Navigation, Guidance, Control and Dynamics Commons^™

Satellite Autonomous Launch Assembly (Satlass), Anthony Todisco, Jaden Caradine, Justin Della, Essence Howard, Andrew Hawks, Alexander Kushto, Colin Mccaughey, Javier Narvaez, Frányerson R. López Ochoa, Diana Tormo

Discovery Day - Daytona Beach

The Satellite Autonomous Launch Assembly (SATLASS) is a Cube Satellite deployer whose development falls under the Embry-Riddle Orbital Research Association (ERORA), an organization focusing on CubeSat technology development. Project SATLASS provides hands-on experience in spacecraft subsystem development, including propulsion design, instrumentation, applied structural analysis, and experimental testing. The current objectives of this research are to map pressure changes throughout a high-pressure feed system, evaluate the pressure and velocity response of nitrogen gas after solenoid valve actuation, and determine the most effective nozzle geometry through direct thrust measurements. A static propulsion test stand was designed and fabricated to house a high-pressure …

Trim Characteristics And Its Importance, Daviel Peralta

Discovery Day - Daytona Beach

This project will go into the characteristics that lead to the concept of “Trim adjustment” in aircraft by modeling and demonstrating physical principles and mathematical concepts under ideal conditions. We will derive an equation from the basic physical principles of torque and lift to demonstrate how the trim is adjusted in steady, constant velocity flow for the sake of the pilot’s ease of control and to induce stability in flight. These adjustments are considered differently with different types of aircraft; as such, we will be focusing on mono-fixed-winged aircraft with one engine and conventional helicopter designs. Both flying devices will …

Fault-Aware Flight Path Assessment For Evtols Using An Integrated Air Traffic Management Environment, John Clardy, Edison Alberto Martinez Samaniego

Discovery Day - Daytona Beach

This study introduces a simulation framework to evaluate Fault-Aware Flight Paths for electric vertical takeoff and landing (eVTOL) aircraft within an integrated air traffic management environment. By combining an air traffic management system with intelligent trajectory generation frameworks, the approach assesses the development of safe, adaptive, and fault-aware flight paths that account for traffic interactions, airspace features, and specific operational constraints. Real-world historical airspace traffic data was used to accurately simulate complex and congested operational conditions. The main goal is to evaluate the operational impact of integrating eVTOL operations into the National Airspace System, with a focus on conflict detection, …

Se(3) Touchdown Dynamics With Multi-Joint Landing Legs And Regolith-Dependent Contact For Autonomous Tip-Over Risk Prediction, Rithika Nagarajan

Discovery Day - Daytona Beach

This project develops an SE(3)-based touchdown dynamics framework to study how lunar landers can remain stable during landing on sloped and uncertain terrain. Safe lunar landing is challenging because uneven load redistribution, slip, and asymmetric sinkage can push the vehicle’s center of mass outside its support polygon, increasing tip-over risk. The purpose of this work is to extend a fixed-leg touchdown model to a multi-joint landing leg system while also examining how varying regolith properties affect landing stability. The method combines coupled rigid-body translation and rotation with per-foot unilateral contact, compliant normal force response, and Coulomb-limited friction to simulate touchdown …

Gravity Gradient Exploration Satellite, Luke Ritchie, Isaac Rosenthal, Benjamin Mason, Nathaniel O’Hara

Discovery Day - Daytona Beach

The Gravity Gradient Exploration Satellite (GGEOS) is a single-unit CubeSat technology demonstration being developed by a group of four undergraduate aerospace engineering students at Embry-Riddle Aeronautical University. The mission is designed to validate a controlled, motor-driven, semi-rigid space-tether and deployment system. Space tethers offer significant potential for gravity gradient stabilization and propellant-less electrodynamic propulsion, however past missions have frequently failed due to rebound and tangling from their spring-based deployment systems and elastic tethers. GGEOS mitigates these challenges using a semi-rigid, tape-measure-like tether, deployed with a stepper-motor-driven extrusion system enabling slow, controlled deployment and reduced post-deployment problems. The spacecraft architecture utilizes …

