Search Results (31)

This paper investigates a controversial phenomenon: the supposed generation of thrust from a symmetric system consisting of two contra-rotating gyroscopes whose spin axes form equal and opposite polar angles with respect to the axis connecting their supports. An elementary mechanical model demonstrates that, for this configuration of gyroscopes, an internal moment arises within the system. This torque, although internally generated, is well known for playing a significant role in satellite attitude control using control moment gyroscopes (CMGs). The mechanical analysis considers the system of gyroscopes mounted on a platform or cart, which is supported at its front and rear ends. In this context, it was found that the resulting dynamic interaction causes unequal reaction forces at the support points, which do not obey the length-ratio rule predicted by static analysis. Such behavior can lead to misinterpretation of the net external thrust, despite the system being closed and momentum-conserving. In this context, the present paper clearly shows that no net force is allowed to develop. Full article

This work presents a comparative study of low cost and low invasiveness sensors (plantar pressure and inertial measurement units) for classifying cross-country skiing techniques. A dataset was created for symmetrical comparative analysis, with data collected from skiers using instrumented insoles that measured plantar pressure, foot angles, and acceleration. A deep learning model based on CNN and LSTM was trained on various sensor combinations, ranging from two specific pressure sensors to a full multisensory array per foot incorporating 4 pressure sensors and an inertial measurement unit with accelerometer, magnetometer, and gyroscope. Results demonstrate an encouraging performance with plantar pressure sensors and classification accuracy closer to inertial sensing. The proposed approach achieves a global average accuracy of 94% to 99% with a minimal sensor setup, highlighting its potential for low-cost and precise technique classification in cross-country skiing and future applications in sports performance analysis. Full article

This paper presents a design, model, and comparative analysis of two internal MEMS vibrating ring gyroscopes for harsh environmental conditions. The proposed design investigates the symmetric structure of the vibrating ring gyroscopes that operate at the identical shape of wine glass mode resonance frequencies for both driving and sensing purposes. This approach improves the gyroscope’s sensitivity and precision in rotational motion. The analysis starts with an investigation of the dynamic behaviour of the vibrating ring gyroscope with the detailed derivation of motion equations. The design geometry, meshing technology, and simulation results were comprehensively evaluated on two internal vibrating ring gyroscopes. The two designs are distinguished by their support spring configurations and internal ring structures. Design I consists of eight semicircular support springs and Design II consists of sixteen semicircular support springs. These designs were modelled and analyzed using finite element analysis (FEA) in Ansys 2023 R1 software. This paper further evaluates static and dynamic performance, emphasizing mode matching and temperature stability. The results reveal that Design II, with additional support springs, offers better mode matching, higher resonance frequencies, and better thermal stability compared to Design I. Additionally, electrostatic, modal, and harmonic analyses highlight the gyroscope’s behaviour under varying DC voltages and environmental conditions. Furthermore, this study investigates the impact of temperature fluctuations on performance, demonstrating the robustness of the designs within a temperature range from −100 °C to 100 °C. These research findings suggest that the internal vibrating ring gyroscopes are highly suitable for harsh conditions such as high temperature and space applications. Full article

This paper presents the development of an analytical model of an internal vibrating ring gyroscope in a Microelectromechanical System (MEMS). The internal ring structure consists of eight semicircular beams that are attached to the externally placed anchors. This research work analyzes the vibrating ring gyroscope’s in-plane displacement behavior and the resulting elliptical vibrational modes. The elliptical vibrational modes appear as pairs with the same resonance frequency due to the symmetric structure of the design. The analysis commences by conceptualizing the ring as a geometric structure with a circular shape possessing specific dimensions such as thickness, height, and radius. We construct a linear model that characterizes the vibrational dynamics of the internal vibrating ring. The analysis develops a comprehensive mathematical formulation for the radial and tangential displacements in local polar coordinates by considering the inextensional displacement of the ring structure. By utilizing the derived motion equations, we highlight the underlying relationships driving the vibrational characteristics of the MEMS’ vibrating ring gyroscope. These dynamic vibrational relationships are essential in enabling the vibrating ring gyroscope’s future utilization in accurate navigation and motion sensing technologies. Full article

