Статті в журналах з теми "Inertial measuring module"
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1
Grabiński, Jakub, and Konrad Waluś. "The system of acquisition and archiving of motion parameters of mobile systems - an overview of measuring sensors." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 20, no. 1-2 (February 28, 2019): 234–40. http://dx.doi.org/10.24136/atest.2019.042.
Повний текст джерелаАнотація:
As part of the work, a measuring system is presented that allows collecting and recording vehicle motion parameters. To build the system, an inertial navigation module was used, consisting of two-axis accelerometers and gyroscopes made in MEMS technology. The tests were carried out and calculation methods were developed to allow the collected data to be referenced, to a point in the three-dimensional space, in order to determine the trajectory of the vehicle's movement. The built-in measuring system uses three types of sensors: accelerometer, gyroscope, magnetometer. Each of these sensors allows the measurement of the physical size in three orthogonal axes of the Cartesian coordinate system. In addition, the work uses a satellite navigation module (GPS), as a reference on the "macro" scale (coordinate system related to the center of the globe with a radius of about 6371 km) for the inertial updating module (INS / IMU), enabling accurate measurement in the "micro" scale (the coordinate system associated with the starting point of the traffic for the route, the length of which does not exceed several hundred meters). The article presents an overview of available measuring sensors with special consideration of the parameters of selected sensors and errors introduced into the measurement system.
2
Chernyak, Mykola, and Vadym Kolesnyk. "Reduction of time errors of the inertial measuring module by realization of its structural redundancy on the basis of three-axis micromechanical measuring instruments." MECHANICS OF GYROSCOPIC SYSTEMS, no. 39 (May 20, 2020): 66–80. http://dx.doi.org/10.20535/0203-3771392020229096.
Повний текст джерелаАнотація:
Redundant inertial measurement units (IMU) are used in security-critical operations since the advent of inertial technology. This approach allows you to create fault-tolerant systems that can detect and isolate defective sensors. Besides, experimental results have shown that redundant IMU is also an effective way to improve the performance of navigation systems. The question is only in the dependence of the accuracy of the unit on the number of sensors used and their mutual orientation.
This paper analyses the influence of spatial orientation on the accuracy of an IMU with a redundant configuration in the case of using triaxial orthogonal micromechanical measuring modules as atomic structural units.
The first part of this article concentrates on the geometry of the redundant IMU. Analysis of its metrological model of a redundant showed that, when dealing with orthogonal IMU triads, its resulting accuracy is independent of the relative orientation between them. This fact presents important practical implications since it demonstrates that using complex large-scale installation structures can be avoided. As a result, it is enough to place instead of an array of units, for example, only on one printed circuit board with any orientation. Also, it was found the relationship between the number of sensors employed and the accuracy improvement that enables us to ascertain the exact number of sensors needed to design a navigation system with a certain precision.
The second part of this article shows the experimental approval of theoretical conclusions during the testing of a prototype block based on three low-cost units (MPU6050) built according to a symmetric tetrahedron scheme.
The accuracy of the redundant block was experimentally evaluated based on the value of the errors in determining the modulus of gravity acceleration and a given angular velocity of a test rotary platform in a series of positions. The performance of the tested inertial measuring block was better on average in comparison with anyone module from this block that proved the possibility of using these approaches for MEMS sensors in high-accuracy application areas.
3
Yang, Zi Jian, and Cong Sun. "Design and Research of Quadcopter Navigator." Applied Mechanics and Materials 635-637 (September 2014): 1220–23. http://dx.doi.org/10.4028/www.scientific.net/amm.635-637.1220.
Повний текст джерелаАнотація:
This paper studies the autonomous navigation equipment of Quadcopter. SINS/GPS integrated navigation technology, ultrasonic ranging and barometric altimeter is used in the autonomous navigation system. Navigation board includes measuring height subsystem and measurement position subsystem. The former includes an inertial navigation module and GPS module using the Kalman filter for data fusion, which gets a more accurate and stable location information. Quadcopter height measurement subsystem, using ultrasound and barometers. Complementary filter for effective data fusion, is used to ensure the reliability of height measurement.
4
Biagetti, Giorgio, Paolo Crippa, Laura Falaschetti, and Claudio Turchetti. "A Multi-Channel Electromyography, Electrocardiography and Inertial Wireless Sensor Module Using Bluetooth Low-Energy." Electronics 9, no. 6 (June 4, 2020): 934. http://dx.doi.org/10.3390/electronics9060934.
Повний текст джерелаАнотація:
This paper proposes a wireless sensor device for the real-time acquisition of bioelectrical signals such as electromyography (EMG) and electrocardiography (ECG), coupled with an inertial sensor, to provide a comprehensive stream of data suitable for human activity detection, motion analysis, and technology-assisted nursing of persons with physical or cognitive impairments. The sensor is able to acquire up to three independent bioelectrical channels (six electrodes), each with 24 bits of resolution and a sampling rate up to 3.2 kHz, and has a 6-DoF inertial platform measuring linear acceleration and angular velocity. The bluetooth low-energy wireless link was chosen because it allows easy interfacing with many consumer electronics devices, such as smartphones or tablets, that can work as data aggregators, but also imposes data rate restrictions. These restrictions are investigated in this paper as well, together with the strategy we adopted to maximize the available bandwidth and reliability of the transmission within the limits imposed by the protocol.
