arXiv subjects

L. Colombo

Publications and source records attributed to L. Colombo.

At least 19 recordsLinked to original sources

arXiv2025

Variational integrators for optimal control of foldable drones

Numerical methods that preserves geometric invariants of the system such as energy, momentum and symplectic form, are called geometric integrators. These include variational integrators as an important subclass of geometric integrators. The general idea for those variational integrators is to discretize Hamilton's principle rather than the equations of motion and as a consequence these methods preserves some of the invariants of the original system (symplecticity, symmetry, good behavior of energy,...). In this paper, we construct variational integrators for control-dependent Lagrangian systems on Lie groups. These integrators are derived via a discrete-time variational principle for discrete-time control-dependent reduced Lagrangians. We employ the variational integrator into optimal control problems for path planning of foldable unmanned aerial vehicles (UAVs). Simulation are shown to validate the performance of the geometric integrator.

math.OC↗

arXiv2024

LSPE-STRIP on-sky calibration strategy using bright celestial sources

In this paper we describe the global on-sky calibration strategy of the LSPE-Strip instrument. Strip is a microwave telescope operating in the Q- and W-bands (central frequencies of 43 and 95 GHz respectively) from the Observatorio del Teide in Tenerife, with the goal to observe and characterise the polarised Galactic foreground emission, and complement the observations of the polarisation of the cosmic microwave background to be performed by the LSPE-SWIPE instrument and other similar experiments operating at higher frequencies to target the detection of the B-mode signal from the inflationary epoch of the Universe. Starting from basic assumptions on some of the instrument parameters (NET, 1/f noise knee frequency, beam properties, observing efficiency) we perform realistic simulations to study the level of accuracy that can be achieved through observations of bright celestial calibrators in the Strip footprint (sky fraction of 30 %) on the determination and characterisation of the main instrument parameters: global and relative gain factors (in intensity and in polarisation), polarisation direction, polarisation efficiency, leakage from intensity to polarisation, beams, window functions and pointing model.

astro-ph.CO↗

arXiv2023

Virtual Holonomic and Nonholonomic Constraints on Lie groups

This paper develops a geometric framework for virtual constraints on Lie groups, with emphasis on mechanical systems modeled as affine connection systems. Virtual holonomic and virtual nonholonomic constraints, including linear and affine nonholonomic constraints, are formulated directly at the level of the Lie algebra and characterized as feedback--invariant manifolds. For each class of constraint, we establish existence and uniqueness conditions for enforcing feedback laws and show that the resulting closed--loop trajectories evolve as the dynamics of mechanical systems endowed with induced constrained connections, generalizing classical holonomic and nonholonomic reductions. Beyond stabilization, the framework enables the systematic generation of low--dimensional motion primitives on Lie groups by enforcing invariant, possibly affine, manifolds and shaping nontrivial dynamical regimes. The approach is illustrated through representative examples, including quadrotor UAVs and a rigid body with an internal rotor, where classical control laws are recovered as special cases and affine constraint--induced motion primitives are obtained.

math.OC↗

arXiv2023

Measuring the CMB primordial B-modes with Bolometric Interferometry

The Q&U Bolometric Interferometer for Cosmology (QUBIC) is the first bolometric interferometer designed to measure the primordial B-mode polarization of the Cosmic Microwave Background (CMB). Bolometric interferometry is a novel technique that combines the sensitivity of bolometric detectors with the control of systematic effects that is typical of interferometry, both key features in the quest for the faint signal of the primordial B-modes. A unique feature is the so-called "spectral imaging", i.e., the ability to recover the sky signal in several sub-bands within the physical band during data analysis. This feature provides an in-band spectral resolution of \Delta{\nu}/{\nu} \sim 0.04 that is unattainable by a traditional imager. This is a key tool for controlling the Galactic foregrounds contamination. In this paper, we describe the principles of bolometric interferometry, the current status of the QUBIC experiment and future prospects.

astro-ph.CO↗

arXiv2023

Identifying frequency decorrelated dust residuals in B-mode maps by exploiting the spectral capability of bolometric interferometry

