Search Results (1,588)

The quality factor (Q) and its circumferential non-uniformity are essential for the resolution and long-term stability of Coriolis vibratory gyroscopes (CVGs). In practice, packaging and mounting anchors introduce torque-dependent and circumferentially non-uniform anchor dissipation, resulting in harmonic damping anisotropy. This paper presents an energy-consistent framework that quantitatively relates the tightening torque to both the mean damping factor $\eta =1/Q$ and its circumferential harmonic components. A hemispherical resonator gyroscope (HRG) is used for validation, where the dominant component is the fourth harmonic. By decomposing the energy dissipated per cycle, anchor loss is separated into friction loss and radiation loss. The friction channel is modeled using a partial-slip contact energy loss formulation combined with an equivalent tangential impedance coupling description, leading to a torque power-law scaling suitable for parameter identification. The radiation channel is described by an impedance coupling model that captures torque-enhanced anchor stiffness and potential saturation leakage under strong coupling. Controlled torque experiments show that $\eta \left(\vartheta \right)$ exhibits an almost pure fourth-harmonic dependence on the standing wave orientation for all tested torques. Within the accessible torque range, the mean damping decreases slightly with torque, while the harmonic amplitude increases and the phase progressively converges, supporting a friction-dominated interpretation. The phase convergence further suggests progressive stabilization of the contact state. The proposed approach provides quantitative guidance for torque selection and anchor structure design in resonant gyroscopes. Full article

Human activity recognition (HAR) using inertial sensors is essential for health monitoring and wellness applications, yet robust classification in real-world adult scenarios remains challenging due to subject variability and activity transitions in smartphone sensing environments. This study investigated smartphone-based physical activity recognition using accelerometer and gyroscope signals under a cross-subject evaluation protocol. To reduce label ambiguity and improve generalization, the original activity set was grouped into a reduced 6-class taxonomy. We evaluated lightweight deep learning models, including a smartphone-only convolutional neural network (CNN) and a multimodal fusion model combining smartphone and smartwatch signals. Using GroupKFold cross-subject validation, the smartphone-only CNN achieved competitive performance with Macro-F1 ≈ 0.46, while multimodal fusion did not provide consistent improvements. We also examined temporal segmentation and showed that shorter windows (2.0 s) yield better results than longer windows. Sensor ablation confirmed the importance of gyroscope information, and per-class analysis indicated that dynamic activities could be recognized reliably, whereas stairs and static categories remained difficult. Overall, the results demonstrate the practicality of smartphone-based activity recognition using built-in smartphone sensors without external wearable devices for adult activity monitoring and provide recommendations for window length and sensor selection in cross-subject HAR. Full article

In order to mitigate the effects of micro-vibrations due to control moment gyroscopes (CMGs) on spacecraft attitude control system, they are often mounted on isolation platforms. However, the flexible deformation of isolators may cause certain disturbances in CMG gimbal servo systems. In addition, gimbal servo systems also suffer from intrinsic disturbances due to rotor imbalance and gimbal components. Since these disturbances are distributed over a wide frequency range, they are difficult to suppress and may seriously deteriorate gimbal control performance. To suppress multiple disturbances and improve gimbal speed accuracy, a composite anti-disturbance control method is proposed. The proposed method consists of two components. The first component adopts an adaptive proportional-integral-resonant controller with phase compensation to suppress disturbance due to isolator and rotor imbalance disturbance with improved transient performance. The second component adopts an adaptive extended state observer to estimate and then compensate slowly varying disturbances with improved dynamic performance and steady-state accuracy. By integrating these two components, the proposed method can effectively suppress multiple disturbances in CMG gimbal servo systems. Simulation and experimental results demonstrate the superior performance of the proposed method. Full article