5
Grabiński, Jakub, and Konrad Waluś. "The system of acquisition and archiving of motion parameters of mobile systems - mathematical methods, digital filters." AUTOBUSY – Technika, Eksploatacja, Systemy Transportowe 20, no. 1-2 (February 28, 2019): 228–33. http://dx.doi.org/10.24136/atest.2019.041.
Повний текст джерелаАнотація:
The work presents numerical methods and digital filters that enable correction of the measurement signal obtained during experimental tests of vehicle motion parameters. The inertial navigation measuring module used consists of three-axis accelerometers, gyroscopes made in MEMS technology and a magnetometer. The collected measurement data made it possible to refer them to a point in three-dimensional space in order to determine the trajectory of vehicle movement. The article presents numerical methods of rotation of the local coordinate system to the global system and selected digital filters enabling smoothening the measurement signal in real time.
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Dichev, Dimitar, Hristofor Koev, and Petr Louda. "A MEASURING SYSTEM WITH AN ADDITIONAL CHANNEL FOR ELIMINATING THE DYNAMIC ERROR." Journal of Theoretical and Applied Mechanics 44, no. 1 (March 1, 2014): 3–20. http://dx.doi.org/10.2478/jtam-2014-0001.
Повний текст джерелаАнотація:
Abstract The present article views a measuring system for determining the parameters of vessels. The system has high measurement accuracy when operating in both static and dynamic mode. It is designed on a gyro-free principle for plotting a vertical. High accuracy of measurement is achieved by using a simplified design of the mechanical module as well by minimizing the instrumental error. A new solution for improving the measurement accuracy in dynamic mode is offered. The approach presented is based on a method where the dynamic error is eliminated in real time, unlike the existing measurement methods and tools where stabilization of the vertical in the inertial space is used. The results obtained from the theoretical experiments, which have been performed on the basis of the developed mathematical model, demonstrate the effectiveness of the suggested measurement approach.
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Fedorenko, V. F., and V. E. Tarkivskiy. "Digital Wireless Technology to Measure Agricultural Performance." Agricultural Machinery and Technologies 14, no. 1 (March 24, 2020): 10–15. http://dx.doi.org/10.22314/2073-7599-2020-14-1-10-15.
Повний текст джерелаАнотація:
When testing agricultural machinery in order to determine its functional indicators, the ability to wirelessly transmit data between sensors, measuring and information systems are important. (Research purpose) To develop methods and create wireless digital devices for determining the functional indicators of agricultural tractors and machines with the ability to wirelessly transmit data to a remote control point in real time. (Materials and methods) The authors assumed that it was possible to determine the slipping of driving wheels using an inertial navigation system. It was found that in order to calculate real-time indicators obtained using wireless technologies, it was necessary to determine the characteristics of the input signals of discrete sensors on the side of the measuring system. (Results and discussions) The authors substantiated a method for determining the period of incoming signals of discrete sensors with an accuracy of 0.001 seconds for wireless information transmission. They proposed the design of a slipping sensor for an energy vehicle driving wheels, the main element of which is an inertial wheel position sensor. They developed a discrete signal input module and an inertial slipping sensor with the possibility of wireless data transmission based on a radio system with a carrier frequency of 433 megahertz. During field tests, it was found that the accuracy of determining slippage using the inertial wireless sensor IP-291 does not exceed 1 percent; the range of stable radio communication from the tested object to the test control center reaches 1000 meters; the current indicators obtained through digital radio communication did not differ from the indicators obtained in the tractor cab. (Conclusions) The authors worked out an effective system for wireless information transfer with the ability to calculate the performance of the tested equipment in real time.
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Rugescu, R. D., Cr E. Constantinescu, M. Al Barbelian, Alina Bogoi, and C. Dumitrache. "Orbital Injection Errors and Sensor Requirements for NERVA Space Launchers." Applied Mechanics and Materials 325-326 (June 2013): 813–18. http://dx.doi.org/10.4028/www.scientific.net/amm.325-326.813.
Повний текст джерелаАнотація:
The input module of the NERVA space launcher guidance system consisting of the inertial and sensor platform is responsible for the basic accuracy if the ascent trajectory and injection efficiency. The sample rate magnitude and data filtering along the real time trajectory are the only tools available for improving the guidance accuracy up to the level of requirements to secure admissible orbital injection error and the subsequent flight corridor during the orbital ascent. Analysis of the NERVA-1 flight telemetry flow from the onboard inertial platform raises the problem of the optimal selection of the onboard sample rate and of the rate of telemetry, which are not identical. The orbit injection errors are chosen from the orbit altitude constraints and subsequent accuracy requirements for the inertial sensors are derived. They show that the accuracy requirements are moderate and may be covered with almost conventional sensors. To improve the flight guidance accuracy the rocket motor chamber pressure and thrust are measured and observation of the preflight zero drift, recording noise and of the high level of embedded noise during both powered and coast atmospheric flight is performed. Simple filtering based on frequency Fourier analysis is delivered with conclusions regarding the intelligent algorithm enhancement that are developed and implemented on the next generation of flight research drone missiles RT-759M NERVA-2, right in preparation. The main rationale of that algorithm stands in the method of discriminating between false and true information on each measuring point immediately after the data are delivered by the sensors. Learning procedure from previous preflight recordings and from gradual accumulation of concurrent data streams subjected to FF spectral analysis are combined to improve data filtering, for immediate release to the next module of the autopilot. The rate of sampling is optimized from the analysis of the previous flight, inertial data records and test stand pressure and thrust records that show the level of noise. The behavior of the electronics under the dynamical loads of the rocket flight, involving overloads of more than 20 g-s and the level of vibration during the real flight and other sources of measuring errors are also focused in the research. During simulated work of the sensor platform the algorithm has been acceptably validated and prepared for real flight test performance. Information important for the NERVA autopilot design activity is structured through the multiple variance approach.