Astrophysical polarized foregrounds represent the most critical challenge in Cosmic Microwave Background (CMB) B-mode experiments. Multi-frequency observations can be used to constrain astrophysical foregrounds to isolate the CMB contribution. However, recent observations indicate that foreground emission may be more complex than anticipated. We investigate how the increased spectral resolution provided by band splitting in Bolometric Interferometry (BI) through a technique called spectral imaging can help control the foreground contamination in the case of unaccounted Galactic dust frequency decorrelation along the line-of-sight. We focus on the next generation ground-based CMB experiment CMB-S4, and compare its anticipated sensitivities, frequency and sky coverage with a hypothetical version of the same experiment based on BI. We perform a Monte-Carlo analysis based on parametric component separation methods (FGBuster and Commander) and compute the likelihood on the recovered tensor-to-scalar ratio. The main result of this analysis is that spectral imaging allows us to detect systematic uncertainties on r from frequency decorrelation when this effect is not accounted for in component separation. Conversely, an imager would detect a biased value of r and would be unable to spot the presence of a systematic effect. We find a similar result in the reconstruction of the dust spectral index, where we show that with BI we can measure more precisely the dust spectral index also when frequency decorrelation is present. The in-band frequency resolution provided by BI allows us to identify dust LOS frequency decorrelation residuals where an imager of similar performance would fail. This opens the prospect to exploit this potential in the context of future CMB polarization experiments that will be challenged by complex foregrounds in their quest for B-modes detection.

astro-ph.CO↗

arXiv2021

Overview of the Medium and High Frequency Telescopes of the LiteBIRD satellite mission

LiteBIRD is a JAXA-led Strategic Large-Class mission designed to search for the existence of the primordial gravitational waves produced during the inflationary phase of the Universe, through the measurements of their imprint onto the polarization of the cosmic microwave background (CMB). These measurements, requiring unprecedented sensitivity, will be performed over the full sky, at large angular scales, and over 15 frequency bands from 34GHz to 448GHz. The LiteBIRD instruments consist of three telescopes, namely the Low-, Medium- and High-Frequency Telescope (respectively LFT, MFT and HFT). We present in this paper an overview of the design of the Medium-Frequency Telescope (89-224GHz) and the High-Frequency Telescope (166-448GHz), the so-called MHFT, under European responsibility, which are two cryogenic refractive telescopes cooled down to 5K. They include a continuous rotating half-wave plate as the first optical element, two high-density polyethylene (HDPE) lenses and more than three thousand transition-edge sensor (TES) detectors cooled to 100mK. We provide an overview of the concept design and the remaining specific challenges that we have to face in order to achieve the scientific goals of LiteBIRD.

astro-ph.IM↗

arXiv2021

LiteBIRD: JAXA's new strategic L-class mission for all-sky surveys of cosmic microwave background polarization

LiteBIRD, the Lite (Light) satellite for the study of B-mode polarization and Inflation from cosmic background Radiation Detection, is a space mission for primordial cosmology and fundamental physics. JAXA selected LiteBIRD in May 2019 as a strategic large-class (L-class) mission, with its expected launch in the late 2020s using JAXA's H3 rocket. LiteBIRD plans to map the cosmic microwave background (CMB) polarization over the full sky with unprecedented precision. Its main scientific objective is to carry out a definitive search for the signal from cosmic inflation, either making a discovery or ruling out well-motivated inflationary models. The measurements of LiteBIRD will also provide us with an insight into the quantum nature of gravity and other new physics beyond the standard models of particle physics and cosmology. To this end, LiteBIRD will perform full-sky surveys for three years at the Sun-Earth Lagrangian point L2 for 15 frequency bands between 34 and 448 GHz with three telescopes, to achieve a total sensitivity of 2.16 micro K-arcmin with a typical angular resolution of 0.5 deg. at 100GHz. We provide an overview of the LiteBIRD project, including scientific objectives, mission requirements, top-level system requirements, operation concept, and expected scientific outcomes.

astro-ph.IM↗

arXiv2021

Concept Design of Low Frequency Telescope for CMB B-mode Polarization satellite LiteBIRD