The gimbal servo system in a control moment gyroscope (CMG) is critical for high-precision spacecraft attitude control, where comprehensive performance testing and evaluation are essential for ensuring spacecraft reliability and service life. Traditional motor testbenches exhibit limitations, whereas the electric motor emulator (EME) based on power electronic converters is a promising alternative for testing extreme operating conditions, such as ultra-low speed operation and fault scenarios. However, existing EME control methods suffer from limited system bandwidth and insufficient emulation accuracy, which limits their applicability. To address these issues, this paper proposes an improved current control strategy for the ultra-low speed permanent magnet synchronous motor (PMSM) emulator. First, a mathematical model of the EME based on the topology of the voltage source converter is established. Then, based on the deadbeat control concept, a deadbeat predictive current control (DPCC) strategy is developed to enhance the dynamic performance. Furthermore, to suppress the parameter mismatch disturbance, an optimization scheme based on a cascaded extended state observer (CESO) is introduced. The first-stage ESO is applied to estimate and compensate for total disturbances, while the second-stage ESO is a supplement to suppress the remaining disturbances in the EME system, which improves the robustness of the DPCC controller. Finally, the effectiveness of the improved emulation accuracy of the proposed method is verified through experiments. Full article

Train track occupancy detection is essential for railway operation safety and dispatching, yet GNSS-based positioning and track matching can degrade or fail in turnouts and station yards due to multipath, interference, and dense track layouts. This paper presents an IMU-only method to discriminate track-switching events during turnout passage by exploiting the transient change in heading angular velocity. The Z-axis gyroscope measurement (approximately aligned with the track-plane normal) is used as a heading-rate proxy, and a lightweight indicator is constructed from the difference between a short-window moving average and the full-run mean. The full-run mean further serves as an in situ approximation of the gyroscope zero bias, alleviating the need for pre-calibration and improving robustness to systematic drift. A fixed discrimination threshold is determined from stationary gyroscope noise statistics, and the minimum effective operating speed is derived by combining gyro noise characteristics with the kinematic relationship among train speed, turnout curvature radius, and heading rate. Field experiments conducted from January to April 2025 on three railway sections covering 27 turnouts (300 turnout-passage events) show that, using a constant threshold $T_0=0.002\mathrm{rad}/\mathrm{s}$, the proposed method achieves 100% track-switching discrimination accuracy within 5–40 km/h, without requiring track maps, GNSS, or prior databases. Full article

This paper proposes a momentum envelope design strategy for a satellite equipped with control moment gyroscopes (CMGs). The objective is to improve spacecraft maneuverability while preserving singularity-free operation of a roof-array CMG assembly. To this end, the three-axis angular momentum components are optimally redistributed according to a prescribed eigen-axis maneuver condition so that the achievable rotational speed is maximized within the feasible angular momentum region. The optimization problem is formulated analytically and solved with a low-complexity numerical procedure. Numerical examples show that the proposed method improves the achievable rotational speed compared with the previous fixed-envelope design approach, while additional attitude control simulations confirm that the designed envelope avoids near-singular operation. The proposed method therefore provides a maneuver-dependent extension of the previous singularity-free momentum envelope design framework. Full article

Localization and navigation techniques have become fundamental for modern lives, while achieving accurate results indoors still remains a significant challenge. The widespread adoption of smart devices, and especially smartphones, has increased the need for accurate and robust pedestrian dead reckoning systems that operate in infrastructure-less environments. Pedestrian dead reckoning’s primary challenge is maintaining accuracy despite varying smartphone placements (attitudes) and the noisy, low-cost inertial measurements units. In this work, a comprehensive pedestrian dead reckoning framework is presented that integrates advanced step counting and heading estimation techniques. For step detection and counting, we propose a robust step counting algorithm that utilizes the optimum fusion of the raw IMU readings, i.e., accelerometer, linear accelerometer, gyroscope, and magnetometer readings, each broken down into three degrees of freedom for different body placements and walking speeds. Furthermore, to address the critical issue of heading estimation, we propose the heading estimation axis mapping (HEAT-MAP) algorithm, which dynamically adjusts the sensor axes in response to the smartphone’s orientation, ensuring a consistent coordinate frame and reducing heading drift. Moreover, to eliminate cumulative pedestrian dead reckoning errors, the system incorporates an adaptive weighted fusion mechanism with Wi-Fi fingerprinting. Experimental results demonstrate that this integrated system significantly improves the overall trajectory accuracy, providing a high-precision, attitude-unconstrained solution for real-time indoor pedestrian navigation. Full article