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Gorbenko, O. M., M. V. Zhukov, S. V. Pichahchi, I. D. Sapozhnikov, M. L. Felshtyn, and A. O. Golubok. "COMPACT SCANNING PROBE MICROSCOPE HEAD BASED ON INERTIAL THRUSTERS USING PIEZOPACKETS." NAUCHNOE PRIBOROSTROENIE 31, no. 2 (May 25, 2021): 3–22. http://dx.doi.org/10.18358/np-31-2-i322.
Повний текст джерелаАнотація:
The instrumental principles of constructing a compact measuring head of a scanning probe microscope are discussed. To minimize the overall dimensions, a piezo package is used, which makes it possible to implement in one unit both the functions of the actuating element of the SPM tracking system and the functions of the module for approaching the probe to the sample. A control scheme for a piezo-inertial linear step mover is presented, and histograms of the step size distribution are measured. Diagrams of compact SPM heads operating in tunneling and semi-contact power modes using self-sensing probe sensors are presented. To increase the size of the survey SPM images, scanning over several overlapping areas was implemented with further stitching of the SPM images in a single frame. The algorithm for stitching SPM images is discussed. The deviations in the directions of the stage and probe movements, arising during the new scanning frame selection, are being corrected within the framework of the SPM image stitching algorithm. The results of capturing SPM images using a compact SPM head and stitching SPM images by means of elaborated algorithms are presented.
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Kwon, Seong-Geun, Oh-Jun Kwon, Ki-Ryong Kwon, and Suk-Hwan Lee. "UWB and MEMS IMU Integrated Positioning Algorithm for a Work-Tool Tracking System." Applied Sciences 11, no. 19 (September 23, 2021): 8826. http://dx.doi.org/10.3390/app11198826.
Повний текст джерелаАнотація:
In this paper, we address a system that can accurately locate and monitor work tools in a complex assembly process, such as automotive production. Our positioning monitoring system is positioned by a combined sensor of the UWB module and the MEMS IMU (inertial measuring unit) sensor based on the extended Kalman filter. The MEMS IMU sensor provides the positioning calibration information. The proposed method incorporates IMU and UWB positioning to compensate for errors that can only occur in UWB positioning through the extended Kalman filter (EKT). This EKT is improved by the error dynamic equation derived from the sparse state-space matrix. Also, the proposed method computes the transmission time and distance between the tag and anchor of the UWB module by the TWR (two-way range) system. The tag of a mobile node, which is attached to a moving tool, measures the position of the work tool and transmits the position coordinate data to the anchor. Here, the proposed method uses the trilateration localization method by the confidence distance compensation to prevent the distance error by obstacles and changes in the indoor environment. Experimental results verified that the proposed method confirms whether a specific tool is accurately used according to the prescribed regulations and has more positioning accuracy than the conventional methods.
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Adnastarontsau, A. A., D. A. Adnastarontsava, R. V. Fiodortsev, D. V. Katser, A. Y. Liavonau, D. V. Romanov, D. N. Tcherniakovski, and A. О. Mikhailau. "Algorithm for Control of Unmanned Aerial Vehicles in the Process of Visual Tracking of Objects with a Variable Movement’s Trajectory." Devices and Methods of Measurements 12, no. 1 (March 19, 2021): 46–57. http://dx.doi.org/10.21122/2220-9506-2021-12-1-46-57.
Повний текст джерелаАнотація:
The purpose of the research was to create an algorithm for determining and correcting the output parameters of the navigation module and the flight-navigation complex of unmanned aerial vehicles which provides control of an aviation gyro-stabilized platform with a multispectral optoelectronic system during flight and tracking various objects of observation.Principles of control of an aviation technical vision system located on an unmanned aerial vehicle on a two-degree gyro-stabilized platform with the possibility of full turn around two perpendicular axes along the course and pitch are considered. Stability of tracking of observation objects at a distance of up to 10000 m is ensured by the use of a multispectral optoelectronic system including a rangefinder, thermal imaging and two visual channels.Analysis of the object of observation and the method of its support are carried out. An algorithm is proposed for integrating a Global Navigation Satellite System and a strapdown inertial navigation system based on the extended Kalman filter which includes two stages of calculations, extrapolation (prediction) and correction. Specialized software in the FreeRTOS v9.0 environment has been developed to obtain a navigation solution: latitude, longitude and altitude of the unmanned aerial vehicle in the WGS-84 coordinate system, as well as the pitch, heading and roll angles; north, east and vertical components of velocities in the navigation coordinate system; longitudinal, vertical and transverse components of free accelerations and angular velocities in the associated coordinate system based on data from the receiving and measuring module of the Global Navigation Satellite System and data from the 6-axis MEMS sensor STIM300.
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Visconti, Paolo, Marzia Luceri, Ramiro Velazquez, and De Fazio Roberto. "A remote-controlled global navigation satellite system based rover for accurate video-assisted cadastral surveys." International Journal of Electrical and Computer Engineering (IJECE) 12, no. 4 (August 1, 2022): 3551. http://dx.doi.org/10.11591/ijece.v12i4.pp3551-3563.