LiteBIRD has been selected as JAXA's strategic large mission in the 2020s, to observe the cosmic microwave background (CMB) $B$-mode polarization over the full sky at large angular scales. The challenges of LiteBIRD are the wide field-of-view (FoV) and broadband capabilities of millimeter-wave polarization measurements, which are derived from the system requirements. The possible paths of stray light increase with a wider FoV and the far sidelobe knowledge of $-56$ dB is a challenging optical requirement. A crossed-Dragone configuration was chosen for the low frequency telescope (LFT : 34--161 GHz), one of LiteBIRD's onboard telescopes. It has a wide field-of-view ($18^\circ \times 9^\circ$) with an aperture of 400 mm in diameter, corresponding to an angular resolution of about 30 arcminutes around 100 GHz. The focal ratio f/3.0 and the crossing angle of the optical axes of 90$^\circ$ are chosen after an extensive study of the stray light. The primary and secondary reflectors have rectangular shapes with serrations to reduce the diffraction pattern from the edges of the mirrors. The reflectors and structure are made of aluminum to proportionally contract from warm down to the operating temperature at $5\,$K. A 1/4 scaled model of the LFT has been developed to validate the wide field-of-view design and to demonstrate the reduced far sidelobes. A polarization modulation unit (PMU), realized with a half-wave plate (HWP) is placed in front of the aperture stop, the entrance pupil of this system. A large focal plane with approximately 1000 AlMn TES detectors and frequency multiplexing SQUID amplifiers is cooled to 100 mK. The lens and sinuous antennas have broadband capability. Performance specifications of the LFT and an outline of the proposed verification plan are presented.

astro-ph.IM↗

arXiv2018

Electrical and thermal transport in coplanar polycrystalline graphene-hBN heterostructures

We present a theoretical study of electronic and thermal transport in polycrystalline heterostructures combining graphene (G) and hexagonal boron nitride (hBN) grains of varying size and distribution. By increasing the hBN grain density from a few percents to $100\%$, the system evolves from a good conductor to an insulator, with the mobility dropping by orders of magnitude and the sheet resistance reaching the M$\Omega$ regime. The Seebeck coefficient is suppressed above $40\%$ mixing, while the thermal conductivity of polycrystalline hBN is found to be on the order of $30-120\,{\rm W}{\rm m}^{-1}{\rm K}^{-1}$. These results, agreeing with available experimental data, provide guidelines for tuning G-hBN properties in the context of two-dimensional materials engineering. In particular, while we proved that both electrical and thermal properties are largely affected by morphological features (like e.g. by the grain size and composition), we find in all cases that nm-sized polycrystalline G-hBN heterostructures are not good thermoelectric materials.

cond-mat.mes-hall↗

arXiv2017

Record Low Thermal Conductivity of Polycrystalline MoS2 films: Tuning the Thermal Conductivity by Grain Orientation

We report a record low thermal conductivity in polycrystalline MoS2 obtained by varying grain sizes and orientations in ultrathin films. By optimizing the sulphurisation parameters of nanometre-thick Mo layer, we could grow MoS2 films with tuneable morphologies. The thermal conductivity is extracted from a Raman laser power-dependent study on suspended samples. The lowest value of thermal conductivity of 0.27 Wm-1K-1, which reaches a similar value as teflon, is obtained in a polycrystalline sample formed by a combination of horizontally and vertically oriented grains, with respect to the bulk (001) monocrystal. Analysis by means of molecular dynamics and finite element method simulations confirm that such grain arrangement leads to lower grain boundary conductance. We discuss the possible use of these thermal insulating films in the context of electronics and thermoelectricity.

cond-mat.mes-hall↗

arXiv2016

Characterization of hexagonal boron nitride layers on nickel surfaces by low-energy electron microscopy

The thickness and interfacial geometry of hexagonal boron nitride (hBN) films grown by chemical vapor deposition on polycrystalline nickel foils is studied using low-energy electron microscopy (LEEM). The reflectivity of the electrons, measured over an energy range of 0 - 20 eV, reveals distinct minima and maxima. The measured data is compared with simulations based on a first-principles description of the electronic structure of the material. From this comparison, the number of hBN layers and the separation between the lowest hBN layer and the nickel surface is deduced. The coupling of interlayer states of the hBN to both image-potential and Shockley-type surface states of the nickel is discussed, and the dependence of the reflectivity spectra on the surface orientation of nickel grains is examined.

cond-mat.mes-hall↗

arXiv2012

Production, Processing and Placement of Graphene and Two Dimensional Crystals

Graphene is at the centre of an ever growing research effort due to its unique properties, interesting for both fundamental science and applications. A key requirement for applications is the development of industrial-scale, reliable, inexpensive production processes. Here we review the state of the art of graphene preparation, production, placement and handling. Graphene is just the first of a new class of two dimensional materials, derived from layered bulk crystals. Most of the approaches used for graphene can be extended to these crystals, accelerating their journey towards applications.

