Mariusz Eivind Santora Grøtte

• Grøtte, Mariusz Eivind; Gravdahl, Jan Tommy & Johansen, Tor Arne (2023). A Constrained Control Allocation and Tuning Scheme for Hybrid Actuators in Spacecraft Attitude Control. IFAC-PapersOnLine. ISSN 2405-8971. 56(2), p. 11273–11280. doi: 10.1016/j.ifacol.2023.10.321. Full text in Research Archive Show summary

  Agile rotational maneuvers of spacecraft requires careful execution since its actuators may not be able to produce the demanded torques, causing the state trajectories to deviate and a desired attitude would not be guaranteed. We investigate the control allocation problem for a redundant set of hybrid actuators that include reaction wheels, magnetorquers, and continuous-force thrusters. The main objective of the magnetorquers is to dump momentum from the reaction wheels, whereas the wheels are the primary actuators in attitude control, and more agile maneuvers or faster unloading of momentum can be handled by the thrusters. A modified mixed optimization scheme for control allocation is presented where the equality constraints account for satisfying the high-level (virtual) control inputs for both attitude control and momentum dumping. Variants of dynamic weights in the optimization are developed such that magnetorquers and thrusters may contribute with a relative degree of importance in the attitude control problem. The control allocation scheme is solved using quadratic programming where simulation results are shown for fast and slow rotational maneuvers together with fast and slow momentum dumping.

• Bakken, Sivert; Henriksen, Marie Bøe; Birkeland, Roger; Langer, Dennis David; Oudijk, Adriënne Esmeralda & Berg, Simen [Show all 18 contributors for this article] (2023). HYPSO-1 CubeSat: First Images and In-Orbit Characterization. Remote Sensing. 15(3). doi: 10.3390/rs15030755. Full text in Research Archive Show summary

  The HYPSO-1 satellite, a 6U CubeSat carrying a hyperspectral imager, was launched on 13 January 2022, with the Goal of imaging ocean color in support of marine research. This article describes the development and current status of the mission and payload operations, including examples of agile planning, captures with low revisit time and time series acquired during a campaign. The in-orbit performance of the hyperspectral instrument is also characterized. The usable spectral range of the instrument is in the range of 430 nm to 800 nm over 120 bands after binning during nominal captures. The spatial resolvability is found empirically to be below 2.2 pixels in terms of Full-Width at Half-Maximum (FWHM) at 565 nm. This measure corresponds to an inherent ground resolvable resolution of 142 m across-track for close to nadir capture. In the across-track direction, there are 1216 pixels available, which gives a swath width of 70 km. However, the 684 center pixels are used for nominal captures. With the nominal pixels used in the across-track direction, the nadir swath-width is 40 km. The spectral resolution in terms of FWHM is estimated to be close to 5 nm at the center wavelength of 600 nm, and the Signal-to-Noise Ratio (SNR) is evaluated to be greater than 300 at 450 nm to 500 nm for Top-of-Atmosphere (ToA) signals. Examples of images from the first months of operations are also shown.

• Kristiansen, Bjørn Andreas; Grøtte, Mariusz Eivind & Gravdahl, Jan Tommy (2021). Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control. IFAC-PapersOnLine. ISSN 2405-8971. 53(2), p. 14811–14818. doi: 10.1016/j.ifacol.2020.12.1923. Full text in Research Archive Show summary

  A second-order sliding mode control, the generalized super-twisting algorithm (GSTA), is used for attitude control of a spacecraft actuated by reaction wheels for pointing and a slewing maneuver. Magnetorquers are used for reaction wheel momentum dumping. Simulation results are based on a typical CubeSat. The results produced by using the GSTA are compared to sliding mode control (SMC) and a proportional-derivative (PD) controller. The simulation shows that the GSTA performs better than the SMC for the pointing and slewing maneuvers when it comes to settling time and accuracy due to reduced chattering. Compared to the PD controller, the GSTA performs similarly under the chosen conditions, with a shorter settling time for pointing, and longer settling time for slewing. The GSTA applies a torque to the reaction wheels with lower spikes and less chattering than the PD controller.