Повний текст джерелаАнотація:
<span>One of the main tasks of a cadastral surveyor is to accurately determine property boundaries by measuring control points and calculating their coordinates. This paper proposes the development of a remotely-controlled tracking system to perform cadastral measurements. A Bluetooth-controlled rover was developed, including a Raspberry Pi Zero W module that acquires position data from a VBOX 3iSR global navigation satellite system (GNSS) receiver, equipped with a specific modem to download real-time kinematic (RTK) corrections from the internet. Besides, the Raspberry board measures the rover speed with a hall sensor mounted on a track, adjusting the acquisition rate to collect data at a fixed distance. Position and inertial data are shared with a cloud platform, enabling their remote monitoring and storing. Besides, the power supply section was designed to power the different components included in the acquisition section, ensuring 2 hours of energy autonomy. Finally, a mobile application was developed to drive the rover and real-time monitor the travelled path. The tests indicated a good agreement between rover measurements and those obtained by a Trimble R10 GNSS receiver (+0.25% mean error) and proved the superiority of the presented system over a traditional metric wheel.</span>
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Yang, Hongtao, Mei Shen, Mengyao Zhang, Jingjing Cheng, Tingting Hu, and Yi Hu. "Structural design and performance analysis of a self-driven articulated arm coordinate measuring machine." Measurement Science and Technology 33, no. 3 (December 29, 2021): 035005. http://dx.doi.org/10.1088/1361-6501/ac3857.
Повний текст джерелаАнотація:
Abstract In order to solve the problem that a traditional articulated arm coordinate measuring machine (AACMM) cannot measure automatically, a self-driven AACMM is proposed. Based on the self-driven AACMM design indicators, the length of the connecting rods of the self-driven AACMM was allocated. The self-driven AACMM virtual prototype was designed and assembled based on joint module selection and joint component design, and its measurement space range was also verified. The key components of the structural optimized design and dynamic performance analysis of motion parameters are adopted, respectively, to correct the positioning error of the self-driven AACMM’s probe caused by static and dynamic deformations. The static deformation of the structure caused by the self-driven AACMM’s weight was analyzed. The influence of the dynamic flexible deformation on the positioning error of the probe of the self-driven AACMM during the variable-speed approach and the constant-speed touch measurement stage was studied. The results show that the measurement space range of the self-driven AACMM designed in this paper can meet the design index of the measuring radius. The probe position error caused by static deformation of the measuring machine after structural optimization is reduced by an order of magnitude, and the equivalent stress of the mechanical structure of the self-driven AACMM is within the allowable stress of the material. The positioning error of the probe caused by the dynamic deformation of the self-driven AACMM structure meets the positioning accuracy index. During the stage of self-driven AACMM constant-speed touch measurement, the instantaneous position error of the probe changes linearly with the touch time and the optimal touch speed (6.6 mm s−1, 6.4 mm s−1) exists to minimize the probe positioning error. During the variable-speed approach stage, the influence of the angular acceleration and the angular velocity of each joint on the positioning error of the probe is negligible when the self-driven AACMM is in the typical posture. In the extreme posture, with the optimal joint angular acceleration ( 0.00055 ∘ s − 2 ) and angular velocity ( 0.0185 ∘ s − 1 ), the inertial force of the measuring machine structure and the instantaneous position error of the probe are the smallest, and the movement stability is the best. The structural optimization design and motion parameter performance analyses of the self-driven AACMM can provide a theoretical research foundation for subsequent motion parameter optimization and dynamic error compensation modeling.
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Dovydenko, O. V., A. I. Samoylenko, and V. V. Petronevich. "System of metrological assurance of traceability of measurements of mass geometry characteristics." Izmeritel`naya Tekhnika, no. 12 (2020): 28–34. http://dx.doi.org/10.32446/0368-1025it.2020-12-28-34.
Повний текст джерелаАнотація:
A system of metrological support is proposed that allows testing for type approval, verification and calibration of stands for measuring mass, coordinates of mass center and moments of inertia. The mathematical model of a special standard has been developed. It is based on the analytical principles for the determination of the mass center coordinates and inertia moments of homogeneous bodies with a regular geometric shape. The standard consists of a set of modules and fasteners of a special shape. Each module is a reference measure of both mass, center of mass coordinates, and moments of inertia, and can be used either separately or in a set with other modules. A scheme for transferring units of values from state primary standards of mass and length to stands using special standards has been developed. A method for calibration of special standards has been developed. It includes indirect measurements of the coordinates of the center of mass and moments of inertia based on the results of direct measurements of the mass and geometric dimensions of the standard modules’ elements, as well as measurements of the form deviations and deviations of position of the standard modules’ surfaces and static balancing of the standard. Technical requirements for special standards have been developed to minimize methodological measurement uncertainties when reproducing units of values by the standard. A line of special standards was created, their certification and approval in Rosstandart was carried out. Stand verification methods using special standards have been developed and approved. The type approval of two stands was carried out using special standards. The decision to grant a patent for the invention “Method for determining the error of the stand for measuring the characteristics of the mass geometry of products and a device for its implementation” was received.
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Mayr, Oliver, Puian Tadayon, and Thomas Felderhoff. "Evaluation of inertial Sensors and optical measurement methods for head and shoulder angle motion analysis." Current Directions in Biomedical Engineering 5, no. 1 (September 1, 2019): 377–79. http://dx.doi.org/10.1515/cdbme-2019-0095.
