Dissertations / Theses: 'MEMS IMU'

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Varol, Tolga. "Comparison of Consumer-Grade MEMS IMUs in UBI Context." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-254392.

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Road traffic has many negative socioeconomic impacts on society. A key problem is the risk of deadly accidents. The risk, to a high extend is reduced in developed societies. However, the accidents are still ubiquitous. There are various approaches for reducing accidents such as improving the infrastructure, educating better drivers and incentivizing drivers for driving safe. For the latter, the way is to analyse driving behaviour and this is possible using sensors such as inertial measurement units (IMU) without hindering privacy. Insurance companies approach this issue via Usage Based Insurance (UBI) products, where the premium is dynamically calculated by evaluating the driver based on measuring vehicle dynamics and other contextual data. Due to utilization of devices that use different IMUs, generalization of measured data is an issue for correct evaluation and fairness.The thesis deals with providing tools for filling the evaluation gap of IMUs for this purpose. The study began with a survey involving IMUs in the market. Considering technical and economic aspects, the most suitable ones were selected for evaluation. A modular system called quad-IMU (QIMU) was designed and developed. A selected IMU (BMI160) was incorporated into a QIMU and compared to two widely used IMUs in two scenarios; harsh breaking and static measurement using raw digital linear acceleration measurements. Root mean square errors (RMSE) showed that the BMI160 outperformed the others by approximately one and two orders of magnitude, respectively. The QIMU showed to be a promising framework that needs to be explored further for evaluating IMUs in-house in a rapid, low-cost and reliable manner.
Vägtrafiken har många negativa socioekonomiska effekter på samhället. Ett viktigt problem är risken för dödliga olyckor. Risken, i stor utsträckning, minskar i utvecklade samhällen. Olyckorna är dock fortfarande allestädes närvarande. Det finns olika metoder för att minska olyckor som att förbättra infrastrukturen, utbilda bättre förare och incitament för förare att köra säkert. Det sistnämnda kan göras genom att analysera körbeteendet, och detta är möjligt med hjälp av sensorer som tröghetssensorer (IMU) utan att hindra integriteten. Försäkringsbolag närmar sig denna fråga via användningsbaserade försäkringar (UBI) -produkter, där premien dynamiskt beräknas genom att utvärdera föraren baserat på mätning av fordonsdynamik och annan kontextuell data. På grund av användningen av enheter som använder olika IMU-enheter är generalisering av uppmätta data en öppen fråga för korrekt utvärdering och rättvisa.Avhandlingen handlar om att tillhandahålla verktyg för att fylla utvärderingsgapet för IMUer för detta ändamål. Studien började med en undersökning med IMUer på marknaden. Med tanke på tekniska och ekonomiska aspekter valdes de mest lämpliga för utvärdering. Ett modulärt system kallat quad-IMU (QIMU) designades och utvecklades. En vald IMU (BMI160) inkorporerades i en QIMU och jämfördes med två ofta använda IMUer i två scenarier; hård inbromsning och statisk mätning med hjälp av raka digitala linjära accelerationsmätningar. Det genomsnittliga medelkvadratfelet (RMSE) visade att BMI160 överträffade de andra med ungefär en och två storleksordningar. QIMU visade sig vara en lovande ram som behöver undersökas mer för att utvärdera IMUer internt på ett snabbt, billigt och pålitligt sätt.

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Zhao, Yueming. "GPS/IMU Integrated System for Land Vehicle Navigation based on MEMS." Licentiate thesis, KTH, Geodesi och geoinformatik, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-42167.

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The Global Positioning System (GPS) and an Inertial Navigation System (INS)are two basic navigation systems. Due to their complementary characters in manyaspects, a GPS/INS integrated navigation system has been a hot research topic inthe recent decade. Both advantages and disadvantages of each individual systemare analyzed. The Micro Electrical Mechanical Sensors (MEMS) successfully solved theproblems of price, size and weight with the traditional INS. Therefore they arecommonly applied in GPS/INS integrated systems. The biggest problem ofMEMS is the large sensor errors, which rapidly degrade the navigationperformance in an exponential speed. By means of different methods, i.e.autoregressive model, Gauss-Markov process, Power Spectral Density and AllanVariance, we analyze the stochastic errors within the MEMS sensors. Real testson a MEMS based inertial measurement unit for each method are carried out. Theresults show that different methods give similar estimates of stochastic errorsources. These error coefficients can be used further in the Kalman filter for betternavigation performance and in the Doppler frequency estimate for fasteracquisition after the GPS signal outage. Three levels of GPS/IMU integration structures, i.e. loose, tight and ultra tightGPS/IMU navigation, are introduced with a brief analysis of each character. Theloose integration principles are given with detailed equations as well as the basicINS navigation principles. The Extended Kalman Filter (EKF) is introduced as the basic data fusionalgorithm, which is also the core of the whole navigation system to be presented.The kinematic constraints of land vehicle navigation, i.e. velocity constraint andheight constraint, are presented. These physical constraints can be used asadditional information to further reduce the navigation errors. The theoreticalanalysis of the Kalman filter with constraints are given to show the improvementon the navigation performance. As for the outliers in practical applications, theequivalent weight is introduced to adaptively reduce the influence on positioningaccuracy. A detailed implementation process of the GPS/IMU integration system is given.Based on the system model, we show the propagation of position standard errorswith the tight integration structure under different scenarios. Even less than 4observable satellites can contribute to the integrated system. Especially 2 satellitescan maintain the orientation errors at a reasonable level due to the benefit of thetight integration. A real test with loose integration structure is carried out, and theEKF performance as well as the physical constraints are analyzed in detail. Also atest with random outliers at the resolution level is carried out to show theeffectiveness of the equivalent weight. Finally some suggestions on future researchare proposed.

