Статті в журналах з теми "Gyroscopic platform"
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1
Wang, Ping, Jing Yang, and Jun Jun Yao. "Improvement and Realization of Miniature Flexible Gyro in the Photoelectric Platform." Advanced Materials Research 655-657 (January 2013): 697–700. http://dx.doi.org/10.4028/www.scientific.net/amr.655-657.697.
Повний текст джерелаАнотація:
Generally ,it was precession of flexible gyroscopic not gyroscopic nutation which was just considered in engineering design. However, in photoelectric stabilized platform, this nutation characteristics of angular position flexible gyro has been restricting the stabilized accuracy of platform seriously. In this paper, firstly the output characteristics of a miniature flexible gyro was measured by characteristic of gyroscopic motion, four main kinds of frequency components in output characteristics was analysed. The methods were realized in the miniature flexible gyroscope in the laboratory by adopting the two measures of the secondary trap circuit and improvement of torque component.Test results showed that, the improvements made nutation frequency of gyro and envelope at 40Hz converged fastly , and the output noise of gyro angular position was decayed to more than15dB. In the end, the gyro was applied to chariot photoelectric stabilized platform ,the isolation of platform and carrier got improved from 1~2mil to 0.3mil.
2
Zamorsky, Alexander. "COMPACT ROTARY PLATFORM AS A UNIVERSAL LABORATORY STAND." Bulletin of Kyiv Polytechnic Institute. Series Instrument Making, no. 61(1) (June 30, 2021): 5–13. http://dx.doi.org/10.20535/1970.61(1).2021.237063.
Повний текст джерелаАнотація:
A single axis rotary platform is distinguished among the laboratory equipment for testing gyroscopic devices and systems and their sensitive elements. An overview of the design principles of industrially developed stands for the study of static and dynamic characteristics of gyroscopic devices and systems is provided. The scheme of design of the universal laboratory stand is suggested as the compact rotary platform for research of static and dynamic characteristics of micromechanical gyroscopes and accelerometers as sensors of angular speed. The physical components of such a stand and technical and technological problems of its practical implementation are reviewed. The proposed laboratory stand is considered as a cyberphysical system where computing components play a crucial role in determining the parameters of the system and the studied micromechanical sensors. For this purpose, in addition to the physical control loop of the electric drive to ensure the stability of the angular velocity of the platform, an independent measuring loop is considered for analytical determination of system parameters, including the studied micromechanical sensors. The versatility of the stand is ensured by solving the inverse problems, namely determining in the process of testing static and dynamic characteristics of the electric drive and measuring sensors that work on various physical principles. It is assumed that, in addition to solving practical problems of micromechanical sensors in the development of the appropriate information interface of the virtual device, a compact laboratory stand can be effectively used in the educational process during laboratory work in relevant disciplines of instrument making direction.
3
Desmond, Cian, Jan-Christoph Hinrichs, and Jimmy Murphy. "Uncertainty in the Physical Testing of Floating Wind Energy Platforms’ Accuracy versus Precision." Energies 12, no. 3 (January 30, 2019): 435. http://dx.doi.org/10.3390/en12030435.
Повний текст джерелаАнотація:
This paper examines the impact on experimental uncertainty of introducing aerodynamic and rotor gyroscopic loading on a model multirotor floating wind energy platform during physical testing. In addition, a methodology and a metric are presented for the assessment of the uncertainty across the full time series for the response of a floating wind energy platform during wave basin testing. It is shown that there is a significant cost incurred in terms of experimental uncertainty through the addition of rotor thrust in the laboratory environment for the considered platform. A slight reduction in experimental uncertainty is observed through the introduction of gyroscopic rotor loading for most platform responses.
4
Fenu, Beatrice, Valentino Attanasio, Pietro Casalone, Riccardo Novo, Giulia Cervelli, Mauro Bonfanti, Sergej Antonello Sirigu, Giovanni Bracco, and Giuliana Mattiazzo. "Analysis of a Gyroscopic-Stabilized Floating Offshore Hybrid Wind-Wave Platform." Journal of Marine Science and Engineering 8, no. 6 (June 15, 2020): 439. http://dx.doi.org/10.3390/jmse8060439.
Повний текст джерелаАнотація:
The energy innovation scenario sees hybrid wind-wave platforms as a promising technology for reducing the variability of the power output and for the minimization of the cost of offshore marine renewable installations. This article presents a model that describes the installation of a 5 MW wind turbine on a floating platform designed by Fincantieri and equipped with gyroscopic stabilization. The use of gyros allows for the delivery of platform stabilization by damping the wave and wind induced motion on the floater and at the same time producing extra power. Shetland Island was chosen as the reference site because of its particularly harsh weather. Final results show that the total production of power in moderate and medium climate conditions is considerable thanks to the installation of the gyro, together with a significant stabilization of the platform in terms of pitching angle and nacelle acceleration.
5
Votrubec, Radek, and Michal Sivčák. "The Correction and Compensation Motors for the Gyroscopic Stabilizer." Solid State Phenomena 164 (June 2010): 145–48. http://dx.doi.org/10.4028/www.scientific.net/ssp.164.145.
Повний текст джерелаАнотація:
We have a prototype of platform that is stabilized by means of gyroscopes. Pneumatic motors are used for moving with frames. It was necessary to identify torque characteristics of these motors. It rests on control of pressure in motor and measurement of its force.
6
Han, Wei, Xiongzhu Bu, Yihan Cao, and Miaomiao Xu. "SAW Torque Sensor Gyroscopic Effect Compensation by Least Squares Support Vector Machine Algorithm Based on Chaos Estimation of Distributed Algorithm." Sensors 19, no. 12 (June 20, 2019): 2768. http://dx.doi.org/10.3390/s19122768.
Повний текст джерелаАнотація:
As this study examined the issue of surface acoustic wave (SAW) torque sensor which interfered in high rotational speed, the gyroscopic effect generated by rotation was analyzed. Firstly, the SAW coupled equations which contained torque and rotation loads were deduced, and the torque calculation error caused by rotation was solved. Following this, the hardware of the SAW gyroscopic effect testing platform and the turntable experiment were designed to verify the correctness of the theoretical calculation. Finally, according to the experimental data, the gyroscopic effect was compensated by multivariate polynomial fitting (MPF), Gaussian processes regression (GPR), and least squares support vector machine algorithms (LSSVM). The comparison results showed that the LSSVM has the obvious advantage. For improving the function of LSSVM model, chaos estimation of distributed algorithm (CEDA) was proposed to optimize the super parameters of the LSSVM, and numerical simulation results showed that: (1) CEDA is superior to traditional estimation of distributed algorithms in convergence speed and anti-premature ability; (2) the performance of CEDA-LSSVM is better than genetic algorithms (GA)-LSSVM and particle swarm optimization (PSO)-LSSVM. After compensating by CEDA-LSSVM, the magnitude of the torque calculation relative error was 10−4 in any direction. This method has a significant effect on reducing gyroscopic interference, and it lays a foundation for the engineering application of SAW torque sensor.
7
Zawiski, R., and M. Błachuta. "Modelling and optimal control system design for quadrotor platform – an extended approach." Bulletin of the Polish Academy of Sciences Technical Sciences 62, no. 3 (September 1, 2014): 535–50. http://dx.doi.org/10.2478/bpasts-2014-0058.