Microelectromechanical system (MEMS) inertial sensors are integral components in a variety of smart electronic devices, most notably MEMS vibrating gyroscopes, which are rotational inertial sensors. The applications of MEMS vibrating gyroscopes range from household appliances to GPS and even to military applications. However, the stability and reliability of these MEMS inertial sensors in space applications still pose challenges. In this research study, we introduce a simple design for a vibrating ring gyroscope with eight semicircular support springs connected to outside-placed anchors. The symmetric design structure with semicircular support springs provides higher sensitivity while minimizing mode mismatch. The design and modelling analysis of the vibrating ring gyroscope was conducted using Ansys 2023 R1. The proposed vibrating ring gyroscope has a ring radius of 1000 µm, a 210 µm radius for the semicircular support springs, a ring and support spring thicknesses of 10 µm, and an area of 80 × 80 µm² for the outside-placed anchors. The vibrating ring gyroscope operates at two identical elliptical-shape resonant modes, one for driving resonance frequency and the other for sensing resonance frequency. Both simulated resonance frequencies were measured at 48.78 kHz and 48.80 kHz. The modelled result achieved a mode mismatch of 0.02 kHz, which can be easily rectified with tuning electrodes. Full article

Indoor location-based services (LBS) have tremendous practical and social value in intelligent life due to the pervasiveness of smartphones. The magnetic field-based localization method has been an interesting research hotspot because of its temporal stability, ubiquitousness, infrastructure-free nature, and good compatibility with smartphones. However, utilizing discrete magnetic signals may result in ambiguous localization features caused by random noise and similar magnetic signals in complex symmetric and large-scale indoor environments. To address this issue, we propose a deep neural network-based fusion indoor localization system that integrates magnetic and pedestrian dead reckoning (PDR). In this system, we first propose a ResNet-GRU-LSTM neural network model to achieve magnetic localization more accurately. Afterward, we put forward a multifeatured-driven step length estimation. A hierarchy GRU (H-GRU) neural network model is proposed, and a multidimensional dataset using acceleration and a gyroscope is constructed to extract more valid characteristics. Finally, more reliable and accurate pedestrian localization can be achieved under the particle filter framework. Experiments were conducted at two trial sites with two pedestrians and four smartphones. Results demonstrate that the proposed system achieves better accuracy and robustness than other traditional localization algorithms. Moreover, the proposed system exhibits good generality and practicality in real-time localization with low cost and low computational complexity. Full article

The article addresses the issue of mobile robotic platform positioning in GNSS-denied environments in real-time. The proposed system relies on fusing data from an Inertial Measurement Unit (IMU), magnetometer, and encoders. To get symmetrical error gauss distribution for the measurement model and achieve better performance, the Error-state Extended Kalman Filter (ES EKF) is chosen. There are two stages of vector state determination: vector state propagation based on accelerometer and gyroscope data and correction by measurements from additional sensors. The error state vector is composed of the velocities along the x and y axes generated by combining encoder data and the orientation of the magnetometer around the axis z. The orientation angle is obtained from the magnetometer directly. The key feature of the algorithm is the IMU measurements’ isolation from additional sensor data, with its further summation in the correction step. Validation is performed by a simulation in the ROS (Robot Operating System) and the Gazebo environment on the grounds of the developed mathematical model. Trajectories for the ES EKF, Extended Kalman Filter (EKF), and Unscented Kalman Filter (UKF) algorithms are obtained. Absolute position errors for all trajectories are calculated with an EVO package. It is shown that using the simplified version of IMU’s error equations allows for the achievement of comparable position errors for the proposed algorithm, EKF and UKF. Full article