QC 20111006

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Renkoski, Benjamin Matthew. "The effect of carouseling on MEMS IMU performance for gyrocompassing applications." Thesis, Massachusetts Institute of Technology, 2008. http://hdl.handle.net/1721.1/51645.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2008.
Includes bibliographical references (p. 91-92).
The concept of carouseling an IMU is simulated in order to improve the accuracy of MEMS IMUs. Carouseling consists of slewing the IMU through a pre-determined trajectory that is selected based on inherent properties that lead to improved performance. MEMS devices typically have far more uncertainty than standard inertial measurement devices, yet are considerably less massive and require less power, so implementing this carouseling scheme could make the use of these lightweight systems possible even in high-accuracy situations, such as gyrocompassing. In gyrocompassing, the most significant benefit provided by the carouseling scheme is the reduction in the error contribution of gyroscope bias, as this error is almost completely eliminated. Additionally, it was found that although implementing the carouseling scheme required the addition of error states to account for the size effect, in many cases these error states may not be necessary. Overall, the carouseling of the MEMS IMUs was shown to be effective in reducing azimuth error covariance significantly.
by Benjamin Matthew Renkoski.
S.M.

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Veillard, Damien. "Etude et analyse des signaux d une centrale inertielle MEMS : application à la reconstruction du mouvement d un convoi ferroviaire." Thesis, Montpellier, 2016. http://www.theses.fr/2016MONTT311.

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La localisation précise d’un train sur la voie ferrée est une information vitale pour la gestion du trafic et la sécurité des passagers. Le système européen de contrôle des trains (ETCS) embarque ainsi un accéléromètre mono axe mesurant l’accélération longitudinale du train. Ce capteur est l’un des nombreux capteurs présents à bord permettant une odométrie précise. Cependant, sa mesure est faussée par la projection de la gravité sur l’axe sensible en fonction de l’inclinaison de la voie. L’objectif de ce mémoire est donc d’augmenter l’intérêt de ce capteur en développant une solution basée sur une centrale inertielle complète dans le but de fournir une accélération longitudinale fiable. Pour cela, un estimateur d’état a été développé à partir d’un filtre de Kalman étendu et de la prise en compte de contraintes sur le vecteur d’état. L’utilisation d’une équation de réactualisation du gain de Kalman force ainsi l’estimation d’état à évoluer dans un espace contraint. De plus, le vecteur d’observation du système a été augmenté par les informations fournies par un estimateur de vitesse et un estimateur d’attitude du train. L’estimateur de vitesse utilise une analyse fréquentielle des mesures accélérométriques et l’estimateur d’attitude exploite la complémentarité fréquentielle des mesures gyrométriques et accélérométriques pour estimer les angles de roulis et de tangage. Ces informations sont ensuite fusionnées avec les mesures de la centrale. Enfin, des expérimentations ont été réalisées en Turquie dans un train et les performances de l’estimateur ont été validées en comparant les résultats obtenus aux données fournies par une centrale de navigation haut de gamme
The precise location of a train on the rail network is vital information for traffic management and passenger safety. The European Train Control System (ETCS) features a single-axis accelerometer which measures the longitudinal acceleration of the train. This sensor is one of many sensors onboard providing a precise odometry. However, its measurement is corrupted by the projection of the gravity on the sensitive axis as a function of the inclination of the track. The purpose of this work is to increase the value of this sensor by developing a solution based on a complete inertial system in order to provide a reliable longitudinal acceleration. For this, a state estimator was developed based on an extended Kalman filter and the consideration of constraints on the state vector. The use of updating equation of the Kalman gain forces the state estimation to evolve in a constrained space. In addition, the observation vector has been increased with the information provided by a velocity estimator and a train attitude estimator. The velocity estimator uses a frequency analysis of the accelerometer measurements and the attitude estimator operates the frequency complementarity of gyro and accelerometer measurements, to estimate the roll and pitch angles. This information is then merged with the measurements of the IMU. Finally, experiments were carried out in Turkey on a train and the estimator's performance was validated by comparing the results with data from a high-performance inertial navigation system

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Givens, Matthew. "Multiple IMU Sensor Fusion for SUAS Navigation and Photogrammetry." DigitalCommons@USU, 2019. https://digitalcommons.usu.edu/etd/7617.