The stable and accurate output of the inertial measurement unit array (IMU) of a micro-electro-mechanical system (MEMS) is the key to ensuring the data fusion of the MEMS IMU array. However, due to the large number of MEMS IMUs contained in the MEMS IMU array, it is susceptible to interference and has difficulty avoiding failures. The output of the MEMS IMU contains noise, outliers, and other related errors, which can seriously lead to low fault detection and isolation accuracy in the MEMS IMU. In this study, a new method of fault detection and isolation based on multivariate variational mode decomposition (MVMD), a whale optimization algorithm (WOA), and a generalized likelihood test (GLT) is proposed, which is called WOA-MVMD-GLT. Firstly, a multi-index fitness function WOA is proposed to optimize the parameters of MVMD. Secondly, MVMD is used to extract the features of the MEMS IMU’s signals. Finally, a GLT is used to construct a fault detection function and a fault isolation function to detect and isolate the faults of gyroscopes and accelerometers. The experimental results show that the method proposed in this paper can significantly reduce the false alarm rate and false isolation rate. Full article

The performance of a four-frequency differential laser gyroscope (FFDLG) is severely affected by the magnetic field. In this paper, the following conclusions are discussed through theoretical analyses and experimental data: First of all, the Zeeman effect cannot fully explain the magnetic effect on the gain region due to the plasma movement. Secondly, an FFDLG does not have a unique optimal operating point where the gyroscope is not affected by any magnetic field. Plasma movement driven by Lorentz force induces a Fresnel drag effect, leading to a frequency imbalance and magnetic error in the ring laser gyroscope (RLG). This mechanism, involving the interaction between moving gain media and the counter-propagating beams, was missed in previous research. Full article

Wearable fall detection systems face a fundamental challenge: while gyroscope data provide valuable orientation cues, naively combining raw gyroscope and accelerometer signals can degrade performance due to noise contamination. To overcome this challenge, we present a dual-stream transformer architecture that incorporates (i) Kalman-based sensor fusion to convert noisy gyroscope angular velocities into stable orientation estimates (roll, pitch, yaw), maintaining an internal state of body pose, and (ii) processing accelerometer and orientation streams in separate encoder pathways before fusion to prevent cross-modal interference. Our architecture further integrates Squeeze-and-Excitation channel attention and Temporal Attention Pooling to focus on fall-critical temporal patterns. Evaluated on the SmartFallMM dataset using 21-fold leave-one-subject-out cross-validation, the dual-stream Kalman transformer achieves 91.10% F1, outperforming single-stream Kalman transformers (89.80% F1) by 1.30% and single-stream baseline transformers (88.96% F1) by 2.14%. We further evaluate the model in real time using a watch-based SmartFall App on five participants, maintaining an average F1 score of 83% and an accuracy of 90%. These results indicate robust performance in both offline and real-world deployment settings, establishing a new state-of-the-art for inertial-measurement-unit-based fall detection on commodity smartwatch devices. Full article

The spin relaxation rate of Xe isotopes is a key characteristic of nuclear magnetic resonance gyroscopes (NMRGs). A pump-induced biphasic relaxation (PBR) model is proposed to describe the pump dependence of the transverse relaxation rate of ¹²⁹Xe nuclear spin. The distribution of electron polarization is theoretically analyzed based on the Bloch–Torrey equations and the volume-averaged polarization is evaluated through NMR frequency shift measurements. Experimental results confirm the theoretical quadratic dependence between Γ and $P_{Rb}$ with a high fitting accuracy (R² = 0.9969). The predicted linear (R² > 0.9966) and hyperbolic (R² > 0.9942) regimes of Γ versus pump power are also observed. Validation across different pump power conditions shows agreement between the model and measurements, with an average relative deviation of 0.2169%. The multi-stage process of nuclear spin relaxation is quantified, thereby providing a robust validation for the PBR model. Full article