Modelling Quadcopter Thrust And Torque Using Lu-Decomposition, Diya Patil

Discovery Day - Daytona Beach

3 & 4 motor systems have been in the world of aviation in many different forms as the field grows and evolves. To understand the complexities of an Unmanned Aerial Vehicle (UAV) and its stability, assessing the amount of thrust put into each motor can help generate the torque produced despite factors such as multidirectional movement. While a UAV does this multiple times a second, producing a simplified version of this calculation can aid in simpler models simulating UAV movement. Due to the popularity of the quadcopter drone, a simple algorithm depicting thrust through each spinning motor can aid in …

Machine Learning For Predictive Energy And Emissions Modeling Of Vehicles And Power Grids In The United States, S M Tanvir Faysal Alam Chowdhoury

Dissertations

The environmental benefits of electric vehicle (EV) adoption depend on more than replacing internal combustion engine vehicles with electric powertrains. EV adoption reshapes electricity demand, interacts with regional generation mixes, and influences travel behavior and congestion, creating a coupled transportation-energy system in which vehicle and power-plant emissions must be evaluated together. This dissertation develops machine-learning frameworks for predicting energy consumption and emissions from vehicles and power grids under rising EV adoption. The first component forecasts grid emissions from EV charging. Using simulation data from NREL's Cambium database, a Prophet-based time-series framework predicts carbon dioxide, nitrous oxide, and methane emission rates …

Global Time-Resolved Measurements Of Inlet/Isolator Unstart Induced By Mass Injection, Andrew N. Bustard, Benjamin L. Bemis, Aaron Marques, Matthew J. Zahr, Thomas J. Juliano

Publications

The inner surface pressure of an axisymmetric inlet/isolator model was measured using anodized-aluminum pressure-sensitive paint (PSP) viewing through cast acrylic. Temperaturesensitive paint was utilized to correct for the PSP’s temperature sensitivity. The model was tested under Mach 5.7 flow at 𝑹𝒆 = 7.1 ×106 /m under conventional noise conditions. Transverse jet injection with jet-to-inlet mass-flow ratios up to 0.8 was used to induce unstart in the inlet/isolator. Background-oriented schlieren visualization of the inlet shocks was collected simultaneously with the PSP to determine when the inlet unstarted. Computational fluid dynamics results were used to determine off-wall flow structures and quantify approach …

Noise-Optimized Routes For Air Taxi, Waleed Raza

Doctoral Dissertations and Master's Theses

Community noise is a primary barrier to the public acceptance and deployment of Advanced Air Mobility (AAM) and Urban Air Mobility (UAM) air taxi operations. This dissertation develops a coupled siting, routing, and noise optimization framework that links vertiport placement to its downstream acoustic consequences, demonstrated through a Daytona Beach case study. Candidate vertiports are screened and selected using accessibility, safety, demand, and feasibility criteria, and the selected sites form a directed network of 20 routes. Each trajectory is evaluated with a physics-based acoustic pipeline reporting Lmax, SEL, and EPNL at school, hospital, and residential receptors, showing that received exposure …

Optimal Integrated Cfd-Gnc Model For Drag-Based Reentry Dynamics, Sebastian Lopez

Doctoral Dissertations and Master's Theses

This research focuses on optimizing the control of a drag-maneuvering, Starship-class re-entry vehicle by closely integrating high-fidelity aerodynamic data derived from Computational Fluid Dynamics (CFD) simulations, specifically using StarCCM+. The aerodynamic models, tailored to the unique geometry of a drag-maneuvering body, are seamlessly incorporated into a guidance, navigation, and control (GNC) framework. This integration enables closed-loop CFD simulations with real-time control feedback, allowing for direct analysis and optimization of vehicle stability, trajectory, and control demands throughout the re-entry process.