Повний текст джерелаАнотація:
AbstractThis paper describes the advantages and disadvantages of inertial sensors and stationary camera-based measuring methods for the application of detecting head and shoulder angles. For this purpose three inertial sensor modules from Shimmer Sensing and a Kinect 2 camera system are used. The recorded data of both systems are converted into a comparable form. Based on an evaluation of the recorded measurement data, the inertial sensor and the camera-based methods are compared with regard to their suitability for detecting movements in the head and shoulder area.
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Vasilyuk, Nikolay N. "Integrated GNSS antenna with an embedded inertial measurement unit." Izmeritel`naya Tekhnika, no. 3 (2020): 16–23. http://dx.doi.org/10.32446/0368-1025it.2020-3-16-23.
Повний текст джерелаАнотація:
When constructing inertial/GNSS navigation systems, it is necessary to determine coordinates of a GNSS antenna relative to an inertial measurement unit. It is proposed to solve this problem by integrating of the inertial unit and GNSS antenna’s element into a common structure called an integrated antenna. This approach allows to determine the required coordinates in factory conditions, during a manufacturing of the integrated antenna. Operation principles of design modules of the integrated antenna and ways to use this antenna in the inertial/GNSS navigation systems have been described. Design features of a half-duplex digital data exchange between the antenna and a data processor have been indicated. Approaches to use this exchange to solve some service tasks of the navigation system have been proposed. It is noted that the integrated antenna has its own measuring basis. Methods of accounting of the attitude of this basis in practical applications of the integrated antennas in the single- and multi-antenna inertial/GNSS navigation systems have been described.
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Van Blitterswyk, J., L. Fletcher, and F. Pierron. "Image-Based Inertial Impact (IBII) Tests for Measuring the Interlaminar Shear Moduli of Composites." Journal of Dynamic Behavior of Materials 6, no. 3 (August 5, 2020): 373–98. http://dx.doi.org/10.1007/s40870-020-00258-4.
Повний текст джерелаАнотація:
Abstract The image-based inertial impact test has previously shown that inertial effects generated with high-strain-rate loading can be used to measure the dynamic constitutive properties of composites at strain rates on the order of $$1600\,{\rm s}^{-1}$$ 1600 s - 1 . This work represents an important next step in exploring the potential of this concept with two tests presented where loading heterogeneity is exploited to measure the interlaminar shear modulus and stress–strain behaviour at high strain rates. The first test configuration used a short-beam with asymmetric loading to activate the shear behaviour. The virtual fields method was used to directly identify the interlaminar shear modulus from heterogeneous full-field maps of strain and acceleration. Simulated experiments were used to optimise the test configuration, select optimal smoothing parameters, and quantify uncertainty from grid rotation on the shear modulus identifications. The test was validated experimentally with three different virtual fields identifying an average shear modulus ranging from 5.7 to 5.9 GPa measured at $$1600\,{\rm s}^{-1}$$ 1600 s - 1 , representing a 16–19% increase compared to quasi-static measurements. The shear modulus could also be identified from shear introduced into specimens tested in the standard, end-on interlaminar IBII configuration from slight in-plane misalignments of the impactor. The identified value of 5.6 GPa validates measurements from the first configuration and also demonstrates the capability to identify multiple interlaminar stiffness parameters from a single test.
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Lestev, A. M., M. V. Fedorov, and S. D. Evstafiev. "Identification of the noise structure of micromechanical inertial transducers of motion parameters." Radio industry (Russia) 29, no. 2 (May 30, 2019): 69–75. http://dx.doi.org/10.21778/2413-9599-2019-29-2-69-75.
Повний текст джерелаАнотація:
The article presents the results of the analysis of the noise structure of micromechanical transducers of motion parameters – micromechanical gyroscopes (MMG) and micromechanical accelerometers (MMA) of an experimental measuring unit of strapdown inertial position navigation systems. The unit is manufactured and developed at JSC «GYROOPTICS» (St. Petersburg). It consists of a LL–MMG triad with measuring ranges of ±400°/s and an axial-type MMA triad with measuring ranges of ± 50 g. Micromechanical gyroscopes and accelerometers manufactured using modern microelectronics technologies are among the most promising microsystem technology devices that are widely used as sensors of the primary information of strapdown inertial orientation and navigation systems. The accuracy of the functioning of the inertial orientation and navigation inertial systems is significantly affected by the noise structure of the output signals of the inertial motion parameters sensors. For this reason, the urgent task of identifying the noise of micromechanical gyroscopes and accelerometers. The noise structure of the angular rate and linear acceleration transducers of the tested SINS block was identified by the Allan variance method. The output signals of the transducers were recorded in normal climatic conditions, the sampling interval was 1.0 ms, and the recording duration was 90 minutes. The processing of the output signals of the transducers was carried out on the basis of special software using the AlaVar 5.2 program. It has been established that the predominant noise components of the transducers are the random walk of the output signal – white noise and the instability of the zero signal – flicker noise. No quantization noise was detected in the output signals of the transducers. The values of the noise characteristics in Allan variance of the output signals of the angular rate transducers and the linear acceleration of the test block are compared with the noise characteristics of the most advanced modules produced by foreign companies.
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Jahren, Silje Ekroll, Niels Aakvaag, Frode Strisland, Andreas Vogl, Alessandro Liberale, and Anders E. Liverud. "Towards Human Motion Tracking Enhanced by Semi-Continuous Ultrasonic Time-of-Flight Measurements." Sensors 21, no. 7 (March 24, 2021): 2259. http://dx.doi.org/10.3390/s21072259.