Повний текст джерелаАнотація:
Abstract This article presents the development of a mathematical model of a quadrotor platform and the design of a dedicated control system based on an optimal approach. It describes consecutive steps in development of equations forming the model and including all its physical aspects without commonly used simplifications. Aerodynamic phenomena, such as Vortex Ring State or blade flapping are accounted for during the modelling process. The influence of rotors’ gyroscopic effect is exposed. The structure of a control system is described with an application of the optimal LQ regulator and an intuitive way of creating various flight trajectories. Simulation tests of the control system performance are conducted. Comparisons with models available in the literature are made. Based on above, conclusions are drawn about the level of insight necessary in creation of control-oriented and useable model of a quadrotor platform. New possibilities of designing and verifying models of quadrotor platforms are also discussed.
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Mirzajani Darestani, Mohammad Sadegh, Seyed Zeynolabedin Moussavi, and Parviz Amiri. "A laboratory method for obtaining two degrees of freedom gyro-scopic stabilizer transfer function." International Journal of Engineering & Technology 5, no. 4 (September 17, 2016): 102. http://dx.doi.org/10.14419/ijet.v5i4.6439.
Повний текст джерелаАнотація:
Obtaining transfer function of electrical, mechanical, etc. systems can provide this possibility for the researchers to investigate the behav-iours of desired systems based on different inputs in various working circumstances without need to laboratory equipment which it results in lower consumption of time and expense. The aim of current research is obtaining the existing gyroscopic stabilizer transfer function. The way we used in this article is the newest laboratory way for obtaining transfer function of gyroscopic stabilizers. This aim is achieved by using laboratory equipment such as a two degrees of freedom gyro stabilized platform that an imaging system is installed on it as the load, target simulator table with one degree of freedom, and electronic conversion board of RS488 to RS232 serial communication standard, etc. An input which excites all modes (search and track) of two degrees of freedom gyro stabilized platform is introduced to under test system and the system behaviour toward the introduced input is saved and finally the transfer function of existing two degrees of freedom gyro stabilized platform is obtained using system identification toolbox in MATLAB. At the end of this article, the step response of transfer function obtained through the desired experiment in the laboratory compared with the step response obtained through simulations that a %10 difference between them is observed.
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Rubio, Francisco R., Manuel G. Ortega, Francisco Gordillo, and Manuel Vargas. "Application of position and inertial-rate control to a 2-DOF gyroscopic platform." Robotics and Computer-Integrated Manufacturing 26, no. 4 (August 2010): 344–53. http://dx.doi.org/10.1016/j.rcim.2009.11.012.
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Veyna, Uriel, Sergio Garcia-Nieto, Raul Simarro, and Jose Vicente Salcedo. "Quadcopters Testing Platform for Educational Environments." Sensors 21, no. 12 (June 16, 2021): 4134. http://dx.doi.org/10.3390/s21124134.
Повний текст джерелаАнотація:
This work focuses on the design and construction of an experimental test bench of three degrees of freedom with application in educational environments. It is constituted by a gyroscopic structure that allows the movements of a quadcopter to analyze the control systems. In this context, the main features of the mechanical and electronic design of this prototype are described. At the same time, the main characteristics with respect to existing platforms are highlighted in aspects such as: system autonomy, cost, safety level, operation ranges, experimental flexibility, among others. The possible controller design approaches for quadcopter stabilization can extend to many basic and advanced techniques. In this work, to show the operation and didactic use of the platform, the development of the controller for tilt angle stabilization under two different approaches are presented. The first approach is through PID control, oriented for undergraduate students with basic level in control theory. The second approach is by means of State Feedback, oriented to students with more advanced level in this field. The result of this work is an open test bench, enabled for the experimentation of control algorithms using Matlab-Simulink.
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Szelmanowski, Andrzej, Grzegorz Kowalczyk, Krzysztof Kubryński, and Piotr Rogala. "Identification of Measurement Chain Properties in the Inertial Navigation Gimbal Systems of Aircraft." Journal of KONBiN 49, no. 4 (December 1, 2019): 491–509. http://dx.doi.org/10.2478/jok-2019-0098.
Повний текст джерелаАнотація:
Abstract The article discusses the characteristics of measuring chains found in the gimbal inertial navigation systems of the IKW-8 type (used on Su-22 aircraft) are presented. The research paper also addresses the method for the identification of measurement chain properties of the gyroscopic KW-1 platform developed at AFIT, including sensors for the parameters of aircraft motion within an inertial space (linear accelerations and angular velocities) and signal processing systems (used to level and gyrocompass the platform). The methodology for the identification of measurement chain properties developed at AFIT found its application as a complementary technology in the process of assessing the technical condition of an IKW-8 inertial navigation system implemented in the conditions of a military unit operating Su-22 aircraft.
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Bai, Bing, and Li Xing Zhang. "A 3-node Shaft Element for Main Shaft Vibration FE Analysis." Applied Mechanics and Materials 444-445 (October 2013): 141–46. http://dx.doi.org/10.4028/www.scientific.net/amm.444-445.141.
Повний текст джерелаАнотація:
To calculate the characteristics of the lateral vibration in the main shaft system of the hydro-turbine generating set, a three-node elastic shaft element was proposed. Its dynamic equation was derived and the interpolation function, translational inertia matrix, rotational inertia matrix, gyroscopic matrix and the stiffness matrix were obtained. Based on Matlab platform, a FEM program was developed for calculation and its correctness was verified through a numerical example. The study shows that, compared with the method using two-node shaft element, the results of the three-node shaft element are closer to the theoretical solution and the accuracy is higher.
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Nguyen, T. A. Khoa, Maurizio Ranieri, Jack DiGiovanna, Otto Peter, Vincenzo Genovese, Angelica Perez Fornos, and Silvestro Micera. "A Real-Time Research Platform to Study Vestibular Implants With Gyroscopic Inputs in Vestibular Deficient Subjects." IEEE Transactions on Biomedical Circuits and Systems 8, no. 4 (August 2014): 474–84. http://dx.doi.org/10.1109/tbcas.2013.2290089.
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Adler, John R. "IL-1 SRS Without the Bunker: Introduction and Clinical Experience of ZAP-X Gyroscopic Radiosurgery." Neuro-Oncology Advances 3, Supplement_6 (December 1, 2021): vi1. http://dx.doi.org/10.1093/noajnl/vdab159.000.
Повний текст джерелаАнотація:
Abstract Each year more than two million patients worldwide are potential candidates for SRS, yet due to the significant costs and complexities of historical delivery systems, only 150,000 patients currently receive such treatment. Japan Shonin-cleared in 2020, ZAP Surgical’s ZAP-X Gyroscopic Radiosurgery platform was designed to solve this challenge, and ultimately bring world-class SRS to more patients in more places. ZAP-X is recognized for being the first and only vault-free SRS delivery system, thereby typically eliminating the need for providers to build costly shielded radiation treatment rooms. Utilizing a modern linear accelerator to produce radiation, ZAP-X is also the first and only dedicated radiosurgery system to no longer require Cobalt-60 radioactive sources, thereby eliminating the significant costs to license, secure and regularly replace live radioactive isotopes. Built on a distinctive dual-gimbaled gantry design, the ZAP-X system uses gyroscopic mobility to direct radiosurgical beams from hundreds of unique angles to precisely concentrate radiation on the tumor target. This pioneering approach supports the clinical objective of protecting healthy brain tissue and patient neuro-cognitive function, as well as enable future potential SRS re-treatments without the unnecessary risks associated with multi-purpose radiation delivery technologies.