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Inertial measurement units (IMUs) are devices that sense accelerations and angular rates in 3D so that vehicles and other devices can estimate their orientations, positions, and velocities. While traditionally large, heavy, and costly, using mechanical gyroscopes and stabilized platforms, the recent development of micro-electromechanical sensor (MEMS) IMUs that are small, light, and inexpensive has led to their adoption in many everyday systems such as cell phones, video game controllers, and commercial drones. MEMS IMUs, despite their advantages, have major drawbacks when it comes to accuracy and reliability. The idea of using more than one of these sensors in an array, instead of using only one, and fusing their outputs to generate an improved solution is explored in this thesis.

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Grahn, Erik. "Evaluation of MEMS accelerometer and gyroscope for orientation tracking nutrunner functionality." Thesis, KTH, Data- och elektroteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-215163.

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In the production industry, quality control is of importance. Even though today's tools provide a lot of functionality and safety to help the operators in their job, the operators still is responsible for the final quality of the parts. Today the nutrunners manufactured by Atlas Copco use their driver to detect the tightening angle. There- fore the operator can influence the tightening by turning the tool clockwise or counterclockwise during a tightening and quality cannot be assured that the bolt is tightened with a certain torque angle. The function of orientation tracking was de- sired to be evaluated for the Tensor STB angle and STB pistol tools manufactured by Atlas Copco. To be able to study the orientation of a nutrunner, practical exper- iments were introduced where an IMU sensor was fixed on a battery powered nutrunner. Sensor fusion in the form of a complementary filter was evaluated. The result states that the accelerometer could not be used to estimate the angular dis- placement of tightening due to vibration and gimbal lock and therefore a sensor fusion is not possible. The gyroscope by itself can be used to provide the angular displacement around every axis with high accuracy without taking into account the gimbal lock phenomena or external forces in the form of vibration of the tool. The gyroscope provided data with a probability to measure ±1° in future tightenings by 69,76%. The gyroscope provided data with high accuracy and stability and can be used in real world application and production for true angle functionality of the tools.
I produktionsindustrin är kvalitetskontroll av stor betydelse. Även om dagens verk- tyg innehåller mycket funktionalitet och säkerhet för att hjälpa operatörer i jobbet, är operatören fortfarande ansvarig för den slutliga kvaliteten. Idag använder Atlas Copcos skruvdragare motorns vridmoment för att göra den slutliga åtdragningen. Därav kan operatören påverka åtdragningen genom att vrida verktyget medurs el- ler moturs under en åtdragning och kvaliteten kan inte säkerställas att bulten dras med ett visst vridmoment. Funktion för rörelseavläsning var önskvärd att utvärde- ras för Tensor STB-vinkel- och STB-pistolverktygen tillverkade av Atlas Copco. För att kunna studera orienteringen hos en skruvdragare introducerades praktiska ex- periment där en IMU-sensor fixerades på en batteridriven skruvdragare. En Sen- sorfusion i form av ett komplementärt filter utvärderades. Resultaten visar att acce- lerometern inte kunde användas för att uppskatta vinkelförskjutningen av en åt- dragning på grund av vibration och gimballås och därav kan inte fusionen heller nyttjas. Gyroskopet i sig kan användas för att ge vinkelförskjutningen runt varje axel med hög noggrannhet utan att ta hänsyn till gimballåsfenomen eller yttre kraf- ter i form av vibration från verktyget. Gyroskopet gav data med en sannolikhet att mäta ± 1° i avvikelse från ett förbestämt värde i framtida åtdragningar med 69,76%. Vidare utvärdering av gyroskop och implementation av detta borde göras innan detta skulle anses kunna användas i en riktig applikation för rörelseavläsning un- der en åtdragning.

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Mori, Anderson Morais. "O uso de sistema inercial para apoiar a navegação autônoma." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/3/3138/tde-26062014-114414/.

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A proposta deste trabalho é contribuir com a construção de uma plataforma de veículo autônomo para viabilizar as pesquisas na área pelo Departamento de Engenharia de Transportes da USP. Até o momento o departamento dispõe de uma plataforma que, a partir de sua posição conhecida, consegue navegar autonomamente até um ponto de destino utilizando apenas uma solução GNSS, no caso, GPS. Para ampliar a mobilidade da plataforma, está sendo sugerida aqui, a adição de sensores inerciais ao veículo, para que ele consiga obter uma solução de posição mesmo em áreas sem cobertura GNSS. Um Sistema de Navegação Inercial não depende de infraestrutura externa, exceto para inicializar suas variáveis, o que neste caso pode ser feito com auxílio de um receptor GPS. Sensores inerciais de alto desempenho são caros, tem alta complexidade mecânica e em geral são de grande porte. A alternativa é o uso de sensores do tipo MEMS que são pequenos, fáceis de serem manipulados e apresentam baixo consumo de energia. A contrapartida é que a solução é mais susceptível a ruído do que seus pares que custam na faixa de centena de milhões de dólares.
The proposal of this paper is to build an autonomous vehicle platform to enable the researches in this area by the Transport Engineering Department of the USP. Until now the Department has a platform that, once its initial position is known, it can navigate autonomously to a destination point using only the GNSS, in this case, GPS. To expand the mobility resources of the platform, it is being suggested here the addition of inertial sensors to the vehicle, enabling it to acquire a position solution even in areas where there is no coverage of the GNSS. An Inertial Navigation System does not depend on an external infra-structure, with the exception on the initial setup, where the GPS can be used to provide this kind of initialization. High performance inertial sensors are expensive, have high mechanical complexity and in general are big. The alternative is the usage of MEMS sensors, which are small, easy to handle and has low power consumption. In the opposite side this solution is more susceptible to noises in comparison to those High performance sensors that cost hundreds of thousands of dollars.