Accurate and continuous outdoor pedestrian positioning using smartphones remains challenging in complex environments like urban canyons, where Global Navigation Satellite System (GNSS) signals are frequently degraded or blocked, and Pedestrian Dead Reckoning (PDR) suffers from cumulative errors. To address this, this paper proposes a novel fusion method based on a Robust Adaptive Cubature Kalman Filter (RACKF). The core of our approach is a two-stage filtering architecture: the first stage employs a quaternion-based RACKF to optimally fuse gyroscope and magnetometer data for robust heading estimation; the second stage performs the core fusion of GNSS observations with an enhanced 3D PDR solution. Key innovations include an adaptive noise estimation strategy combining fading and limited memory weighting, a robust M-estimator-based mechanism to suppress outliers, and the integration of differential barometric height measurements. Experimental results demonstrate that the proposed method achieves a horizontal positioning accuracy of 3.28 m (RMSE), outperforming standalone GNSS and improving 3D PDR by 25.97% and 10.39%, respectively. This work provides a practical, infrastructure-free solution for robust smartphone-based outdoor navigation. Full article

Rotational modulation improves strapdown inertial navigation system (SINS) by periodically reorienting the inertial measurement unit (IMU) to convert slowly varying sensor errors into manageable, cancelable components. However, existing dual-axis schemes may accumulate large total rotation angles and introduce delayed error balancing, which results in non-negligible residual attitude errors and degrades real-time navigation accuracy. To overcome these limitations, we propose an odd-symmetric dual-axis rotation strategy that jointly optimizes the rotation order and dwell positions to maximize error cancellation on each axis and across axes while constraining cumulative rotation. Based on this principle, we design a 64-position rotation scheme and derive its IMU error modulation/suppression characteristics, including gyroscope drift, accelerometer bias, scale-factor errors, and misalignment (installation) errors, and we quantify their effects on attitude and velocity. Simulations show that the proposed scheme reduces position and velocity errors by more than $60\%$ compared to a 16-position scheme, and decreases longitude error, east-velocity error, and yaw error by more than $30\%$ relative to a 32-position scheme. Experiments further validate consistent improvements in position, velocity, and attitude accuracy, demonstrating the effectiveness of the proposed rotational design for dual-axis SINS. Full article

Slow lateral wandering and trochoidal-like motion are commonly observed in intense atmospheric vortices, yet most reduced-order vortex models assume a fixed axis or represent centre motion as purely advective. In this work, we propose a minimal reduced-order framework in which slow gyroscopic precession is introduced as an explicit degree of freedom superimposed on a rapidly rotating vortex core. The vortex is represented by a Burgers–Rott-type velocity field with time-dependent stretching rate and circulation, while the vortex centre undergoes a slow precessional motion governed by a time-dependent rate ${\Omega }_p\left(t\right)$. The evolution of the vortex parameters is coupled to environmental variability through simple relaxation laws driven by standard large-scale diagnostics, including convective available potential energy, vertical shear, and background vorticity. A tracker-only analysis of tropical cyclone best-track data is used to constrain the appropriate dynamical regime at the track scale, indicating that observed centre wandering typically occurs in a slow-precession limit P = ${\Omega }_p/{\omega }_c\ll 1$. Numerical demonstrations in cyclone-like configurations show that, despite the smallness of the precession number, cumulative lateral displacement and enhanced Lagrangian dispersion can develop over the vortex lifetime. The proposed framework is intended as a proof-of-concept reduced-order model that isolates the role of weak, environmentally forced precession in modulating vortex wandering and transport, and complements more detailed numerical and observational studies. Full article

A gyroscopic stabilizer generates an anti-roll moment by regulating the precession angle of a high-speed rotor. By computing the precession-angle command in real time, the controller can effectively suppress roll motion. However, research on the application of gyroscopic stabilizers to floating wind turbines remains limited. In this study, the operating mechanism of a gyroscopic stabilizer is modeled, and frequency-domain stability analyses are conducted for the system dynamics both before and after the installation of the stabilizer. A pole-placement-based controller is designed to achieve active stabilization of wave-induced platform motions by adjusting the rotor precession angle. Based on wave spectrum analysis, numerical simulations are performed to compare system responses with and without the active controller under different sea conditions. The results demonstrate that the proposed anti-roll control strategy exhibits robust performance and can increase the roll reduction rate by at least a factor of two across a range of sea states. In addition, the anti-roll effectiveness is influenced by rotor speed and environmental conditions, with higher reduction rates achieved at higher rotor speeds, larger wave heights, and longer wave periods. In addition, we adopt a dual-gyro configuration to cancel yaw-interference moments, and the proposed controller is feedback-based (platform motion only), which is suitable for retrofit applications without requiring wave-preview sensors. Full article