Evaluation of selected strapdown inertial instruments and pulse torque loops, volume 1

Design, operational and performance variations between ternary, binary and forced-binary pulse torque loops are presented. A fill-in binary loop which combines the constant power advantage of binary with the low sampling error of ternary is also discussed. The effects of different output-axis supports on the performance of a single-degree-of-freedom, floated gyroscope under a strapdown environment are illustrated. Three types of output-axis supports are discussed: pivot-dithered jewel, ball bearing and electromagnetic. A test evaluation on a Kearfott 2544 single-degree-of-freedom, strapdown gyroscope operating with a pulse torque loop, under constant rates and angular oscillatory inputs is described and the results presented. Contributions of the gyroscope's torque generator and the torque-to-balance electronics on scale factor variation with rate are illustrated for a SDF 18 IRIG Mod-B strapdown gyroscope operating with various pulse rebalance loops. Also discussed are methods of reducing this scale factor variation with rate by adjusting the tuning network which shunts the torque coil. A simplified analysis illustrating the principles of operation of the Teledyne two-degree-of-freedom, elastically-supported, tuned gyroscope and the results of a static and constant rate test evaluation of that instrument are presented

SIRU development. Volume 1: System development

A complete description of the development and initial evaluation of the Strapdown Inertial Reference Unit (SIRU) system is reported. System development documents the system mechanization with the analytic formulation for fault detection and isolation processing structure; the hardware redundancy design and the individual modularity features; the computational structure and facilities; and the initial subsystem evaluation results

Inertial gyroscope system application considerations

Criteria for designing inertial gyroscope system

Uranium dioxide fuel cladding strain investigation with the use of CYGRO-2 computer program

Previously irradiated UO2 thermionic fuel pins in which gross fuel-cladding strain occurred were modeled with the use of a computer program to define controlling parameters which may contribute to cladding strain. The computed strain was compared with measured strain, and the computer input data were studied in an attempt to get agreement with measured strain. Because of the limitations of the program and uncertainties in input data, good agreement with measured cladding strain was not attained. A discussion of these limitations is presented

Development of dynamic model and control techniques for microelectromechanical gyroscopes

In this thesis we investigate the effects of stiffness, damping and temperature on the performance of a MEMS vibratory gyroscope. The stiffness and damping parameters are chosen because they can be appropriately designed to synchronize the drive and sense mode resonance to enhance the sensitivity and stability of MEMS gyroscope. Our results show that increasing the drive axis stiffness from its tuned value by 50%, reduces the sense mode magnitude by ~27% and augments the resonance frequency by ~21%. The stiffness and damping are mildly sensitive to typical variations in operating temperature. The stiffness decreases by 0.30%, while the damping increases by 3.81% from their initial values, when the temperature is raised from -40 to 60C. Doubling the drive mode damping from its tuned value reduces the oscillation magnitude by 10%, but ~0.20% change in the resonance frequency. The predicted effects of stiffness, damping and temperature can be utilized to design a gyroscope for the desired operating condition

Effects of hemodialysis therapy on sit-to-walk characteristics in end stage renal disease patients

Patients with end stage renal diseases (ESRD) undergoing hemodialysis (HD) have high morbidity and mortality due to multiple causes; one of which is dramatically higher fall rates than the general population. In spite of the multiple efforts aiming to decrease the high mortality and improve quality of life in ESRD patients, limited success has been achieved. If adequate interventions for fall prevention are to be achieved, the functional and mobility mechanisms consistent with falls in this population must be understood. Human movements such as sit-to-walk (STW) tasks are clinically significant, and analysis of these movements provides a meaningful evaluation of postural and locomotor performance in elderly patients with functional limitations indicative of fall risks. In order to assess the effects of HD therapy on fall risks, 22 sessions of both pre- and post-HD measurements were obtained in six ESRD patients utilizing customized inertial measurement units (IMU). IMU signals were denoised using ensemble empirical mode decomposition and Savistky-Golay filtering methods to detect relevant events for identification of STW phases. The results indicated that patients were slower to get out of the chair (as measured by trunk flexion angular accelerations, time to peak trunk flexion, and overall STW completion time) following the dialysis therapy session. STW is a frequent movement in activities of daily living, and HD therapy may influence the postural and locomotor control of these movements. The analysis of STW movement may assist in not only assessing a patient's physical status, but in identifying HD-related fall risk as well. This preliminary study presents a non-invasive method of kinematic measurement for early detection of increased fall risk in ESRD patients using portable inertial sensors for out-patient monitoring. This can be helpful in understanding the pathogenesis better, and improve awareness in health care providers in targeting interventions to identify individuals at risk for fall

Design of Self-Balancing Tracing Bicycle for Smart Car Competition Case Under Engineering Education

Smart car is an academic competition held for cultivating college students\u27 engineering ability in China for 16 years. To improve the performance of smart cars, this study integrates engineering education topics by introducing a smart car system with regard to the selection of key components, design of hardware and circuit boards, processing of sensor signals, as well as assembly, algorithms, and control. After completing this engineering education, students could achieve better results in the academic competition. According to the K model rules of the 16th smart car competition, a self-balancing autonomous tracking bicycle based on steering gear control is designed and developed. A gyroscope is used to detect the posture of the bicycle. It inductively receives the centerline of the track and then combined with the PID control algorithm realizes the autonomous tracking. The whole process from mechanical structure optimization and electronic circuit design to algorithm design, debugging, and competition runs through the CDIO of engineering education, realizing the cultivation of compound engineering innovative abilities

A bibliography /with abstracts/ on gas-lubricated bearings Interim report

Gas lubricated bearings - annotated bibliograph

Length measurement and stabilization of the diagonals of a square area laser gyroscope

Large frame ring laser gyroscopes are top sensitivity inertial sensors able to measure absolute angular rotation rate below prad s-1 in few seconds. The GINGER project is aiming at directly measuring the Lense-Thirring effect with an 1% precision on an Earth based experiment. GINGER is based on an array of large frame ring laser gyroscopes. The mechanical design of this apparatus requires a micrometric precision in the construction and the geometry must be stabilized in order to keep constant the scale factor of the instrument. The proposed control is based on square cavities, and relies on the length stabilization of the two diagonals, which must be equal at micrometric level. GP2 is the prototype devoted to the scale factor control test. As a first step, the lengths of the diagonals of the ring cavity have been measured through an interferometric technique with a statistical accuracy of some tens of nanometers, and they have been locked to the wavelength of a reference optical standard. Continuous operation has been obtained over more than 12 h, without loss of sensitivity. GP2 is located in a laboratory with standard temperature stabilization, with residual fluctuations of the order of 1 C. Besides the demonstration of the control effectiveness, the analysis of the Sagnac frequency demonstrates that relative small and low-cost ring lasers (around one meter of side) can also achieve a sensitivity of the order of nrad s-1 in the range 0.01-10 Hz in a standard environment, which is the target sensitivity in many different applications, such as rotational seismology and next generation gravitational waves detectors