15
Andreichenko, D. K., and K. P. Andreichenko. "Dynamic analysis and choice of parameters of a model of gyroscopic integrator of linear accelerations with floating platform." Journal of Computer and Systems Sciences International 47, no. 4 (August 2008): 570–83. http://dx.doi.org/10.1134/s1064230708040096.
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Pei, Zhongcai, Hao Jing, Zhiyong Tang, and Yulan Fu. "Experimental Validation of a Gyroscope Wave Energy Converter for Autonomous Underwater Vehicles." Applied Sciences 11, no. 23 (November 23, 2021): 11115. http://dx.doi.org/10.3390/app112311115.
Повний текст джерелаАнотація:
Power technology has long been the main problem that has plagued the realization of ocean exploration by autonomous underwater vehicles (AUVs). This paper introduces a new wave energy conversion device for AUV, which is sealed inside a closed floating body to avoid interaction with the marine environment. The system uses the gyroscopic effect to continuously convert the pitching motion of waves into electrical energy through flywheel rotation, and thus theoretically extend the endurance time of AUVs. In this paper, a mathematical model of the power generation device is established, and the effects caused by different parameters on the system behavior and energy output are analyzed. In order to reduce the cost of experiments, the energy conversion device is installed on an experimental platform that can simulate wave motion to observe its energy generation performance. The experimental results show that the established mathematical model can accurately reflect the real behavior of the power generation device on the platform under different wave conditions, and the energy output error is only 9.91%.
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Tan, Lei, Tomoki Ikoma, Yasuhiro Aida, and Koichi Masuda. "Mean Wave Drift Forces on a Barge-Type Floating Wind Turbine Platform with Moonpools." Journal of Marine Science and Engineering 9, no. 7 (June 27, 2021): 709. http://dx.doi.org/10.3390/jmse9070709.
Повний текст джерелаАнотація:
Barge-type platforms with moonpools are a promising type of foundation for floating offshore wind turbines due to their good seakeeping performance. In this paper, the mean wave drift force on a barge-type vertical-axis floating wind turbine with multiple moonpools was investigated through physical model testing and numerical calculations using WAMIT. The focus was on the characteristics of mean drift load and its optimization potential. The present numerical results indicated that the application of moonpools was useful in reducing horizontal mean drift force at specific frequencies, and the reason was ascribed to the significant radiation effect of the resonant water oscillations in moonpools. The observed reduction effect on mean drift force was shown to be dependent on the viscous damping of moonpool resonance. The experimental results showed that the maximum response of the mean sway drift force was reduced by the gyroscopic effect of rotations of the vertical-axis wind turbine, and this reduction effect became stronger as the rotating speed of the wind turbine increased, but was weakened as wave amplitude increased. The comparisons between experimental data and potential flow predictions indicated that viscous effects should be taken into account to reasonably estimate the mean wave drift forces on barge-type floating wind turbines.
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Hendricks, Benjamin K., Joseph D. DiDomenico, Igor J. Barani, and F. David Barranco. "ZAP-X Gyroscopic Radiosurgery System: A Preliminary Analysis of Clinical Applications within a Retrospective Case Series." Stereotactic and Functional Neurosurgery 100, no. 2 (December 23, 2021): 99–107. http://dx.doi.org/10.1159/000519862.
Повний текст джерелаАнотація:
<b><i>Introduction:</i></b> The ZAP-X Gyroscopic Radiosurgery system (ZAP Surgical Systems, Inc., San Carlos, CA, USA) is a novel high-dose targeted stereotactic radiosurgery platform for outpatient use that includes self-shielding, X-ray image guidance, and the capacity to aim the radiation beam gyroscopically at an intracranial lesion using 5 independent degrees of freedom. The ZAP-X Gyroscopic Radiosurgery system accomplishes these actions while meeting widely accepted standards for dose gradient and accuracy. This retrospective study examined data of patients treated with gyroscopic radiosurgery (GRS) to document clinical outcomes. <b><i>Methods:</i></b> Medical records of all outpatients treated with GRS over a 20-month period from January 2019 to August 2020 were searched to extract relevant details, including follow-up data until August 2021 (32-month study interval). Patients with <6 months of radiographical follow-up data were excluded unless death occurred. Data collection included pretreatment clinical history, pathological diagnosis, radiographical features, treatment parameters, and long-term clinical and radiographical follow-up. <b><i>Results:</i></b> Sixty-eight patients received outpatient treatment with GRS during the 20-month treatment interval, with 59 patients remaining after exclusion for the minimum follow-up threshold, with a mean (standard deviation [SD]) fractionation of 1.85 (1.63). Eighty-two lesions were treated across a very heterogeneous patient population, including meningiomas (42.4%), metastases (39.0%), gliomas (6.8%), schwannomas (1.7%), and pituitary tumor (1.7%). Mean (SD) radiographical follow-up data (14.7 [6.60] months) were available for 56 patients. During that interval, 13 treated lesions in 13 patients (15.9%) demonstrated progression, 9 of which were stable during the initial posttreatment imaging surveillance period. Mean lesion volume was stable from pretreatment (2.54 cm<sup>3</sup> [4.37 cm<sup>3</sup>]) to most recent follow-up (2.80 cm<sup>3</sup> [8.20 cm<sup>3</sup>]) (<i>t</i> [79] = −0.310; <i>p</i> = 0.76). Minor adverse clinical events were noted in 3 (5.1%) of the 59 patients during the posttreatment phase that may have been related to the treatment. Ten (16.9%) patients died within the 32-month study interval. <b><i>Discussion/Conclusion:</i></b> This preliminary assessment of the first series of patients treated with the Zap-X Gyroscopic Radiosurgery system documents its overall feasibility in clinical applications. Although the duration of follow-up was brief, GRS appeared to be both safe and effective. Additional analysis, with an ongoing prospective registry, is underway.
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Villarreal Valderrama, José Francisco, Luis Takano, Eduardo Liceaga-Castro, Diana Hernandez-Alcantara, Patricia Del Carmen Zambrano-Robledo, and Luis Amezquita-Brooks. "An integral approach for aircraft pitch control and instrumentation in a wind-tunnel." Aircraft Engineering and Aerospace Technology 92, no. 7 (June 13, 2020): 1111–23. http://dx.doi.org/10.1108/aeat-10-2019-0193.
Повний текст джерелаАнотація:
Purpose Aircraft pitch control is fundamental for the performance of micro aerial vehicles (MAVs). The purpose of this paper is to establish a simple experimental procedure to calibrate pitch instrumentation and classical control algorithms. This includes developing an efficient pitch angle observer with optimal estimation and evaluating controllers under uncertainty and external disturbances. Design/methodology/approach A wind tunnel test bench is designed to simulate fixed-wing aircraft dynamics. Key elements of the instrumentation commonly found in MAVs are characterized in a gyroscopic test bench. A data fusion algorithm is calibrated to match the gyroscopic test bench measurements and is then integrated into the autopilot platform. The elevator-angle to pitch-angle dynamic model is obtained experimentally. Two different control algorithms, based on model-free and model-based approaches, are designed. These controllers are analyzed in terms of parametric uncertainties due to wind speed variations and external perturbation because of sudden weight distribution changes. A series of experimental tests is performed in wind-tunnel facilities to highlight the main features of each control approach. Findings With regard to the instrumentation algorithms, a simple experimental methodology for the design of optimal pitch angle observer is presented and validated experimentally. In the context of the platform design and identification, the similitude among the theoretical and experimental responses shows that the platform is suitable for typical pitch control assessment. The wind tunnel experiments show that a fixed linear controller, designed using classical frequency domain concepts, is able to provide adequate responses in scenarios that approximate the operation of MAVs. Research limitations/implications The aircraft orientation observer can be used for both pitch and roll angles. However, for simultaneousyaw angle estimation the proposed design method requires further research. The model analysis considers a wind speed range of 6-18 m/s, with a nominal operation of 12 m/s. The maximum experimentally tested reference for the pitch angle controller was 20°. Further operating conditions may require more complex control approaches (e.g. scheduling, non-linear, etc.). However, this operating range is enough for typical MAV missions. Originality/value The study shows the design of an effective pitch angle observer, based on a simple experimental approach, which achieved locally optimum estimates at the test conditions. Additionally, the instrumentation and design of a test bench for typical pitch control assessment in wind tunnel facilities is presented. Finally, the study presents the development of a simple controller that provides adequate responses in scenarios that approximate the operation of MAVs, including perturbations that resemble package delivery and parametric uncertainty due to wind speed variations.