Microelectromechanical Systems (MEMS) vibratory gyroscopes are one of the integral inertial sensors of the inertial measurement unit (IMU). The usage of MEMS vibratory gyroscopes as inertial sensors has risen enormously in many applications, from household to automotive, smartphones to space applications, smart gadgets to military applications, and so on. This paper presents the mathematical modelling and initial development of the starfish structure with C-shaped springs for a MEMS vibratory ring gyroscope (VRG). The symmetric design methodology of VRGs corroborates higher sensitivity, mode matching, good thermal stability, better resolution, and shock resistance in extreme conditions. The proposed VRG has been designed and investigated using ANSYS^TM software. This novel design incorporates a two-ring structure, with inner and outer rings, and with 16 C-shaped springs. The outer ring’s radius is 1000 μm and the whole VRG structure is supported by the outer eight small square pillars. The gyroscope structure’s wine-glass mode driving and sensing resonant frequencies were recorded at 51.50 kHz and 52.16 kHz. The mode mismatch between driving and sensing resonant frequency was measured at 0.66 kHz, which is relatively low compared to the other structures of vibratory gyroscopes. The proposed design provides high shock absorption with higher sensitivity for space applications for the control and manoeuvring of mini satellites for space applications. Full article

The inclination effect caused by fabrication errors on the periodic response of a symmetric MEMS gyroscope is investigated. The dynamic equation is established considering the inclination effect on support stiffness and electrostatic forces. The periodic response is obtained by the averaging method. The two-variable singularity theory is employed to study the bifurcation characteristics and give transition sets on the DC-AC voltage plane, which divide the plane into four persistent regions. The amplitude-frequency curves demonstrate that only the two persistent regions with low voltages are feasible for the gyroscope. Both over-etching and under-etching reduce the feasible region. The effect of parameters on the performance is present. The mechanical sensitivity and nonlinearity increase with the voltages. With the increase in the inclination angle, the mechanical sensitivity and nonlinearity decrease first and then increase. The full temperature stability of the mechanical sensitivity is also considered. The variation in mechanical sensitivity with temperature is small at a large voltage and negative inclination angle. Under-etching, which leads to small nonlinearity and good temperature stability, is more beneficial to the performance of the gyroscope than over-etching. Full article

The symmetric MEMS gyroscope is a typical representative of inertial navigation sensors in recent years. It is different from the traditional mechanical rotor gyroscope in that it structurally discards the high-speed rotor and other moving parts to extend the service life and significantly improve accuracy. The highest accuracy is achieved when the ideal mode-matching state is realized. Due to the processing limitation, this index cannot be achieved, and we can only explore ways to approach this index continuously. This paper’s results of error suppression for the symmetric MEMS gyroscope are initially classified into three categories. The first category mainly introduces the processing structure and working mode of the symmetrical gyroscope. The second is mechanical tuning from the structure and the third is electrostatic tuning from the peripheral control circuit. Based on the listed results, the paper compares the two tuning modes and analyzes their advantages and disadvantages. The fourth category is the tuning means incorporating the emerging algorithm. On this basis, the elements of improvement for future high-precision symmetric MEMS gyroscopes are envisioned to provide a part of the theoretical reference for the future development direction of sensors in inertial navigation. Full article

Tuning fork gyroscopes (TFGs) are promising for potential high-precision applications. This work proposes and experimentally demonstrates a novel high-Q dual-mass tuning fork microelectromechanical system (MEMS) gyroscope utilizing three-dimensional (3D) packaging techniques. Except for two symmetrically decoupled proof masses (PM) with synchronization structures, a symmetrically decoupled lever structure is designed to force the antiparallel, antiphase drive mode motion and eliminate low frequency spurious modes. Thermoelastic damping (TED) and anchor loss are greatly reduced by the linearly coupled, momentum- and torque-balanced antiphase sense mode. Moreover, a novel 3D packaging technique is used to realize high Q-factors. A composite substrate encapsulation cap, fabricated by through-silicon-via (TSV) and glass-in-silicon (GIS) reflow processes, is anodically bonded to the wafer-scale sensing structures. A self-developed control circuit is adopted to realize loop control and characterize gyroscope performances. It is shown that a high-reliability electrical connection, together with a high air impermeability package, can be fulfilled with this 3D packaging technique. Furthermore, the Q-factors of the drive and sense modes reach up to 51,947 and 49,249, respectively. This TFG realizes a wide measurement range of ±1800 °/s and a high resolution of 0.1°/s with a scale factor nonlinearity of 720 ppm after automatic mode matching. In addition, long-term zero-rate output (ZRO) drift can be effectively suppressed by temperature compensation, inducing a small angle random walk (ARW) of 0.923°/√h and a low bias instability (BI) of 9.270°/h. Full article