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Alandry, Boris. "Intégration de systèmes multi-capteurs CMOS-MEMS : application à une centrale d’attitude." Thesis, Montpellier 2, 2010. http://www.theses.fr/2010MON20152/document.

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Les systèmes électroniques actuels intègrent de plus en plus de fonctionnalités nécessitant l'intégration de capteurs très variés. Ces systèmes hétérogènes sont complexes à intégrer notamment lorsque différentes technologies de fabrication sont nécessaires pour les capteurs.Les technologies de fabrication de MEMS avec un procédé CMOS-FSBM offrent un coût de production réduit et permettent d'intégrer sur un même substrat différents types de capteurs (magnétomètres et accéléromètres notamment). Ce procédé de fabrication implique cependant une détection résistive des capteurs avec tous les problèmes qui lui sont associés (faible sensibilité, offset important, bruit de l'électronique). A travers la réalisation de la première centrale inertielle sur une puce, cette thèse renforce l'intérêt d'une approche « CMOS-MEMS » pour la conception de systèmes multi-capteurs. Le système est basé sur une mesure incomplète du champ magnétique terrestre (axes X et Y) et sur la mesure complète du champ gravitationnel. Une électronique de conditionnement des capteurs performante a été développée adressant les principaux problèmes relatifs à une détection résistive permettant ainsi une optimisation de la résolution de chaque capteur. Enfin, deux algorithmes ont été développés pour la détermination de l'attitude à partir de la mesure des cinq capteurs montrant la faisabilité et l'intérêt d'un tel système
Current electronic systems integrate more and more applications that require the integration of various kinds of sensors. The integration of such heterogeneous systems is complex especially when sensor fabrication processes differ from one to another. MEMS manufacturing processes based on CMOS-FSBM process promote a low-cost production and allow the integration of various types of sensors on the same die (e.g., magnetometers and accelerometers). However, this manufacturing process requires that sensors make use of resistive transduction with its associated drawbacks (low sensitivity, offset, electronic noise). Through the design and the implementation of the first inertial measurement unit (IMU) on a chip, this thesis demonstrates the interest of a “CMOS-MEMS” approach for the design of multi-sensor systems. The IMU is based on the incomplete measurement of the Earth magnetic field (X and Y axis) and the complete measurement of the gravity. An efficient front-end electronic has been developed addressing the most important issues of resistive transduction and thus allowing an optimization of sensor resolution. Finally, two attitude determination algorithms have been developed from the five sensor measurements showing the feasibility and the interest of such a system

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Kepper, James H. IV. "MEMS IMU inertial measurement unit one-way-travel-time inertial measurement unit autonomous underwater vehicles." Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/113756.

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Thesis: S.M. in Oceanographic Engineering, Joint Program in Applied Ocean Science and Engineering (Massachusetts Institute of Technology, Department of Mechanical Engineering; and the Woods Hole Oceanographic Institution), 2017.
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 83-87).
Recent advances in acoustic navigation methodologies are enabling the way for AUVs to extend their submerged mission time and maintain a bounded XY position error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single beacon one-way-travel- time (OWTT) acoustic navigation and investigates the degree of bounding position error for small AUVs with a minimal navigation strap-down sensor suite, relying mostly on a consumer grade microelectromechanical system (MEMS) inertial measurement unit (IMU) and a vehicle's dynamic model velocity. An implementation of an Extended Kalman Filter (EKF) that includes IMU bias estimation and coupled with a range filter, is obtained in the field on two OceanServer Technology, Inc. Iver2 AUVs and one Bluefin Robotics SandShark [mu]AUV. Results from these field trials on Ashumet Pond of Falmouth, Massachusetts, the Charles River of Cambridge, Massachusetts, and Monterey Bay near Santa Cruz, California show a navigation solution accuracy comparable to current standard navigation techniques.
by James H. Kepper, IV.
S.M. in Oceanographic Engineering

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Barrett, Justin Michael. "Analyzing and Modeling Low-Cost MEMS IMUs for use in an Inertial Navigation System." Digital WPI, 2014. https://digitalcommons.wpi.edu/etd-theses/581.

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Inertial navigation is a relative navigation technique commonly used by autonomous vehicles to determine their linear velocity, position and orientation in three-dimensional space. The basic premise of inertial navigation is that measurements of acceleration and angular velocity from an inertial measurement unit (IMU) are integrated over time to produce estimates of linear velocity, position and orientation. However, this process is a particularly involved one. The raw inertial data must first be properly analyzed and modeled in order to ensure that any inertial navigation system (INS) that uses the inertial data will produce accurate results. This thesis describes the process of analyzing and modeling raw IMU data, as well as how to use the results of that analysis to design an INS. Two separate INS units are designed using two different micro-electro-mechanical system (MEMS) IMUs. To test the effectiveness of each INS, each IMU is rigidly mounted to an unmanned ground vehicle (UGV) and the vehicle is driven through a known test course. The linear velocity, position and orientation estimates produced by each INS are then compared to the true linear velocity, position and orientation of the UGV over time. Final results from these experiments include quantifications of how well each INS was able to estimate the true linear velocity, position and orientation of the UGV in several different navigation scenarios as well as a direct comparison of the performances of the two separate INS units.