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Di, Jun, Yu Fan, and Si Jia Liu. "Rotor Orientation Control Strategy of a Linear Arc-Shaped Induction Motor with Multiple Stators." Applied Mechanics and Materials 538 (April 2014): 429–36. http://dx.doi.org/10.4028/www.scientific.net/amm.538.429.
Повний текст джерелаАнотація:
This paper proposes a rotor orientation control strategy on the large proportion of gyroscopic precession of a linear arc-shaped induction motor with multiple stators, applied to maglev bearings. A physical model of the rotor, considering gravitation, is established via analysis based on rotor dynamics: the kinematic model of the rotor, which is installed vertically, can be simplified as rigid body fixed-point rotation. To complete the dynamic formula, the equivalent circuit of a linear arc-shaped induction motor is transformed into dq0 model by Park transformation, in which the decoupling control of the tangential force and the normal force is determined. Moreover, to realize the control strategy combined air-gap cross feedback with damping method, parameter identification, including no-load test and locked rotor test, is modefied. Therefore, the control strategy, aiming at controlling the speed and guaranteeing the rotor rotating vertically around its axis simultaneously, by adjusting the current of the four stators, can be proved by simulation and experimental platform.
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Liu, Changhua, Jide Qian, Zuocai Wang, and Jin Wu. "A linear computationally efficient Kalman filter for robust attitude estimation from horizon measurements and GNSS observations." Sensor Review 40, no. 2 (January 13, 2020): 153–65. http://dx.doi.org/10.1108/sr-07-2019-0186.
Повний текст джерелаАнотація:
Purpose For fixed-wing micro air vehicles, the attitude determination is usually produced by the horizon/Global Navigation Satellite System (GNSS) in which the GNSS provides yaw estimates, while roll and pitch are computed using horizon sensors. However, the attitude determination has been independently obtained from the two sensors, which will result in insufficient usage of data. Also, when implementing attitude determination algorithms on embedded platforms, the computational resources are highly restricted. This paper aims to propose a computationally efficient linear Kalman filter to solve the problem. Design/methodology/approach The observation model is in the form of a least-square optimization composed by GNSS and horizontal measurements. Analytical quaternion solution along with its covariance is derived to significantly speed up on-chip computation. Findings The reconstructed attitude from Horizon/GNSS is integrated with quaternion kinematic equation from gyroscopic data that builds up a fast linear Kalman filter. The proposed filter does not involve coupling effects presented in existing works and will be more robust encountering bad GNSS measurements. Originality/value Electronic systems are designed on a real-world fixed-wing plane. Experiments are conducted on this platform that show comparisons on the accuracy and computation execution time of the proposed method and existing representatives. The results indicate that the proposed algorithm is accurate and much faster computation speed in studied scenarios.
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Wang, Di, Jia Jun Zhou, Song Chen, Ying Yao, Liang Yin, and Xiao Wei Liu. "Design of the Digital in Signal Processing Platform of the Gyroscope Based on FPGA." Key Engineering Materials 609-610 (April 2014): 903–7. http://dx.doi.org/10.4028/www.scientific.net/kem.609-610.903.
Повний текст джерелаАнотація:
Gyroscope is a sensor thatmeasure angular velocity which is widely used in various fields [1]. The analogprocessing technology of Gyro-signal is very mature, but due to the noise andother shortcomings of the analog circuit, the development of micro-mechanical gyroscopeis limited. Digital gyroscope has superior performance and accuracy, so thesignal processing of gyroscope will take digital methods [2]. This paper designsa platform for the digital signal processing of Silicon gyroscope. By using FPGAextend A / D and D / A interface method implement the signals from outside inputto output, build a digital signal processing platform of the minimum system,then design the overall digital signal of the hardware part and the controlsection of the software part, synthesis the designed platform which doesn’tdepend on crafts use the Xilinx Synthesis tool and gave the synthesizedresults, verify the correctness of the design eventually.
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Cazacu, Carmen Cristiana, Florina Chiscop, and Dragos Alexandru Cazacu. "Using IoT to Dynamically Test Smart Connected Devices." MATEC Web of Conferences 343 (2021): 03004. http://dx.doi.org/10.1051/matecconf/202134303004.
Повний текст джерелаАнотація:
The aim of this paper is to introduce and validate a new concept of testing smart connected devices (SCD) that have inertial measurement units (IMU) or gyroscopic and accelerometers, like smart bracelets, smart watches or even mobile phones after they have been assembled, in their way to the packaging area. The devices will be tested dynamically, while they travel on the conveyor using the IoT (Internet of Things) and some expected values for acceleration and angle variations. Using IoT to dynamically test electronic SCD, while they travel on a conveyor after the assembly process had been completed, will reduce the time to market and will exclude the need for a testing area. Once the SCD arrives at the packing area, the system will know and sort the device that are QA (Quality Assurance) passed or failed (the devices that will not send the expected values to the system). In order to prove this concept, we created a SCD that use an IMU connected to a Raspberry PI, boxed together. The PI is connected to ThingWorx (IoT platform that includes machine learning) and the box travel on different types of conveyor belts in order to validate this new concept.
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Wang, Feng Lin, Xiu Lan Wen, and Dong Xia Wang. "The Error Analysis of Gyroscope Drifs to the Rate Azimuth Platform System." Applied Mechanics and Materials 155-156 (February 2012): 555–60. http://dx.doi.org/10.4028/www.scientific.net/amm.155-156.555.
Повний текст джерелаАнотація:
To master the influence of deterministic system error to navigation system, so can accurately present the precision index of gyroscopes and accelerometers, which are the main components of rate azimuth platform inertial navigation system, and initial calibration precision. With the error equations under static state, the characteristic equation of rate azimuth platform inertial navigation system is set up. Based on the solutions of the error equation, and the system error characteristics caused by the gyroscope drifts are deduced with analytical method.
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Aftab, Zohaib, and Gulraiz Ahmed. "Validity of Dual-Minima Algorithm for Heel-Strike and Toe-Off Prediction for the Amputee Population." Prosthesis 4, no. 2 (May 10, 2022): 224–33. http://dx.doi.org/10.3390/prosthesis4020022.