Building upon the work of Gaglio and Bevilacqua, this advanced CFD-GNC model introduces high-order aerodynamic effects, such as aerodynamic moments and …

System Integration And Validation Of The Cal Poly Spacecraft Attitude Dynamics Simulator Mk. Iv, Bricen S. Rigby

Master's Theses

The Cal Poly Spacecraft Attitude Dynamics Simulator (SADS) is an ongoing project that seeks to enable the simulation and validation of sensors, actuators, and control logic related to spacecraft attitude control. The SADS platform rests atop a spher- ical air-bearing device which allows for nearly frictionless rotation in all three axes. The orientation of the platform is controlled by four reaction wheels arranged in a pyramidal configuration. Over the past few years, there have been significant updates to the reaction wheel subsystem, as well as requests for a more capable central com- puter. Therefore, a new system architecture for the …

Nozzle Erosion Reconstruction Model For Data Analysis In Rocket Engines And Correlation With Chamber Pressure, Ryan J. Thibaudeau, Stephen A. Whitmore

Mechanical and Aerospace Engineering Student Publications and Presentations

Graphite nozzles remain the dominant choice for small hybrid and solid rocket motors operating on laboratory and university budgets, owing to their low cost, ease of machining, and rapid turnaround during iterative design campaigns. These same programs, however, must contend with the fact that graphite erodes through coupled thermochemical and mechanical mechanisms when exposed to the oxidizing species generated by high-energy propellant combustion, and the resulting throat-area growth fundamentally alters the time histories of chamber pressure, thrust, and delivered specific impulse. This paper presents a nozzle-erosion reconstruction model that extracts the time-resolved throat area from coupled thrust and chamber-pressure measurements …

Robust Real-Time Uav Target Tracking With Onboard Vision-Based Yaw Control, Rylan Malarchick, Jose Castelblanco, Enrique Amaya, Carmen Dimario, Graysen Brinkman, Chirag Kumar, Kiwon Yoon, Sajid Berhane

Beyond: Undergraduate Research Journal

Autonomous tracking of agile unmanned aerial vehicles (UAVs) presents significant challenges for real-time perception and control systems. This work presents AIRHOUND (Autonomous Intelligent Rotorcraft for Hostile Object Unified Navigation and Detection), a UAV platform implementing vision-based yaw tracking through a modular ROS2 software architecture. The system employs YOLOv8 object detection optimized with NVIDIA TensorRT for embedded deployment on an NVIDIA Jetson Orin companion computer. Detected targets are processed through a geometric tracking module that converts pixel coordinates to angular yaw errors using pinhole camera intrinsics, with a proportional controller generating rate-limited yaw commands. These commands are streamed to a PX4 …

Hamster: Hybrid-Actuated Mobile Spherical Terrain Exploration Rover, Winnie Gao

Master's Theses

The expansion of space exploration to increasingly challenging planetary environments requires mobility systems capable of extreme traversal capabilities and operational reliability. This thesis presents the design, development, and testing of a low-cost Hybrid-Actuated Mobile Spherical Terrain Exploration Rover (HAMSTER) intended for use on a planetary surface exploration mission. HAMSTER uses a pendulum-based actuation method for steering and an actuated internal shaft to propel the vehicle forward. The internal structure includes a two-tiered central case composed of the navigation control module, accelerometer, motor controller, primary DC motor, battery, voltage regulators, Raspberry Pi, pendulum servo motor, and drive shafts. Additive manufacturing through …

Design And Implementation Of An Embedded Control System For The Cal Poly Spacecraft Attitude Dynamics Simulator, Neil Mahesh Bedagkar

Master's Theses

This thesis presents the development of a cascaded reaction wheel control system for Cal Poly's Spacecraft Attitude Dynamics Simulator. This work considers system architecture, empirical modeling, high-fidelity simulation, embedded firmware, hardware integration, and experimental characterization. In discrete-time simulation, it is shown that nonlinear direct model reference adaptive control (NDMRAC) enables a nonlinear, partially known plant with realistic actuator dynamics to track the response of a canonical second-order transfer function, with settling time within 4.67% and percent overshoot within order of magnitude of the second-order response. In hardware, the feasibility of a cascaded reaction wheel control architecture is experimentally demonstrated, achieving …