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Ciocia, Cecilia. "Caratterizzazione e compensazione delle non-idealità di un accelerometro MEMS all'interno di un'unità di misura inerziale (IMU)." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/24024/.

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In ambito clinico, il motion capture è la registrazione del movimento del corpo umano per l’analisi e la valutazione funzionale dei pazienti. Il suo obiettivo è quello di misurare in modo oggettivo il movimento assoluto e relativo dei segmenti corporei rispetto ad un sistema di riferimento definito. Una delle tecniche più adottate per attuare ciò è affidata all’IMU (Inertial Measurement Unit) e, volendo ottenere il massimo delle sue prestazioni, risulta rilevante il peso delle non-idealità dei relativi sensori MEMS (MicroElectro Mechanical Systems): accelerometri, giroscopi, magnetometri. Tale lavoro di tesi è rivolto allo studio delle non-idealità, riscontrate sull’accelerometro LIS344ALH (STMicroelectronics), utilizzato all’interno di un’IMU commerciale sviluppata dall’azienda MediCon Ingegneria s.r.l. di Budrio (BO). In particolare, sono state individuate e caratterizzate la deriva del segnale in condizioni statiche e la sovraelongazione per il ritorno a regime al termine di un movimento. Perciò il sensore MEMS è stato isolato dalla sensor fusion e valutato singolarmente, realizzando un sistema embedded: l’accelerometro analogico è stato collegato via hardware all’evaluation board STM3210E-EVAL, con un microcontrollore STM32, basato su core ARM Cortex-M3, il cui software è stato codificato in linguaggio C, attraverso l’ambiente di sviluppo mVision Kiel MDK. Si è poi impostato un set-up di acquisizioni di breve e lunga durata, al fine di comparare l’accelerometro nei due sistemi a disposizione: l’IMU e la board sviluppata. Inoltre, nel Dipartimento dell’Ingegneria dell’Energia Elettrica e dell’Informazione “Guglielmo Marconi” (DEI) di Bologna, è stato utilizzato un braccio robotico. I dati relativi alle prove acquisite sono stati elaborati mediante MatLab e sono state identificate le possibili azioni correttive da implementare in hardware e firmware per ottimizzare le prestazioni.

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Kayasal, Ugur. "Modeling And Simulation Of A Navigation System With An Imu And A Magnetometer." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608786/index.pdf.

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In this thesis, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. An alternative reference source is a three axis magnetometer, which provides direct attitude measurements. In this study, error propagation equations of an inertial navigation system are derived
measurement equations of magnetometer for Kalman filtering are developed
the unique method to self align the MEMS navigation system is developed. In the motion estimation, the performance of the developed algorithms are compared using a GPS aided system and magnetometer aided system. Some experiments are conducted for self alignment algorithms.

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Einwoegerer, Walter. "Mecanização de central de navegação inercial com dados a partir da integração de IMU MEMS e receptor GPS." Instituto Nacional de Pesquisas Espaciais, 2009. http://urlib.net/sid.inpe.br/mtc-m18@80/2009/03.03.15.06.

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Esta dissertação visa apresentar um procedimento de integração das informações de aceleração e taxa angular de uma Unidade de Medida Inercial (UMI) de baixo custo, com tecnologia Micro Electro-Mechanical System (MEMS) às medidas de posição e velocidade obtidas de um receptor GPS. Para tal detalham-se as equações diferenciais que foram utilizadas para integrar o movimento e a atitude de um sistema móvel na configuração solidária à plataforma (strapdown); os procedimentos de alinhamento dessa mesma UMI MEMS em um simulador dinâmico servo-assistido de precisão de 3 eixos para análise de desempenho nas condições estática e semi-dinâmica; a forma de obtenção dos parâmetros para a calibração da UMI através de algoritmo apropriado utilizando o método da filtragem estocástica de Kalman Sigma-Ponto, verificando seu desempenho e comparando resultados. Na seqüência, descrevem-se os resultados obtidos da integração de medidas da UMI a um receptor GPS em condições dinâmicas. O algoritmo baseado no Filtro de Kalman Sigma-Ponto foi desenvolvido para aplicação à navegação a fim de realizar a fusão das informações de posição e velocidade via GPS e as coordenadas calculadas através da UMI.
The proposal of this work is to present a procedure for integration of the acceleration and angular rate measurements of a low cost Inertial Measurement Unit (IMU) based on MEMS (Micro Electro-Mechanical System) technology with position and speed data from a GPS receiver. Then, it details the equations that have been used to integrate the movement and the attitude of a system in strapdown configuration, the alignment procedures of a IMU MEMS in a precision 3 axis servo table for the analysis of the static and semi-dynamic conditions, the way to obtain the IMU calibration through appropriate algorithm using the method of the Sigma-Point Kalman filter, verifying its performance and comparing results. After it also describes the results using the IMU and GPS simultaneously in dynamic conditions. A Sigma-Point Kalman Filter algorithm was developed for navigation application in order to execute the fusion of the GPS position and speed information with the coordinates calculated from the IMU.