Повний текст джерелаАнотація:
Assessment of gait deficits relies on accurate gait segmentation based on the key gait events of heel strike (HS) and toe-off (TO). Kinematics-based estimation of gait events has shown promise in this regard, especially using the leg velocity signal and gyroscopic sensors. However, its validation for the amputee population is not established in the literature. The goal of this study is to assess the accuracy of lower-leg angular velocity signal in determining the TO and HS instants for the amputee population. An open data set containing marker data of 10 subjects with unilateral transfemoral amputation during treadmill walking was used. A rule-based dual-minima algorithm was developed to detect the landmarks in the shank velocity signal indicating TO and HS events. The predictions were compared against the force platform data for 2595 walking cycles from 239 walking trials. The results showed considerable accuracy for the HS with a median error of −1 ms. The TO prediction error was larger with the median ranging from 35–84 ms. The algorithm consistently predicted the TO earlier than the actual event. Significant differences were found between the prediction accuracy for the sound and prosthetic legs. The prediction accuracy was also affected by the subjects’ mobility level (K-level) but was largely unaffected by gait speed. In conclusion, the leg velocity profile during walking can predict the heel-strike and toe-off events for the transfemoral amputee population with varying degrees of accuracy depending upon the leg side and the amputee’s functional ability level.
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Chen, Junying, Fu Zhu, Mou Liu, Zhen Meng, Lin Xu, and Lin Xu. "A method to improve tracking ability of drive control of MEMS gyroscopes." Sensor Review 41, no. 2 (February 26, 2021): 153–61. http://dx.doi.org/10.1108/sr-09-2019-0222.
Повний текст джерелаАнотація:
Purpose A high-precision gyroscope is an important tool for accurate positioning, and the amplitude stability and frequency tracking ability of the drive control system are important and necessary conditions to ensure the precision of micro-electro-mechanical systems (MEMS) gyroscopes. To improve the precision of MEMS gyroscopes, this paper proposes a method to improve the amplitude stability and frequency tracking ability of a drive control system. Design/methodology/approach A frequency tracking loop and an amplitude control loop are proposed to improve the frequency tracking ability and amplitude stability of the drive control system for a MEMS gyroscopes. The frequency tracking loop mainly includes a phase detector, a frequency detector and a loop filter. And, the amplitude control loop mainly includes an amplitude detector, a low-pass filter and an amplitude control module. The simulation studies on the frequency tracking loop, amplitude control loop and drive control system composed of these two loops are implemented. The corresponding digital drive control algorithm is realized by the Verilog hardware description language, which is downloaded to the application-specific integrated circuits (ASIC) platform to verify the performances of the proposed method. Findings The simulation experiments in Matlab/Simulink and tests on the ASIC platform verify that the designed drive control system can keep the amplitude stable and track the driving frequency in real time with high precision. Originality/value This study shows a way to design and realize a drive control system for MEMS gyroscopes to improve their tracking ability. It is helpful for improving the precision of MEMS gyroscopes.
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Roy, Jean. "Response by J. Roy to the reply by the authors." GEOPHYSICS 58, no. 5 (May 1993): 757. http://dx.doi.org/10.1190/1.1486694.
Повний текст джерелаАнотація:
On platform attitude measurement: The integration of platform attitude measurements with existing geophysical platforms was done regularly in all airborne geophysical platforms equipped with the Geonics EM‐18 VLF system where roll and pitch compensation was done with a gyroscope‐derived signal (Geonics 1982 Catalog, EM‐18 data sheet). Also, the integration of full platform attitude measurement (pitch, yaw, and roll) with a geophysical platform was done as an example by SGC. Their platform carried, among others, a three‐component magnetometer (SGC TRIX‐03 data sheet) and a RAMA‐style VLF system (Granar, 1981). Pendulum‐based systems have also been used in both fixed wing aircrafts and helicopter towed birds. Current developments in platform attitude measurements include multiple GPS antennas and receivers with measuring tolerances lower than one degree (among others, NASA, 1992).
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Xu, Dan, James Ferris Whidborne, and Alastair Cooke. "Fault tolerant control of a quadrotor using C 1 adaptive control." International Journal of Intelligent Unmanned Systems 4, no. 1 (January 4, 2016): 43–66. http://dx.doi.org/10.1108/ijius-08-2015-0011.
Повний текст джерелаАнотація:
Purpose – The growing use of small unmanned rotorcraft in civilian applications means that safe operation is increasingly important. The purpose of this paper is to investigate the fault tolerant properties to faults in the actuators of an C 1 adaptive controller for a quadrotor vehicle. Design/methodology/approach – C 1 adaptive control provides fast adaptation along with decoupling between adaptation and robustness. This makes the approach a suitable candidate for fault tolerant control of quadrotor and other multirotor vehicles. In the paper, the design of an C 1 adaptive controller is presented. The controller is compared to a fixed-gain LQR controller. Findings – The C 1 adaptive controller is shown to have improved performance when subject to actuator faults, and a higher range of actuator fault tolerance. Research limitations/implications – The control scheme is tested in simulation of a simple model that ignores aerodynamic and gyroscopic effects. Hence for further work, testing with a more complete model is recommended followed by implementation on an actual platform and flight test. The effect of sensor noise should also be considered along with investigation into the influence of wind disturbances and tolerance to sensor failures. Furthermore, quadrotors cannot tolerate total failure of a rotor without loss of control of one of the degrees of freedom, this aspect requires further investigation. Practical implications – Applying the C 1 adaptive controller to a hexrotor or octorotor would increase the reliability of such vehicles without recourse to methods that require fault detection schemes and control reallocation as well as providing tolerance to a total loss of a rotor. Social implications – In order for quadrotors and other similar unmanned air vehicles to undertake many proposed roles, a high level of safety is required. Hence the controllers should be fault tolerant. Originality/value – Fault tolerance to partial actuator/effector faults is demonstrated using an C 1 adaptive controller.
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Suharyadi, Heri, Dian Ahkam Sani, and Mohammad Zoqi Sarwani. "Implementation of Virtual Reality in Game Platformer." Inform : Jurnal Ilmiah Bidang Teknologi Informasi dan Komunikasi 5, no. 1 (February 20, 2020): 32–38. http://dx.doi.org/10.25139/inform.v5i1.2327.
Повний текст джерелаАнотація:
The realization of virtual reality is implemented on an application in the form of a game that will load the genre of platform games, where the genre of this game is highly respected by lovers of games on the Android platform. The hardware used to create virtual reality in this platformer game is an android device that has a gyroscope sensor, virtual reality cardboard, and computer devices. The software uses unity, blender, and Microsoft visual studio as a code editor. The making of this virtual reality game using the gyroscope sensor as full control of character movements that serve to minimize the device needed to play virtual reality games on Android to make it easier and more practical to play. The test results state that virtual reality can be implemented on Android games and the gyroscope sensor functions well as the main movement control in the game
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Votrubec, Radek. "Stabilization of Platform Using Gyroscope." Procedia Engineering 69 (2014): 410–14. http://dx.doi.org/10.1016/j.proeng.2014.03.006.
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Wang, Sai, Linping Lu, Kunpeng Zhang, Shuying Hao, Qichang Zhang, and Jingjing Feng. "Design, Dynamics, and Optimization of a 3-DoF Nonlinear Micro-Gyroscope by Considering the Influence of the Coriolis Force." Micromachines 13, no. 3 (February 28, 2022): 393. http://dx.doi.org/10.3390/mi13030393.