Development Of A Free-Floating Space Robotic Simulator, Truman: Terrestrial Robotic Unit For Multibody Analysis And Navigation, Jackson W. Cordova

Master's Theses

This work describes the development of a 3 Degree-of-Freedom (DOF) robotic manipulator for use on a free-floating planar air-bearing vehicle. The system developed aims to serve as a foundation for future space robotics research at the California Polytechnic State University (Cal Poly)’s Space Robotics Laboratory. Systems doc- umentation describes conceptual operation and architecture of the proposed system: Terrestrial Robotic Unit for Multibody Analysis and Navigation (TRUMAN). The key operation of TRUMAN is to study a self launch maneuver of a free-floating ve- hicle including 4 distinct phases: launch off a fixed rail, coast, reorientation using manipulator motion, and capture of …

Development Of A Computer Vision Based Rendezvous And Docking Test Platform, David T. Forbes

Master's Theses

This thesis presents the work completed in the development and testing of a low-cost modular sensor package capable of rendezvous and docking by providing a vehicle with relative navigational commands. These navigational commands are created using relative localization data gathered and processed onboard the sensor package, with validation, in post-processing, against global localization data. This research aims to reduce the cost of smaller autonomous vehicles by removing the need for custom control units, as its modular nature will allow it to be adapted to many different systems and vehicles. Discussed within this thesis is the rapid prototyping, development, and testing …

Spaceotter: A Floating Spacecraft Simulator Air Bearing Vehicle For Hardware-In-The-Loop Experiments And Research, Alexander Debartolo

Master's Theses

Growing interest in nanosatellites has increased demand for accessible ground-testing methods, which have historically been expensive and restricted. Floating Spacecraft Simulators (FSS), built around Air Bearing Vehicles (ABVs), address this gap by approximating a zero-gravity, friction-minimized environment suitable for testing spacecraft control systems, robotics, and propulsion on the ground.

This thesis presents the design, realization, and initial performance characterization of the Space Optically Tracked Testbed for Experiments and Research (SpaceOTTER) ABV, developed for the Cal Poly Space Robotics Lab. SpaceOTTER is the first step toward emulating the 3 degree of freedom (3-DOF) planar dynamics of a simulated spacecraft and is …

Adaptive Control Combined With Integral Concurrent Learning For Trajectory Tracking Near Asteroids, Alvaro Diaz Rodrigo

Doctoral Dissertations and Master's Theses

Close-proximity operations in the vicinity of Near-Earth Asteroids (NEAs) are essential for scientific studies and possible future planetary-defense missions. Unlike motion around large celestial bodies, spacecraft dynamics near small, rotating asteroids are dominated by weak, highly irregular gravity fields. While full characterization of an asteroid’s shape enables high-fidelity gravitational modeling, such information is typically unavailable in realistic mission scenarios, and in-situ exploration is often required. As a result, the forces acting on the spacecraft cannot be modeled accurately in advance, leading to significant uncertainty in the equations of motion and challenging guidance and control strategies. To address these challenges, the …

Safe Control Design For Quadruped Locomotion In Unstructured Environments Using Linear Transfer Operators, Sriram Sundar Krishnamoorthy Shankara Narayanan

All Dissertations

Deploying quadruped robots in unstructured, obstacle-rich environments requires control and planning methods that remain safe and reliable despite complex terrain geometry, limited sensing, and inevitable modeling errors. This thesis develops operator-theoretic tools for safe control design of robotic systems using linear transfer operators, with a focus on quadruped locomotion in unstructured environments. The central goal is to develop a unified operator-theoretic framework for safe control design based on the Perron–Frobenius (P–F) and Koopman operators. In particular, the thesis leverages \emph{density functions} to develop safe navigation frameworks in the dual space of densities. In the operator-theoretic perspective, the P–F operator governs …