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Flamigni, Luca. "Analisi del Cammino in Pazienti Affetti da Idrocefalo Normoteso Attraverso IMU Indossabili." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2016.

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L’idrocefalo normoteso idiopatico (iNPH) è una patologia che si sviluppa in età senile ed è caratterizzata da un insieme di sintomi generici tra cui disturbi della marcia che rendono difficoltosa la diagnosi. La presente attività di tesi mira ad identificare parametri motori specificamente alterati in pazienti affetti da iNPH rispetto a pazienti con sintomatologie simili, che siano quindi un possibile ausilio alla diagnosi differenziale oltre ad essere sensibili all’intervento terapeutico. Trenta pazienti hanno preso parte allo studio (15 idrocefali, 9 misti e 6 con altre patologie) e sono stati valutati pre, post 24h e post 72h rispetto ad un intervento di drenaggio di liquor cefalorachidiano (CSF tapping). Ciascun paziente, ad ogni valutazione ha eseguito due task motori standardizzati: l’instrumented 18m walk (i18W) e l’instrumented Timed Up and Go (iTUG). Il metodo proposto è stato in grado di estrapolare i parametri prefissati da tali prove e quindi fornire un report dettagliato del singolo paziente. Successivamente, l’analisi statistica eseguita tra pazienti appartenenti allo stesso gruppo (intra gruppo) e quella tra pazienti di gruppi diversi (inter gruppo) ha mostrato un complessivo trend di miglioramento delle performance per i soli soggetti con diagnosi di idrocefalo o con alcuni segni clinici caratteristici di idrocefalo. I pazienti affetti da altre patologie, come si era ipotizzato, non subiscono sostanziali cambiamenti a seguito dell’intervento.

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15

Bechelli, Lorenzo. "Implementazione di un sistema di navigazione inerziale basato su sensori MEMS." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/23639/.

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In questa tesi si implementa un sistema di navigazione inerziale basato su sensori MEMS. I dispositivi basati su tale tecnologia hanno un basso costo, buone prestazioni e sono molto piccoli, quindi possono essere utilizzati in svariate applicazioni. In particolare, si è usato un dispositivo Motion-Tracking con un accelerometro triassiale e un giroscopio triassiale chiamato MPU-6050, il quale è stato collegato ad un Raspberry Pi 3 B+ per acquisire i dati dai sensori. Dato che questi sensori sono soggetti a rumore sulla misura, la posizione calcolata è soggetta a deriva che dipende dalle caratteristiche dell’accelerometro e del giroscopio. Tali dispositivi sono stati caratterizzati analizzando il rumore tramite il metodo della varianza di Allan. Inoltre, si sono implementati due sistemi di navigazione inerziali (INS) che operano su scale temporali diverse. Il primo INS implementa un sistema di navigazione della tipologia “strapdown” basato sulle rotazioni rappresentate da matrici, mentre il secondo INS decide se in un intervallo temporale stabilito l’IMU si è mossa, è stata ruotata, o entrambi analizzando i dati tramite la varianza di Allan. Di conseguenza, il secondo INS fornisce una misura sullo stato dell’IMU che è usata per correggere lo stato calcolato dal primo INS utilizzando un filtro di Kalman. La deriva sulla posizione ottenuta utilizzando i due INS è due ordini di grandezza minore di quella calcolata usando solo il primo INS, mentre la deriva sugli angoli è circa la metà.

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16

Ivanic, Boris. "Användning av accelerometrar för detektering av rörelse i Husqvarna ABs gräsklippare Automower." Thesis, Jönköping University, JTH, Computer and Electrical Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:hj:diva-1646.

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In order to detect movements and vibrations on different appliance, especially robots and self-going devices are used different sensors. One of the most used movement sensors are accelerometers. They are three different types of accelerometers one-axes, two-axes and three-axes. They can be analogue or digital. Husqvarna AB uses an accelerometer to detect movements of their self-going lawnmower Automower. Since it begins to turn up others sensors on the market and the sensor which today uses in Husqvarna’s lawnmower don’t fulfils all functions there is a need to find other solutions. What sensors can be found on a market and which new has come? How can they be used best and which difference is between them? How can they use to detect movements in x, y and z direction and how can they read different movements to detect collision, inclination and lift? Sensor analysis will be done to find out how they can be used in this matter and an big analysis will be done to find out how a sensor witch already is in a lawnmower can be use on the better ways?