Повний текст джерелаАнотація:
In this paper, we use the nonlinear hardening stiffness of drive mode deal with the contradiction between gain and bandwidth of the linear micro-gyroscope, to improve the bandwidth and gain in sense direction. Firstly, in order to adjust the distance between two resonant peaks, we changed an incomplete two-degree-of-freedom(2-DoF) sense mode system of the micro-gyroscope into a complete 2-DoF system. Afterward, according to the given nonlinear coefficient of stiffness of drive mode, the structure size of driving micro-beams was designed to obtain a nonlinear micro-gyroscope with controllable stiffness. Finally, we investigated the effects of peaks spacing, damping, and driving nonlinearity on gain and bandwidth, and the nonlinear micro-gyroscope was optimized by orthogonal experiment method and response surface method. The results reveal that the peaks spacing has a great influence on the gain and bandwidth of both linear and nonlinear micro-gyroscopes. The larger the peaks spacing, the lower the gain, but higher gain can be achieved when the resonant frequency of the drive mode is close to the lower-order resonant frequency of the sense mode. Driving nonlinearity leads to the response peak of the Coriolis force to have a hardening characteristic, thus forming a wide platform in the sense direction. Hardening of the response peak of the Coriolis force allows the micro-gyroscope to obtain a higher gain while the bandwidth of the sense mode is also greatly improved. In addition, parameter optimization can make the gain and bandwidth of the micro-gyroscope optimal. When the peaks spacing is small and the nonlinear stiffness coefficient is about 1012.2, under the premise that the gain is basically constant, the bandwidth of the sense mode increases about 1.76 times compared with the linear gyroscope. Damping can suppress the influence of nonlinearity in a micro-gyroscope system. Within a certain range, the frequency response of the nonlinear micro-gyroscope tends to be a linear system with the increase in damping, resulting in narrower bandwidth and lower gain.
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Patrik Beno, Miroslav Gutten, Milan Simko, and Jozef Sedo. "Stabilization and Control of Single-Wheeled Vehicle with BLDC Motor." Communications - Scientific letters of the University of Zilina 21, no. 3 (August 15, 2019): 48–52. http://dx.doi.org/10.26552/com.c.2019.3.48-52.
Повний текст джерелаАнотація:
To stabilize a single-wheel vehicle is necessary to know the angle of gradient of the platform with respect to the horizontal axis and also the movement of the vehicle. This can be detected in several ways. Accelerometers and gyroscopes are small, accurate and energy-saving today. They provide analogue or digital output. In the introduction we will describe the basic parameters of accelerometer and gyroscope. We will describe the principle of digital signal processing from both sensors. In the next section we look at the effect of dynamic acceleration on the sensors and the elimination of this phenomenon with a complementary filter. We explain, what it is a complementary filter, benefits and internal structure. We will include a short code in the C language for data processing from the output.
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Zych, C., A. Wrońska-Zych, J. Dudczyk, and A. Kawalec. "A correction in feedback loop applied to two-axis gimbal stabilization." Bulletin of the Polish Academy of Sciences Technical Sciences 63, no. 1 (March 1, 2015): 217–19. http://dx.doi.org/10.1515/bpasts-2015-0025.
Повний текст джерелаАнотація:
Abstract A two-axis gimbal system can be used for stabilizing platform equipped with observation system like cameras or different measurement units. The most important advantageous of using a gimbal stabilization is a possibility to provide not disturbed information or data from a measurement unit. This disturbance can proceed from external working conditions. The described stabilization algorithm of a gimbal system bases on a regulator with a feedback loop. Steering parameters are calculated from quaternion transformation angular velocities received from gyroscopes. This data are fed into the input of Proportional Integral Derivative (PID) controller. Their input signal is compared with earned value in the feedback loop. The paper presents the way of increasing the position’s accuracy by getting it in the feedback loop. The data fusion from a positioning sensor and a gyroscope results in much better accuracy of stabilization.
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Qi, Chang Song, Hong Jun Pan, and Yan Le Wang. "Design and Realization of Two-Axis Horizontal Stabilized Platform Based on Self-Correction Control Method." Applied Mechanics and Materials 152-154 (January 2012): 1276–80. http://dx.doi.org/10.4028/www.scientific.net/amm.152-154.1276.
Повний текст джерелаАнотація:
To enhance the accuracy of stabilization, this paper presents a design of two-axis horizontal stabilization platform system, which is based on the combination of gyroscope and inclinometer sensors. The self-correction control method is put forward to solve the system error caused by gyroscope zero drift in traditional gyro stabilized platform, which works in the way of revising the gyroscope zero coefficient, according to the real-time attitude information feed backed by inclinometer sensors fixed in objective platform.
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Pogorilov, Sergii, and Valerij Havin. "Evaluation of permissible amplitudes of external impact on free-of-platform inertial navigation systems." Bulletin of the National Technical University «KhPI» Series: Dynamics and Strength of Machines, no. 1 (December 31, 2021): 38–43. http://dx.doi.org/10.20998/2078-9130.2021.1.232154.
Повний текст джерелаАнотація:
In modern aerospace technology, strapdown inertial navigation systems (SINS) are widely used, using fiber-optic (FOG) or ring laser (CLG) gyroscopes. During the operation of such systems, the sensitivity axes are rotated relative to the basic coordinate system. The resulting angles between the axes of the base coordinate system and the axes of sensitivity of the navigation system (non-orthogonality) are one of the factors leading to an increase in the measurement errors of the device, which affects the measurement accuracy. During operation, the system is affected by vibrations of various nature, the impact of which can contribute to the appearance of non-orthogonality. The purpose of this work is to determine the maximum permissible vibration amplitudes affecting the SINS body according to the permissible values of the deviation of the FOG sensitivity axes for two variants of the SINS layout. An approach to determining the permissible amplitudes of an external harmonic impact on the unit of a strapdown inertial navigation system based on fiber-optic or ring laser gyroscopes is considered. A design scheme, mathematical and finite element models for calculating natural frequencies and forced oscillations of a strapdown inertial navigation system unit have been developed. In various frequency ranges, numerical calculations have determined the boundary values of the amplitudes of the external harmonic impact on the base of specific configurations of the SINS assembly. It has been established that dangerous states take place in the region of the 1st natural frequency of the system, as well as near higher frequencies. Comparison of the results for design options 1 and 2 allows us to conclude that in order to weaken the effect of vibrations on the accuracy of the SINS unit, it is advisable that the lowest natural vibration frequencies for the SINS assembly be as high as possible (more than 1000 Hz).
Key words: vibration; fiber optic gyroscope; strapdown inertial navigation system; finite element method; natural frequencies and modes of vibration.
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LEMOYNE, ROBERT, and TIMOTHY MASTROIANNI. "IMPLEMENTATION OF A SMARTPHONE WIRELESS GYROSCOPE PLATFORM WITH MACHINE LEARNING FOR CLASSIFYING DISPARITY OF A HEMIPLEGIC PATELLAR TENDON REFLEX PAIR." Journal of Mechanics in Medicine and Biology 17, no. 06 (September 2017): 1750083. http://dx.doi.org/10.1142/s021951941750083x.
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The patellar tendon reflex response provides fundamental means of assessing a subject’s neurological health. Dysfunction regarding the characteristics of the reflex response may warrant the escalation to more advanced diagnostic techniques. Current strategies involve the manual elicitation of the patellar tendon reflex by a highly skilled clinician with subsequent interpretation according to an ordinal scale. The reliability of the ordinal scale approach is a topic of contention. Highly skilled clinicians have been in disagreement regarding even the observation of asymmetric reflex pairs. An alternative strategy incorporated the ubiquitous smartphone with a software application to function as a wireless gyroscope platform for quantifying the reflex response. Each gyroscope signal recording of the reflex response can be conveyed wirelessly through Internet connectivity as an email attachment. The reflex response is evoked through a potential energy impact pendulum that enables prescribed targeting and potential energy level. The smartphone functioning as a wireless gyroscope platform reveals an observationally representative gyroscope signal of the reflex response. Three notably distinguishable attributes of the reflex response are incorporated into a feature set for machine learning: maximum angular rate of rotation, minimum angular rate of rotation, and time disparity between maximum and minimum angular rate of rotation. Four machine learning platforms such as the J48 decision tree, K-nearest neighbors, logistic regression, and support vector machine, were applied to the patellar tendon reflex response feature set incorporating a hemiplegic patellar tendon reflex pair. The J48 decision tree attained 98% classification accuracy, and the K-nearest neighbors, logistic regression, and support vector machine achieved perfect classification accuracy for distinguishing between a hemiplegic affected leg and unaffected leg patellar tendon reflex pair. The research findings reveal the potential of machine learning for enabling advanced diagnostic acuity respective of the gyroscope signal of the patellar tendon reflex response.