We propose a novel liquid jet gyroscope based on electrochemical transducers, which uses electrolyte as the jet medium, and two electrochemical transducers placed symmetrically as the velocity measuring unit. The gyroscope includes a fluid pump to generate a jet flow, which flows into the jet chamber. Then, it is diverged into the shunt channels, pumped into reflux channels and merged by a fluid pump. The velocities of shunt flows are measured by two electrochemical transducers. The feasibility of the method was demonstrated in theory, and a 2D finite element model was built to simulate the dynamics of the liquid jet gyroscope. Simulation results confirm the effectiveness of the gyroscope, which has higher sensitivity in the near DC frequency band. Full article

Walking is one of the most basic human activities. Various diseases may be caused by abnormal walking, and abnormal walking is mostly caused by disease. There are various characteristics of abnormal walking, but in general, it can be judged as asymmetric walking. Generally, spatiotemporal parameters can be used to determine asymmetric walking. The spatiotemporal parameter has the disadvantage that it does not consider the influence of the diversity of patterns and the walking speed. Therefore, in this paper, we propose a method to analyze asymmetric walking using Dynamic Time Warping (DTW) distance, a time series analysis method. The DTW distance was obtained by combining gyroscope data and pressure data. The experiment was carried out by performing symmetrical walking and asymmetrical walking, and asymmetric walking was performed as a simulation of hemiplegic walking by fixing one ankle using an auxiliary device. The proposed method was compared with the existing asymmetric gait analysis method. As a result of the experiment, a p-value lower than 0.05 was obtained, which proved that there was a statistically significant difference. Full article

Damping asymmetry is one of the most important factors that determines the performance of Coriolis Vibratory Gyroscope. In this paper, a novel damping tuning method for the resonator with parallel plate capacitors is presented. This damping tuning method is based on resistance heat dissipation and the tuning effect is characterized by the control force in Whole-Angle mode. As the damping tuning and stiffness tuning in the resonator with parallel plate capacitors are coupled with each other, a corresponding tuning system is designed. To verify the tuning effects, experiments are conducted on a hemispherical resonator gyroscope with Whole-Angle mode. The damping tuning theories is demonstrated by the testing results and 87% of the damping asymmetry is reduced by this tuning method with a cost of 3% decaying time. Furthermore, the angle-dependent drift in rate measurement after tuning is only 15.6% of the one without tuning and the scale factor nonlinearity decreases from 5.49 ppm to 2.66 ppm. The method can be further applied on the damping tuning in other resonators with symmetrical structure. Full article

Improving the accuracy and efficiency of bridge structure damage detection is one of the main challenges in engineering practice. This paper aims to address this issue by monitoring the continuous bridge deflection based on the fiber optic gyroscope and applying the deep-learning algorithm to perform structural damage detection. With a scale-down bridge model, three types of damage scenarios and an intact benchmark were simulated. A supervised learning model based on the deep convolutional neural networks was proposed. After the training process under ten-fold cross-validation, the model accuracy can reach 96.9% and significantly outperform that of other four traditional machine learning methods (random forest, support vector machine, k-nearest neighbor, and decision tree) used for comparison. Further, the proposed model illustrated its decent ability in distinguishing damage from structurally symmetrical locations. Full article