Повний текст джерелаАнотація:
Human motion analysis is a valuable tool for assessing disease progression in persons with conditions such as multiple sclerosis or Parkinson’s disease. Human motion tracking is also used extensively for sporting technique and performance analysis as well as for work life ergonomics evaluations. Wearable inertial sensors (e.g., accelerometers, gyroscopes and/or magnetometers) are frequently employed because they are easy to mount and can be used in real life, out-of-the-lab-settings, as opposed to video-based lab setups. These distributed sensors cannot, however, measure relative distances between sensors, and are also cumbersome when it comes to calibration and drift compensation. In this study, we tested an ultrasonic time-of-flight sensor for measuring relative limb-to-limb distance, and we developed a combined inertial sensor and ultrasonic time-of-flight wearable measurement system. The aim was to investigate if ultrasonic time-of-flight sensors can supplement inertial sensor-based motion tracking by providing relative distances between inertial sensor modules. We found that the ultrasonic time-of-flight measurements reflected expected walking motion patterns. The stride length estimates derived from ultrasonic time-of-flight measurements corresponded well with estimates from validated inertial sensors, indicating that the inclusion of ultrasonic time-of-flight measurements could be a feasible approach for improving inertial sensor-only systems. Our prototype was able to measure both inertial and time-of-flight measurements simultaneously and continuously, but more work is necessary to merge the complementary approaches to provide more accurate and more detailed human motion tracking.
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AFONIN, Alexander A., and Andrey S. SULAKOV. "Analysis of structure and algorithm features of new type strapdown gravimetric navigation system." INCAS BULLETIN 12, S (July 28, 2020): 5–19. http://dx.doi.org/10.13111/2066-8201.2020.12.s.1.
Повний текст джерелаАнотація:
The paper presents a structure and improved functional algorithms of a strap-down satellite inertial gravimetric navigation system of minimum hardware configuration. Various options of traditional loosely coupled and a new modification of closely coupled architectures were studied, which allowed for authors achieving sufficient precision of vector gravimetry and finding parameters of orientation and navigation. There were also studied potentials of increased accuracy and reliability of SGS as a component of functionally redundant cone-shaped accelerometer modules. The paper described the specifics of use of functional redundancy inertial measuring units. A specific version of a future modification of a closely related architecture is proposed, which opens up additional possibilities for evaluating and correcting errors of a satellite navigation system, which leads to an increase in the overall accuracy and reliability of determining orientation, navigation, and gravimetric parameters. The advantages of use of streamlined redundant raw data sensors were estimated qualitatively and quantitatively.
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Rubanov, V. G., D. A. Bushuev, E. M. Parashchuk, and A. K. Trikula. "Identification of Anchor Inertia Motor Moment of Direct Current and Loading in Experimental Vibration Installation for Chaotic Dynamics Study." Proceedings of the Southwest State University 23, no. 2 (July 9, 2019): 97–108. http://dx.doi.org/10.21869/2223-1560-2019-23-2-97-108.
Повний текст джерелаАнотація:
Purpose of research. The article is devoted to development and approbation of parameters' assessment technique of anchor inertia moments of direct current motor with an independent excitation (DCM IE) and its loadings used in laboratory vibration installation for chaotic dynamics research.Methods. The DCM IE mathematical model and technique description for assessment of anchor inertia moment with loading as a result of parametrical identification on the basis of approximation integrated curve of current runaway and implementation of spectral analysis is described in the article. Joint dynamics modeling of Maxon RE25 electric motor with electric and mechanical part was done in Matlab Simulink system. Mechanical part was constructed in MSC Adams. Technique operability of parametrical identification was checked on the basis of machine experiment results.Results. Structure and general view of information and measuring system of laboratory vibration installation for chaotic dynamics research on the basis of input-output NI USB-6009 module is presented. Dispersal curves and an amplitude range of current received during experiment for definition of anchor inertia moments of Maxon RE25 engine and debalances are analysed. Calculation of anchor inertia moments and debalances are made according to an offered technique. Calculation of relative errors in comparison with passport value is also made.Conclusion. According to the results of carried out parallel experiments it is found out that experiments can be made according to Kokhren's criterion. And the error of DCM anchor inertia moments definition is no larger than 5%. Therefore it can also be used for calculations with sufficient accuracy of debalances inertia moments.
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Novikov, P. V., V. N. Gerdi, and V. V. Novikov. "Application of microelectromechanical sensors in the integrated navigation system of ground transport and agricultural technological vehicle." Izvestiya MGTU MAMI 10, no. 3 (September 15, 2016): 25–31. http://dx.doi.org/10.17816/2074-0530-66898.
Повний текст джерелаАнотація:
The questions of assessment of achievable performance values of the integrated inertial-satellite navigation system complexed with odometer sensor and used for ground transport and agricultural technological vehicle are considered. Construction of relatively cheap modern navigation systems for ground transport and agricultural technological vehicles is provided by integrating diverse navigation systems, which include inertial-satellite systems that combine into a single hardware system the inertial and satellite modules. Achievable accuracy of gaining the navigation parameters is achieved by using special algorithms for processing of measurement information in combination with complexion of the system with an external source of additional information, where odometer sensor belongs. The most promising sensors are sensors, built using the technology of production of microelectromechanical systems - MEMS / MEMC (Micro-Electro Mechanical Systems). The navigation systems based on MEMS sensors have several advantages. The main advantages are small weight and size characteristics (volume less 1sm3, and weighs less than 1 gram), low power consumption, high reliability, resistance to vibro-impact loads (up to 2000g), easy integration of sensors and electronic modules of the navigation system, low cost. The main disadvantage is the need for the synthesis of complex algorithms of processing of measuring information to obtain the desired accuracy of the estimate of navigation parameters. The navigation system, where as MEMS sensors were used gyroscopes ADXRS-150 in conjunction with accelerometers ADXL-210 manufactured by Analog Devices, was considered. The main design and technological characteristics of sensors were shown, the selection criteria for sensors were formulated, technical and economic effect assessment of the use of MEMS in the navigation system is provided. The practical importance has the estimation of achievable accuracy characteristics of system under actual operating conditions. The paper presents the results of field tests of the navigation system based on MEMS sensors and designed for forklift carrying out transportation in the sea port. The results of experimental studies confirmed the effectiveness of the MEMS application as a sensing element of inertial-satellite navigation system of ground transport and agricultural technological vehicle that creates the foundation for the new high-tech developments.