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Yang, Hong’an, Xuefeng Bao, Shaohua Zhang, and Xu Wang. "A Multi-Robot Formation Platform based on an Indoor Global Positioning System." Applied Sciences 9, no. 6 (March 19, 2019): 1165. http://dx.doi.org/10.3390/app9061165.
Повний текст джерелаАнотація:
Aimed at the problem that experimental verifications are difficult to execute due to lacking effective experimental platforms in the research field of multi-robot formation, we design a simple multi-robot formation platform. This proposed general and low-cost multi-robot formation platform includes the indoor global-positioning system, the multi-robot communication system, and the wheeled mobile robot hardware. For each wheeled mobile robot in our platform, its real-time position information in the centimeter‑level precise is obtained by the Marvelmind Indoor Navigation System and orientation information is obtained by the six-degree-of-freedom gyroscope. The Transmission Control Protocol/Internet Protocol (TCP/IP) wireless communication infrastructure is selected to support the communication among robots and the data collection in the process of experiments. Finally, a set of leader–follower formation experiments are performed by our platform, which include three trajectory tracking experiments of different types and numbers under deterministic environment and a formation-maintaining experiment with external disturbances. The results illustrate that our multi-robot formation platform can be effectively used as a general testbed to evaluate and verify the feasibility and correctness of the theoretical methods in the multi-robot formation. What is more, the proposed simple and general formation platform is beneficial to the development of platforms in the fields of multi-robot coordination, formation control, and search and rescue missions.
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Abbate, Nunzio, Adriano Basile, Carmen Brigante, Alessandro Faulisi, and Fabrizio La Rosa. "Modern Breakthrough Technologies Enable New Applications Based on IMU Systems." Journal of Sensors 2011 (2011): 1–7. http://dx.doi.org/10.1155/2011/707498.
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This paper describes IMU (Inertial Measurement Unit) platforms and their main target applications with a special focus on the 10-degree-of-freedom (10-DOF) inertial platform iNEMO and its technical features and performances. The iNEMO module is equipped with a 3-axis MEMS accelerometer, a 3-axis MEMS gyroscope, a 3-axis MEMS magnetometer, a pressure sensor, and a temperature sensor. Furthermore, the Microcontroller Unit (MCU) collects measurements by the sensors and computes the orientation through a customized Extended Kalman Filter (EKF) for sensor fusion.
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KRZYSZTOFIK, Izabela, and Zbigniew KORUBA. "Sliding Mode Control for a Gyroscope System." Problems of Mechatronics Armament Aviation Safety Engineering 8, no. 4 (December 30, 2017): 47–60. http://dx.doi.org/10.5604/01.3001.0010.7317.
Повний текст джерелаАнотація:
This paper presents a mathematical model of a gyroscope system with a sliding mode controller. A comparative analysis based on various control algorithms implemented in a controlled gyroscope system installed on a mobile platform (such as an UAV or a homing rocket missile) proved that sliding mode control can be highly effective, especially when external input interferences exist with the kinematic reactions of the mobile platform. A gyroscope system with a sliding mode controller can be used in the optical target seeker systems of precision weapons. The simulation results are provided in a graphical format.
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Nalepa, Grzegorz, and Szymon Bobek. "Rule-based solution for context-aware reasoning on mobile devices." Computer Science and Information Systems 11, no. 1 (2014): 171–93. http://dx.doi.org/10.2298/csis130209002n.
Повний текст джерелаАнотація:
With the rapid evolution of mobile devices, the concept of context aware applications has gained a remarkable popularity in recent years. Smartphones and tablets are equipped with a variety of sensors including accelerometers, gyroscopes, and GPS, pressure gauges, light and GPS sensors. Additionally, the devices become computationally powerful which allows real-time processing of data gathered by their sensors. Universal network access viaWiFi hot-spots and GSM network makes mobile devices perfect platforms for ubiquitous computing. Most of existing frameworks for context-aware systems, are usually dedicated to static, centralized, clientserver architectures. However, mobile platforms require from the context modeling language and inference engine to be simple and lightweight. The model should also be powerful enough to allow not only solving simple context identification tasks but more complex reasoning. The original contribution of the paper is a proposal of a new rule-based context reasoning platform tailored to the needs of such intelligent distributed mobile computing devices. It contains a proposal of a learning middleware supporting context acquisition. The platform design is based on a critical review and evaluation of existing solutions given in this paper. A preliminary evaluation of the platform is given along with use cases including a social system supporting crime detection and investigation.
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Liu, Zhihua, Chenguang Cai, Ming Yang, and Ying Zhang. "Testing of a MEMS Dynamic Inclinometer Using the Stewart Platform." Sensors 19, no. 19 (September 29, 2019): 4233. http://dx.doi.org/10.3390/s19194233.
Повний текст джерелаАнотація:
The micro-electro-mechanical system (MEMS) dynamic inclinometer integrates a tri-axis gyroscope and a tri-axis accelerometer for real-time tilt measurement. The Stewart platform has the ability to generate six degrees of freedom of spatial orbits. The method of applying spatial orbits to the testing of MEMS inclinometers is investigated. Inverse and forward kinematics are analyzed for controlling and measuring the position and orientation of the Stewart platform. The Stewart platform is controlled to generate a conical motion, based on which the sensitivities of the gyroscope, accelerometer, and tilt sensing are determined. Spatial positional orbits are also generated in order to obtain the tilt angles caused by the cross-coupling influence. The experiment is conducted to show that the tested amplitude frequency deviations of the gyroscope and tilt sensing sensitivities between the Stewart platform and the traditional rotator are less than 0.2 dB and 0.1 dB, respectively.
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Cechowicz, Radosław. "Bias Drift Estimation for MEMS Gyroscope Used in Inertial Navigation." Acta Mechanica et Automatica 11, no. 2 (June 1, 2017): 104–10. http://dx.doi.org/10.1515/ama-2017-0016.
Повний текст джерелаАнотація:
AbstractMEMS gyroscopes can provide useful information for dead-reckoning navigation systems if suitable error compensation algorithm is applied. If there is information from other sources available, usually the Kalman filter is used for this task. This work focuses on improving the performance of the sensor if no other information is available and the integration error should be kept low during periods of still (no movement) operation. A filtering algorithm is proposed to follow bias change during sensor operation to reduce integration error and extend time between successive sensor calibrations. The advantage of the proposed solution is its low computational complexity which allows implementing it directly in the micro-controller of controlling the MEMS gyroscope. An intelligent sensor can be build this way, suitable for use in control systems for mobile platforms. Presented results of a simple experiment show the improvement of the angle estimation. During the 12 hours experiment with a common MEMS sensor and no thermal compensation, the maximum orientation angle error was below 8 degrees.