cond-mat.mtrl-sci↗

arXiv2011

Planck early results. III. First assessment of the Low Frequency Instrument in-flight performance

The scientific performance of the Planck Low Frequency Instrument (LFI) after one year of in-orbit operation is presented. We describe the main optical parameters and discuss photometric calibration, white noise sensitivity, and noise properties. A preliminary evaluation of the impact of the main systematic effects is presented. For each of the performance parameters, we outline the methods used to obtain them from the flight data and provide a comparison with pre-launch ground assessments, which are essentially confirmed in flight.

astro-ph.CO↗

arXiv2011

Planck Early Results. V. The Low Frequency Instrument data processing

We describe the processing of data from the Low Frequency Instrument (LFI) used in production of the Planck Early Release Compact Source Catalogue (ERCSC). In particular, we discuss the steps involved in reducing the data from telemetry packets to cleaned, calibrated, time-ordered data (TOD) and frequency maps. Data are continuously calibrated using the modulation of the temperature of the cosmic microwave background radiation induced by the motion of the spacecraft. Noise properties are estimated from TOD from which the sky signal has been removed using a generalized least square map-making algorithm. Measured 1/f noise knee-frequencies range from 100mHz at 30GHz to a few tens of mHz at 70GHz. A destriping code (Madam) is employed to combine radiometric data and pointing information into sky maps, minimizing the variance of correlated noise. Noise covariance matrices required to compute statistical uncertainties on LFI and Planck products are also produced. Main beams are estimated down to the approx -10dB level using Jupiter transits, which are also used for geometrical calibration of the focal plane.

astro-ph.IM↗

arXiv2010

Quasivelocities and Optimal Control for Underactuated Mechanical Systems

This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system subjected to constraints. The equations of motion are geometrically derived using an adaptation of the classical Skinner and Rusk formalism.

math-ph↗

arXiv2009

Optimal Control of Underactuated Mechanical Systems: A Geometric Approach

In this paper, we consider a geometric formalism for optimal control of underactuated mechanical systems. Our techniques are an adaptation of the classical Skinner and Rusk approach for the case of Lagrangian dynamics with higher-order constraints. We study a regular case where it is possible to establish a symplectic framework and, as a consequence, to obtain a unique vector field determining the dynamics of the optimal control problem. These developments will allow us to develop a new class of geometric integrators based on discrete variational calculus.

math-ph↗

arXiv2005

Leaving the Fullerene Road: Presence and Stability of sp Chains in sp2 Carbon Clusters and Cluster-Assembled Solids

We report the experimental and theoretical investigation of the growth and of the structure of large carbon clusters produced in a supersonic expansion by a pulsed microplasma source. The absence of a significant thermal annealing during the cluster growth causes the formation of disordered structures where sp2 and sp hybridizations coexist for particles larger than roughly 90 atoms. Among different structures we recognize sp2 closed networks encaging sp chains. This "nutshell" configuration can prevent the fragmentation of sp species upon deposition of the clusters thus allowing the formation of nanostructured films containing carbynoid species, as shown by Raman spectroscopy. Atomistic simulations confirm that the observed Raman spectra are the signature of the sp/sp2 hybridization characteristic of the isolated clusters and surviving in the film and provide information about the structure of the sp chains. Endohedral sp chains in sp2 cages represent a novel way in which carbon nanostructures may be organized with potential interesting functional properties.

cond-mat.mtrl-sci↗

arXiv2004

The Sky Polarization Observatory

SPOrt is an ASI-funded experiment specifically designed to measure the sky polarization at 22, 32 and 90 GHz, which was selected in 1997 by ESA to be flown on the International Space Station. Starting in 2006 and for at least 18 months, it will be taking direct and simultaneous measurements of the Stokes parameters Q and U at 660 sky pixels, with FWHM=7 degrees. Due to development efforts over the past few years, the design specifications have been significantly improved with respect to the first proposal. Here we present an up-to-date description of the instrument, which now warrants a pixel sensitivity of 1.7 microK for the polarization of the cosmic background radiation, assuming two years of observations. We discuss SPOrt scientific goals in the light of WMAP results, in particular in connection with the emerging double-reionization cosmological scenario.

astro-ph↗