• Grøtte, Mariusz Eivind; Gravdahl, Jan Tommy; Johansen, Tor Arne; Larsen, Jesper A; Vidal, Edgar M & Surma, Egidijus (2021). Spacecraft Attitude and Angular Rate Tracking using Reaction Wheels and Magnetorquers. IFAC-PapersOnLine. ISSN 2405-8971. 53(2), p. 14819–14826. doi: 10.1016/j.ifacol.2020.12.1924. Full text in Research Archive Show summary

  Spacecraft remote sensing applications may require slew maneuvers that prioritize small ground track errors during imaging, low power consumption and quick settling time. This paper investigates attitude control with a time-varying reference for a spacecraft model actuated by reaction wheels and magnetorquers, showing (a) an analytical solution for obtaining the required reaction wheel momentum reference in a rotational maneuver; and (b) the conditions for asymptotic convergence of attitude and angular rate tracking using a quaternion-based nonlinear control law; and (c) simulation results for a 6U CubeSat in Low-Earth-Orbit performing fixed-vector pointing and slew maneuvers. In particular, if a remote sensing spacecraft shall execute a short slew maneuver and the collection of data is not required to follow a fixed ground track, then utilizing the reference quaternion propagated from initial condition may be preferred. Based on the simulated single-axis slew maneuvers, better attitude tracking performance may be achieved when the magnetorquers are actively managing the reaction wheel momentum, but decreasing their effects in the transient period may result in quicker settling time depending on chosen error tolerances.

• Grøtte, Mariusz Eivind; Birkeland, Roger; Honoré-Livermore, Evelyn; Bakken, Sivert; Garrett, Joseph & Prentice, Elizabeth Frances [Show all 10 contributors for this article] (2021). Ocean Color Hyperspectral Remote Sensing With High Resolution and Low Latency--The HYPSO-1 CubeSat Mission. IEEE Transactions on Geoscience and Remote Sensing. ISSN 0196-2892. 60. doi: 10.1109/TGRS.2021.3080175. Full text in Research Archive
• Garrett, Joseph; Bakken, Sivert; Prentice, Elizabeth Frances; Langer, Dennis D.; Leira, Frederik Stendahl & Honoré-Livermore, Evelyn [Show all 10 contributors for this article] (2021). Hyperspectral Image Processing Pipelines on Multiple Platforms for Coordinated Oceanographic Observation. Workshop on Hyperspectral Image and Signal Processing, Evolution in Remote Sensing. ISSN 2158-6276. doi: 10.1109/WHISPERS52202.2021.9483993. Full text in Research Archive
• Olsen, Jørgen Anker; Grøtte, Mariusz Eivind Santora & Gravdahl, Jan Tommy (2021). Attitude determination and control system testbed for hardware and software testing and validation for HYPSO small satellites, International Astronautical Federation 72nd International Astronautical Congress (IAC). International Astronautical Federation. ISSN 9781713843078. Full text in Research Archive
• Lavezzi, Giovanni; Grøtte, Mariusz Eivind & Ciarcia, Marco (2019). Attitude control strategies for an imaging cubesat. IEEE International Conference on Electro Information Technology (EIT). ISSN 2154-0357. 2019-May, p. 149–155. doi: 10.1109/EIT.2019.8833806. Full text in Research Archive
• Lapadatu, Monica; Bakken, Sivert; Grøtte, Mariusz Eivind; Alver, Morten & Johansen, Tor Arne (2019). Simulation tool for hyper-spectral imaging from a satellite. Workshop on Hyperspectral Image and Signal Processing, Evolution in Remote Sensing. ISSN 2158-6276. 2019-September. doi: 10.1109/WHISPERS.2019.8921145. Full text in Research Archive Show summary

  This paper presents a tool created for simulating the expected radiance from oceanic geophysical parameters through the atmosphere as perceived by a hyperspectral remote sensing satellite. The effects of varying off-nadir viewing angles, solar zenith angles and the presence of water clouds on the resulting radiance has been analyzed, and simulated top-of-atmosphere (TOA) radiance values coincide well with experimental data.

