Hummel, and Paulo Younse. Of the Cornell team that I’ve had the pleasure of leading, I thank Eric Fiegel, Ty Burney, Steven Liu, Harley Dietz, Adler Smith, Kate Zhou, Reggie Lin, Somrita Banjeree, Mitch Dominguez, Bhavi Jagatia, Wesley Dixon, Joyce Cao, Sofya Calvin, Alexa Ditonto, and Michelle Zhou. Many thanks go to the lovely alumni, staff, and current students in the Space System Design Studio. Marcia Sawyer, Patti Wojcik, Leon Stoll, and Don are the reasons I can navigate iv logistics, can handle money, and have a nice working environment. To Rodrigo Zeledon, Zac Manchester, and Lorraine Weis, the space cadets sorely miss you and are so proud of you. To the current space cadets, Sawyer Elliott, Doga Yucalan, Kyle Doyle, Hunter Adams, Matt Walsh, Katherine Wilson, Kalani Rivera, Aneesh Heintz, and Aaron Zucherman, thank you for your daily presence, support, and shenanigans. I’d like to acknowledge the other students who I’ve worked with on various side projects: Hailee Hettrick, Dongheng Jing, David Levine, Haoyuan Zheng, and ZhiDi Yang. I am so grateful to my family and friends. My mother, for being my original role model and fire. My father, for being my sensibility. My brother, for being my humor and compatriot. Ben, for being my platonic soulmate. My friends, for being my sanity. My partner, for being my joy. Finally, I’d like to thank the organizations that have provided funding for me and for my project. My gratitude goes to Cornell University Next-Gen Professors and Colman Leadership Program for providing me professional guidance and opportunities. I would like to thank NASA for awarding me the Space Technology Research Fellowship and NASA JPL for funding the hardware development under a strategic research grant. v TABLE OF CONTENTS BIOGRAPHICAL SKETCH ...................................................................................................... iii ACKNOWLEDGEMENTS ........................................................................................................ iv TABLE OF CONTENTS ............................................................................................................ vi LIST OF FIGURES ..................................................................................................................... x LIST OF ABBREVIATIONS .................................................................................................. xxii LIST OF SYMBOLS .............................................................................................................. xxiv CHAPTER 1: Introduction .............................................................................................................. 1 I. Context for Flux Pinning ..................................................................................................... 1 History ............................................................................................................................. 1 Application to Space Systems .......................................................................................... 3 II. Mars Sample Return Mission Concept ................................................................................ 7 Proposed Mission Concept .............................................................................................. 7 Spacecraft Capture and Docking Methods ..................................................................... 10 Proposed Flux Pinning Solution for Docking and Capture ............................................ 12 III. Contributions
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