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Gao, Minghao, Yunhui Ning, Yujie Wang, Gaoling Song, and Zhipeng Zheng. "Control Signal Analysis of Four Ring Space Stabilized Platform." Journal of Physics: Conference Series 2160, no. 1 (January 1, 2022): 012025. http://dx.doi.org/10.1088/1742-6596/2160/1/012025.
Повний текст джерелаАнотація:
Abstract In order to build a four ring space stable platform using free rotor gyroscope, the spatial layout of gyroscope and frame axis should be briefly analyzed, and the installation shafting should be orthogonal or perpendicular to each other to facilitate control and decoupling. On this basis, through the sensitive angle analysis of gyro and frame shafting, the control signals acting on each frame are deduced. Finally, through the physical design of the control loop of the space stability platform, the correctness of the research method and design form is demonstrated, which has theoretical guiding significance for the design of the space stability control loop.
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Jouybari, A., A. A. Ardalan, and M. H. Rezvani. "EXPERIMENTAL COMPARISON BETWEEN MAHONEY AND COMPLEMENTARY SENSOR FUSION ALGORITHM FOR ATTITUDE DETERMINATION BY RAW SENSOR DATA OF XSENS IMU ON BUOY." ISPRS - International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences XLII-4/W4 (September 27, 2017): 497–502. http://dx.doi.org/10.5194/isprs-archives-xlii-4-w4-497-2017.
Повний текст джерелаАнотація:
The accurate measurement of platform orientation plays a critical role in a range of applications including marine, aerospace, robotics, navigation, human motion analysis, and machine interaction. We used Mahoney filter, Complementary filter and Xsens Kalman filter for achieving Euler angle of a dynamic platform by integration of gyroscope, accelerometer, and magnetometer measurements. The field test has been performed in Kish Island using an IMU sensor (Xsens MTi-G-700) that installed onboard a buoy so as to provide raw data of gyroscopes, accelerometers, magnetometer measurements about 25 minutes. These raw data were used to calculate the Euler angles by Mahoney filter and Complementary filter, while the Euler angles collected by XSense IMU sensor become the reference of the Euler angle estimations. We then compared Euler angles which calculated by Mahoney Filter and Complementary Filter with reference to the Euler angles recorded by the XSense IMU sensor. The standard deviations of the differences between the Mahoney Filter, Complementary Filter Euler angles and XSense IMU sensor Euler angles were about 0.5644, 0.3872, 0.4990 degrees and 0.6349, 0.2621, 2.3778 degrees for roll, pitch, and heading, respectively, so the numerical result assert that Mahoney filter is precise for roll and heading angles determination and Complementary filter is precise only for pitch determination, it should be noted that heading angle determination by Complementary filter has more error than Mahoney filter.
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Zhang, Yao, and Shijie Xu. "Vibration Isolation Platform for Control Moment Gyroscopes on Satellites." Journal of Aerospace Engineering 25, no. 4 (October 2012): 641–52. http://dx.doi.org/10.1061/(asce)as.1943-5525.0000156.
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Matveev, V. V., E. Yu Kislovsky, D. N. Milchenko, V. Ya Raspopov, S. V. Telukhin, M. G. Pogorelov, and V. V. Likhosherst. "Tracking System of Moving Objects on MEMS-Gyroscopes." Mekhatronika, Avtomatizatsiya, Upravlenie 20, no. 7 (July 4, 2019): 437–42. http://dx.doi.org/10.17587/mau.20.437-442.
Повний текст джерелаАнотація:
The tracking system of moving objects is analyzed on the basis of a biaxial cardan suspension with MEMS gyroscopes in the control loop. The kinematics of the tracking system in one of the guidance planes is considered. A block diagram of one channel of the tracking system, consisting of correction and stabilization circuits, is given. It is shown that the time of the transition process, the bandwidth, the phase delay between the angular velocity of the accompanied object and the platform is largely determined by the quality factor of the correction circuit speed. The given numerical estimates give an idea of the characteristics of the tracking system. Relations are given that make it possible to estimate the influence of the noise of a MEMS gyroscope on the angular velocity of a stabilized platform. The occurrence of synchronous errors of the tracking system on an oscillating carrier is explained. It is shown that the influence of dry friction forces in the axes of suspension on the tracking system is equivalent to the action of the sum of harmonics with frequencies multiple to the oscillation frequency of the carrier with odd coefficients. The effect of the moment of viscous friction forces in conditions of carrier oscillations is illustrated. An experimental spectral characteristic of the tracking system model on a swinging stand is presented, confirming the theoretical conclusions. An analytical relation is given to estimate the relative synchronous error of the tracking system.
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Nikolovski, Vlatko, Petre Lameski, and Ivan Chorbev. "Cloud Based Patient Monitoring Platform Using Android Smartphone Sensors." Cybernetics and Information Technologies 15, no. 7 (December 1, 2015): 109–19. http://dx.doi.org/10.1515/cait-2015-0094.
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Abstract This paper presents a proof of the concept cloud based patient monitoring and self-care platform, powered by measurements provided from various smartphone sensors. The Cloud platform provides the infrastructure and computational capacity for calculation of the navigation and motion tracking system, fall detection monitoring, as well as emergency notifications. The navigation system uses the pedometer and fusion of the accelerometer, gyroscope and magnetometer sensors. It aims to estimate precisely the patient’s movement and location. While both navigation and tracking systems can independently determine the incremental movement and indoor localization of the patients, they are fused in order to provide more accurate estimations. The fall detection monitoring is enabled by processing the raw data collected from the smartphone’s accelerometer and gyroscope. Furthermore, the cloud system provides various statistics for the physical activity of the patients, based on measurements from the pedometer. Consequently, this paper proposes a proof of the concept cloud based platform that is scalable and highly responsive, used for real-time monitoring and tracking a large number of patients. It also provides indoor navigation and other self-care features.
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IKEDA, Takashi, Yuji HARATA, and Yukio ISHIDA. "832 Vibration Control of Floating Platforms Utilizing Gyroscopes." Proceedings of the Dynamics & Design Conference 2012 (2012): _832–1_—_832–10_. http://dx.doi.org/10.1299/jsmedmc.2012._832-1_.
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Yao, Zhang, Zhang Jingrui, and Xu Shijie. "Parameters design of vibration isolation platform for control moment gyroscopes." Acta Astronautica 81, no. 2 (December 2012): 645–59. http://dx.doi.org/10.1016/j.actaastro.2012.08.031.
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Chen, Jau-Jung, A. DiBenedetto, E. Pennestri, and Ting W. Lee. "Design of a Three-Degree-of-Freedom Robotic Worktable With Prescribed Entire-Motion Characteristics." Journal of Mechanisms, Transmissions, and Automation in Design 108, no. 3 (September 1, 1986): 373–80. http://dx.doi.org/10.1115/1.3258742.
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This paper presents the analysis and design of a robotic worktable with a structure based on two platforms connected by three four-bar linkages. The worktable has three rotational degrees-of-freedom and is designed for special motion generators, such as gyroscope calibration instruments and flight simulators. Of primary interest is the influence of the characteristics of a single four-bar linkage on the entire-motion characteristics of the worktable. This involves an investigation of the effects of limit positions, rotatability of cranks, transmission-angle characteristics and the variation of design parameters of the four-bar linkages on the characteristics of the compound platform mechanism. Based on the analytical results, some physical insights are interpreted and general guidelines can be drawn on the design of this robotic worktable with prescribed motion characteristics.