• Sigernes, Fred; Syrjäsuo, Mikko; Storvold, Rune; Fortuna, João; Grøtte, Mariusz Eivind Santora & Johansen, Tor Arne (2018). Do it yourself hyperspectral imager for handheld to airborne operations. Optics Express. 26(5), p. 6021–6035. doi: 10.1364/OE.26.006021. Full text in Research Archive Show summary

  This study describes rapid prototype construction of small and lightweight push broom Hyper Spectral Imagers (HSI). The dispersive element housings are printed by a thermoplastic 3D printer combined with S-mount optical components and commercial off-the-shelf camera heads. Four models with a mass less than 200 g are presented with a spectral range in the visible to the near-infrared part of the electromagnetic spectrum. The bandpass is in the range from 1.4 - 5 nm. Three test experiments with motorized gimbals to stabilize attitude show that the instruments are capable of push broom spectral imaging from various platforms, including airborne drone to handheld operations.

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• Prentice, Elizabeth Frances; Grøtte, Mariusz Eivind; Sigernes, Fred & Johansen, Tor Arne (2021). Design of a Hyperspectral Imager using COTS Optics for Small Satellite Applications. SPIE - The International Society for Optics and Photonics. 17 p. Full text in Research Archive Show summary

  This paper describes the design of a pushbroom hyperspectral imager built for small satellite applications. Its design allows for low weight, low cost, and flexible configuration making it accessible to both smaller projects and supplemental to larger ones. The imager is constructed from commercial off-the-shelf (COTS) optical and sensor components, along with a machined mechanical structure to enable rapid development times. The presented configuration was selected based on a 6U CubeSat ocean color mission developed at the Norwegian University of Science and Technology. The optical design includes three 50 mm lens objectives, a precision-cut 50 μm slit, a blazed transmission grating, and a detecting CMOS sensor. It has the ability to record wavelengths in the spectral range of 300−1000 nm, e.g. in the visible and near infrared spectrum. The calculated bandpass of typically about 5 nm can be configured or binned for the specific application needs. Since targets, such as the ocean surface, are dark and non-Lambertian, it is challenging to reach the necessary sensitivity that ensures a high signal-to-noise ratio (SNR) in the image. The imaging system presented in this paper is built for obtaining that sufficient SNR for a given resolution, both in the spatial and spectral domains. The satellite will be launched into a 500 km altitude sun-synchronous orbit. While in orbit, the imager utilizes the pushbroom concept of sequentially gathering lines of pixels, of all wavelengths in range, as it passes over its target. The pushbroom concept, combined with the optical design, yields a swath width of up to 70 km per scan line with a sampling distance of 49 × 60 m on ground. A final consideration must be made due to the large size of raw hyperspectral data cubes and the constraints this sets on satellite power consumption for downlink. This can be significantly improved through onboard image processing (e.g. correction, classification, anomaly detection, feature extraction, and dimensionality reduction) rather than in the physical design itself. Performance characteristics of this specific imager are presented along with a trade-off analysis of configuration possibilities in the optical design.

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• Grøtte, Mariusz Eivind Santora; Gravdahl, Jan Tommy & Johansen, Tor Arne (2023). A Constrained Control Allocation and Tuning Scheme for Hybrid Actuators in Spacecraft Attitude Control. Full text in Research Archive
• Kristiansen, Bjørn Andreas; Grøtte, Mariusz Eivind & Gravdahl, Jan Tommy (2020). Quaternion-Based Generalized Super-Twisting Algorithm for Spacecraft Attitude Control. Full text in Research Archive
• Grøtte, Mariusz Eivind; Gravdahl, Jan Tommy; Johansen, Tor Arne; Larsen, Jesper A; Vidal, Edgar M & Surma, Egidijus (2020). Spacecraft Attitude and Angular Rate Tracking using Reaction Wheels and Magnetorquers. Full text in Research Archive
• Bakken, Sivert & Grøtte, Mariusz Eivind Santora (2019). Teknologi til algeovervåkning. [TV]. NRK. Full text in Research Archive
• Bakken, Sivert & Grøtte, Mariusz Eivind Santora (2019). Mener satellitter kan varsle om farlige alger. [Internet]. NRK. Full text in Research Archive
• Lapadatu, Monica; Bakken, Sivert; Grøtte, Mariusz Eivind; Alver, Morten & Johansen, Tor Arne (2019). Simulation tool for hyper-spectral imaging from a satellite. Full text in Research Archive

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