För att kunna detektera rörelse och vibrationer på olika anordningar och framförallt robotar och självgående maskiner används olika sensorer. En av de mest använda rörelsesensorer är accelerometer. Det finns en uppsjö av olika utföringar som kan vara med en axel, två axlar eller tre axlar. Accelerometrar finns som digitala eller analoga. Husqvarna AB använder en sådan sensor för att detektera rörelse på sin självgående gräsklippare Automower. Eftersom det börjar dyka upp andra sensorer på marknaden och den sensor som används idag uppfyller inte alla funktioner finns det behov av att lägga tid på att se vad kan åstadkommas med en sådan sensor. Vilka sensorer kan hittas på marknaden och vilka nya har dykt upp? Hur kan de användas på bästa sätt och vad skiljer de åt? Hur kan de användas för att detektera rörelse i x, y, z-led och hur kan de läsa av olika rörelse för att detektera krock, lutning och lyft? Det skall göras analys för att se hur olika sensorer reagerar och hur kan de användas på bästa sätt. Det skall utforskas hur den sensor som redan sitter kan användas på ett bättre sätt.

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17

Singh, Mahendra, Stuart McNamee, and Allen Khosrowabadi. "MODULAR AFFORDABLE GPS/INS (MAGI)." International Foundation for Telemetering, 1999. http://hdl.handle.net/10150/607342.

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International Telemetering Conference Proceedings / October 25-28, 1999 / Riviera Hotel and Convention Center, Las Vegas, Nevada
The GPS/INS equipment is used at the Air Force Flight Test Center (AFFTC) to collect time space position information (TSPI) during testing. The GPS-based test instrumentation is lagging behind available commercial technologies. Advancing technologies for test use requires investigation of affordable commercial equipment. To enable technology insertion for state of the art testing, there is a need for more robust, flexible, reliable, modular, affordable low cost TSPI systems capable of operating in all flight environments. Modular (plug-and-play) hardware and software, quick and easy to re-configure, are required for supporting various test platforms from fighter aircraft to cargo size aircraft. Flight testing dynamics are such that, GPS-only systems tend to lose data during critical maneuvers. To minimize this data loss, inertial measurement systems coupled with GPS sensors are used in most sophisticated range instrumentation packages. However, these packages have required fairly expensive inertial units, are usually very large and not very flexible in terms of quick and easy reconfiguration to meet the unique needs of AFFTC’s test customers. WADDAN SYSTEMS has begun to address this problem with a modular design concept, which incorporates their high-performance navigation quality inertial measurement unit, but with costs comparative to that of lower-end performance inertial units. This paper describes WADDAN’s concept and the components that make up MAGI; and addresses some of the preliminary testing and near-term proposed activities. In general, the system will provide GPS, inertial and discrete MIL-STD 1553, RS-232/422 and video data from the participant. The MAGI will be structured around the Compact personal computer interface (PCI) backplane bus with on-board recording and processing and will include real-time command and control through a UHF data link.

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18

Olivieri, Roberto. "Calibrazione di un magnetometro MEMS per la determinazione d'assetto attraverso il data fitting." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/22789/.

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Il presente lavoro di tesi descrive il processo di calibrazione di un magnetometro MEMS triassiale. I parametri del modello degli errori vengono stimati attraverso il data fitting e, in seguito, vengono validati sperimentalmente. I magnetometri sono sensori ampiamente utilizzati nelle unità IMU, ma necessitano di un'adeguata calibrazione per poter fornire dati accurati: l'aver scelto di utilizzare un dispositivo MEMS rafforza ulteriormente questa necessità, poiché tali elementi sono soggetti a disturbi e rumore indotti da campi elettromagnetici generati a bordo della struttura. L'unica assunzione fatta sul campo magnetico agente sul sensore è che esso sia localmente uniforme, il che permette di svincolare l'algoritmo dalle coordinate nelle quali viene effettuato il test. Il lavoro svolto consiste nell'implementazione di un codice C++ che, a partire dai dati grezzi misurati, ne effettui l'ottimizzazione attraverso un metodo ai minimi quadrati. L'algoritmo implementato determina i parametri del sensore ottimizzando il fitting dei dati rispetto a un ellissoide. A seguire, stima i parametri che verranno impiegati per la correzione delle misurazioni. In parallelo, i parametri del modello degli errori vengono stimati attraverso una procedura eseguita in ambiente MATLAB, in modo da comparare i risultati e valutare così l'efficacia dell'algoritmo implementato.

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Ozgeneci, Ercin Mehmet. "Mems Sensor Based Underwater Ahrs(attitude And Heading Reference System) Aided By Compass And Pressure Sensor." Master's thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614619/index.pdf.

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Attitude and Heading angles are crucial parameters for navigation. Conventional navigation methods mostly uses IMU and GPS devices to calculate these angles. MEMS technology offers small sized, low cost IMU sensors with moderate performance. However, GPS cannot be used in underwater. Therefore, different aiding sensors are used in underwater vehicles in order to increase the accuracy. As the accuracy of devices increases, the cost of these devices also increases. In this thesis, rather than using GPS and high quality IMU sensors, low cost MEMS IMU sensor is used together with a magnetometer and a pressure sensor as aiding sensors. Considering the IMU error model and motion dynamics, two systems are designed and simulated using real data. The results seem to be satisfactory and using pressure sensor as an aiding sensor improves the attitude angles estimation.

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20

Singh, Mahendra, Stuart McNamee, Rick Navarro, Amy Fleishans, Louie Garcia, and Allen Khosrowabadi. "IMPROVING PERFORMANCE OF SINGLE OBJECT TRACKING RADAR WITH INTEGRATED GPS/INS." International Foundation for Telemetering, 2000. http://hdl.handle.net/10150/608266.