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Borghetti, Michela, Paolo Bellitti, Nicola Francesco Lopomo, Mauro Serpelloni, and Emilio Sardini. "Validation of a modular and wearable system for tracking fingers movements." ACTA IMEKO 9, no. 4 (December 17, 2020): 157. http://dx.doi.org/10.21014/acta_imeko.v9i4.752.
Повний текст джерелаАнотація:
<p class="Abstract">Supervising manual operations performed by workers in industrial environments is crucial in a smart factory. Indeed, the production of products with superior quality, at higher throughput rates and reduced costs with the support of the Industry 4.0 enabling technologies is based on the strict control of all the resources inside the factory, including workers. This paper shows a protocol for validating a new wearable system for tracking finger movements. The wearable system consists of two measuring modules worn on the thumb and on the index measuring flexion and extension of the proximal interphalangeal (PIP) joint by a stretch sensor and rotation of the proximal phalanx (PP) by an inertial measurement unit. An optical system is used to validate the system by capturing specific finger movements. Four movements that simulate typical tasks and gestures, such as grasp and pinch, were performed to validate the proposed system. The maximum root-mean-square error is 3.7 deg for the roll angle of PP. The resistance changes of the stretch sensors with respect to flexion and extension of PIP joint is 0.47 Ohm/deg. The results are useful for the data interpretation when the system is adopted for monitoring finger movements and gestures.</p>
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Badeeva, Elena, Tatiana Murashkina, Andrey Motin, Saygid Uvaysov, Ainur Kozbakova, and Daniel Sawicki. "Measuring Setup for Experimental Research of Two-Coordinate Fiber-Optic Acceleration Sensors with Cylindrical Lenses." Sensors 22, no. 3 (February 1, 2022): 1125. http://dx.doi.org/10.3390/s22031125.
Повний текст джерелаАнотація:
The article presents the possibilities of using fiber-optic acceleration (FOC) sensors on products of rocket-space and aviation technology as part of information-measuring systems. A special measuring device has been developed for experimental confirmation of the main characteristics of the technical characteristics of the developed, two-coordinate fiber-optic acceleration sensors. The developed measuring setup for the experimental research of a two-coordinate fiber-optic acceleration sensor with two, cylindrical lenses fixed on two H-shaped elastic elements deflected under the influence of acceleration in two mutually perpendicular directions X and Y, intended for operation in harsh conditions of rocket and space technology. The experimental equipment consists of the developed setup for setting micromovements and an information conversion unit, including modules for signal conversion, transmission, power supply, signal amplification, and indication. Experimental dependences of the output voltage from the information conversion unit’s output on the micro-displacement in the range corresponding to the micro-displacements of the inertial mass with a cylindrical lens under acceleration in the range of ±100 m/s2 were obtained on the micro-displacement setting unit. The maximum value of the linearity error of the prototype acceleration sensor together with the information conversion unit was 0.07%. The conversion sensitivity of a two-coordinate fiber-optic acceleration sensor per the experimental dependences obtained on the Data Physics LE-612 MST/DSA 10–40 k vibration stand when exposed to sinusoidal vibration with an acceleration amplitude from 2 to 10 g in the frequency range from 5 to 2560 Hz was, on average, 3 mV/m/s2. The conducted experimental research confirms the performance of experimental samples of fiber-optic acceleration sensors together with an information conversion unit, as well as the achievement of high metrological characteristics.
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Raspopov, V. Ya, A. I. Volchikhin, A. V. Ladonkin, V. V. Likhosherst, I. A. Volchikhin, Yu V. Vedeshkin, and S. I. Shepilov. "CORIOLIS VIBRATING GYROSCOPE WITH A METAL RESONATOR. DEVELOPMENT AND MANUFACTURING." Spravochnik. Inzhenernyi zhurnal, no. 276 (2020): 11–20. http://dx.doi.org/10.14489/hb.2020.03.pp.011-020.
Повний текст джерелаАнотація:
Coriolis vibrating gyroscope (CVG) with cavity resonators are promising inertial angle and angular velocity sensors. Cavity resonators are sensitive elements of the CVG; they can be produced of quartz glass or metal. CVG with a metal resonator demonstrates high vibration resistance and vibration strength compared to a CVG with a quartz resonator. Therefore, a CVG with a metal resonator is more suitable for dynamic land, sea, and aerospace-based carriers. For these carriers based on a CVG with a metal resonator, measuring modules for orientation, stabilization and navigation systems of middle class accuracy can be made, comparable to similar systems using some types of fiber-optic and rotor vibration gyros. Preparing the production of a CVG with a metal resonator required solving the following tasks: developing control electronics, tuning and calibrating techniques for the given ranges of measuring the angular velocities of carriers in a wide temperature range, choosing a resonator material and working out the technological cycle of its manufacture taking into account mechanical and heat treatment. A series of research and development practices has been completed for the development of the resonator balancing technique that eliminates four forms of mass defect distribution. In the series production a CVG with a metal resonator having technical and operational characteristics that meet the technical conditions for its manufacturing was obtained. The dynamics features of a Coriolis vibrating gyroscope (CVG) with a metal resonator and the technology of its production have been considered. The technical characteristics of a CVG, manufactured by Michurinsky “Progress” plant, are given.
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van der Vaart, Kasper, Michael Sinhuber, Andrew M. Reynolds, and Nicholas T. Ouellette. "Mechanical spectroscopy of insect swarms." Science Advances 5, no. 7 (July 2019): eaaw9305. http://dx.doi.org/10.1126/sciadv.aaw9305.
Повний текст джерелаАнотація:
Social animals routinely form groups, which are thought to display emergent, collective behavior. This hypothesis suggests that animal groups should have properties at the group scale that are not directly linked to the individuals, much as bulk materials have properties distinct from those of their constituent atoms. Materials are often probed by measuring their response to controlled perturbations, but these experiments are difficult to conduct on animal groups, particularly in the wild. Here, we show that laboratory midge swarms have emergent continuum mechanical properties, displaying a collective viscoelastic response to applied oscillatory visual stimuli that allows us to extract storage and loss moduli for the swarm. We find that the swarms strongly damp perturbations, both viscously and inertially. Thus, unlike bird flocks, which appear to use collective behavior to promote lossless information flow through the group, our results suggest that midge swarms use it to stabilize themselves against environmental perturbations.
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Kuznetsov, A. S. "Structure of the Coastal Current Direction Bimodality at the Southern Coast of Crimea in 2002–2008." Ekologicheskaya bezopasnost' pribrezhnoy i shel'fovoy zon morya, no. 4 (December 2020). http://dx.doi.org/10.22449/2413-5577-2020-4-78-88.
Повний текст джерелаАнотація:
This paper aims at improvement of knowledge about the structure of bimodal distribution of coastal current direction repeatability at Cape Kikineiz of the Southern coast of Crimea as per monitoring data obtained at the stationary oceanographic platform of the Black Sea hydrophysical sub-satellite testing area of the MHI RAS. Used for monitoring, a vertical measuring antenna with a fixed aperture of Euler testers of the current horizontal component provided verifiable and synchronic isolation of the current's structural characteristics with a vertical velocity shift and multiscale coherent oscillations of the current. New results of analysis of in situ data are presented regarding characteristics of the coastal current and its variability. The data were obtained within the period from November 2001 to 2008. Change patterns of the long-term coastal current regime are noted. The current's characteristics are matched to the results obtained at Cape Kikineiz of the Southern coast of Crimea for the period from September 2008 to 2019. Regular intense oscillations of the coastal current at the local inertial (17 hrs) and daily component as well as current oscillations with a period of 11.6 day are defined. Evolution is analyzed of probability density distribution of the velocity module and current vector direction after calculations, during which a corresponding vector distribution of intensive inertial-gravitational, mesoscale and synoptic oscillations was excluded in the original vector series of dynamics using a digital filtration method. When excluding the contribution of daily and inertial oscillations, the backward and primary mode ratio in the histograms of the coastal current direction repeatability decreases by more than three times. When excluding the contribution of mesoscale and synoptical oscillations, the backward mode of current is almost absent and there exists only a large-scale coastal current coinciding with a cyclonic direction of the coastal edge of the Black Sea Rim Current. Bimodal distribution of the coastal current direction repeatability is a result of superposition of velocity vectors of a large-scale current and variable contribution of existing orbital velocities of multiscale wave and vortex formations present in the coastal-shelf area.
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Kim, Tae Hyong, Ahnryul Choi, Hyun Mu Heo, Kyungran Kim, Kyungsuk Lee, and Joung Hwan Mun. "Machine Learning-Based Pre-Impact Fall Detection Model to Discriminate Various Types of Fall." Journal of Biomechanical Engineering 141, no. 8 (May 13, 2019). http://dx.doi.org/10.1115/1.4043449.
Повний текст джерелаАнотація:
Pre-impact fall detection can send alarm service faster to reduce long-lie conditions and decrease the risk of hospitalization. Detecting various types of fall to determine the impact site or direction prior to impact is important because it increases the chance of decreasing the incidence or severity of fall-related injuries. In this study, a robust pre-impact fall detection model was developed to classify various activities and falls as multiclass and its performance was compared with the performance of previous developed models. Twelve healthy subjects participated in this study. All subjects were asked to place an inertial measuring unit module by fixing on a belt near the left iliac crest to collect accelerometer data for each activity. Our novel proposed model consists of feature calculation and infinite latent feature selection (ILFS) algorithm, auto labeling of activities, and application of machine learning classifiers for discrete and continuous time series data. Nine machine-learning classifiers were applied to detect falls prior to impact and derive final detection results by sorting the classifier. Our model showed the highest classification accuracy. Results for the proposed model that could classify as multiclass showed significantly higher average classification accuracy of 99.57 ± 0.01% for discrete data-based classifiers and 99.84 ± 0.02% for continuous time series-based classifiers than previous models (p < 0.01). In the future, multiclass pre-impact fall detection models can be applied to fall protector devices by detecting various activities for sending alerts or immediate feedback reactions to prevent falls.