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International Telemetering Conference Proceedings / October 23-26, 2000 / Town & Country Hotel and Conference Center, San Diego, California
A novel approach combines GPS receiver technology with micro-electromechanical inertial sensors to improve performance of single object tracking radar. The approach enhances range safety by integrating an airborne Global Positioning System/Inertial Movement Unit (GPS/IMU) with a C-band transponder to downlink time-space-position information (TSPI) via FPS-16 instrumentation radar. This improves current telemetry links and the Range Application Joint Program Office (RAJPO) data link for downlinking TSPI because of the inherent long-range advantage of the radar. The goal of the project is to provide distance independent accuracy, and to demonstrate continuous 15-meter or better position accuracy over the entire flight envelope out to slant ranges up to 1,000 Km with at least 50 updates per second. This improves safety coverage for the wide area flight testing. It provides risk reduction for the Air Force Flight Test Center (AFFTC), Edwards Air Force Base, California and other ranges planning TSPI system upgrades.

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21

Bergeron, Alexandre. "Design and Development of a Marine Data Acquisition System for Inertial Measurement in Wind Powered Yachts." Thèse, Université d'Ottawa / University of Ottawa, 2012. http://hdl.handle.net/10393/23116.

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This thesis presents the design of an inertial measurement data acquisition system intended for use in sailboats. The variables of interest are 3-axis acceleration, 3-axis rotation, GPS position/velocity, magnetic compass bearing and wind speed/direction. The design focus is on low-cost micro-electromechanical systems (MEMS) based technology and demonstrating the validity of these technologies in a scientific application. A prototype is constructed and submitted to a series of tests to demonstrate functionality and soundness of the design. These tests range from bench tests to full scale application. Contributions of this thesis include the novel application of inertial measurement unit (IMU) technology to a sailboat racing application, the integration of all instrumentation, creative ruggedised packaging and emphasising the use of low-cost commercial off-the-shelf (COTS) technology.

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22

Messineo, Graziano. "Sviluppo di un prototipo di stampella smart da integrare in un sistema esoscheletrico." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2020.

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In questo lavoro di tesi si è sviluppato un prototipo di stampella sensorizzata capace di trasmettere i dati di accelerazione, velocità angolare, campo magnetico e forza, misurati da sensori magneto-inerziali e cella di carico piezoresistiva monoassiale, utili nella stima delle forze agenti sugli arti superiori nei pazienti utilizzatori di esoscheletro per arto inferiore. I dati sono inviati tramite comunicazione Bluetooth Low Energy e ricevuti su PC per la manipolazione e l'analisi attraverso Matlab. In seguito all'acquisizione viene valutata la coerenza dei dati ricevuti e applicati algortimi di sensor fusion per la stima dell'orientamento del prototipo.

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23

Szabó, Michal. "Vývojový prostředek pro lokalizaci." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2021. http://www.nusl.cz/ntk/nusl-442522.

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This document describes a device capable to determine geographical position thanks to its GNSS module and measure the change of movement with the help of an accelerometer and gyroscope. Outputs of these integrated circuits are combined, data are processed and fused thanks to a numerical integration and mathematical filters. Results are stored on a memory card. The whole development is described from a concept, through the making of the device and software algorithms to the testing of its functions.

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24

Dalal, Milap. "Low noise, low power interface circuits and systems for high frequency resonant micro-gyroscopes." Diss., Georgia Institute of Technology, 2012. http://hdl.handle.net/1853/44861.

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Today's state-of-the-art rate vibratory gyroscopes use a large proof mass that vibrates at a low resonance frequency (3-30 kHz), a condition that creates a performance tradeoff in which the gyroscope can either offer large bandwidth or high resolution, but not both. This tradeoff led to the development of the capacitive bulk acoustic wave (BAW) silicon disk gyroscope, a new class of micromachined rate vibratory gyroscopes operating in the frequency range of 1-10MHz with high device bandwidth and shock/vibration tolerance. By scaling the frequency, BAW gyroscopes can provide low mechanical noise without sacrificing the high bandwidth performance needed for most commercial applications. The drive loop of the BAW gyroscope can also be exploited as a timing device that can be integrated in existing commercial systems to provide competitive clock performance to the state-of-the-art using less area and power. This dissertation discusses the design and implementation of a CMOS ASIC architecture that interfaces with a high-Q, wide-bandwidth BAW gyroscope and the challenges associated with optimizing the noise performance to achieve navigation-grade levels of sensitivity as the frequency is scaled into the MHz regime. Mathematical models are derived to describe the operation of the sensor and are used to generate equivalent electrical circuit models of the gyroscope. A design strategy is then outlined for the ASIC to optimize the drive loop and sense channel for power and noise, and steps toward reducing this noise as the system is pushed to navigation-grade performance are presented that maintain optimum system power consumption. After analyzing the BAW gyroscope and identifying a strategy for developing the drive and sense interface circuitry, a complete fully-differential ASIC is designed in 0.18μm CMOS to interface with a bulk acoustic wave (BAW) disk gyroscope. As an oscillator, the gyroscope provides an uncompensated clock signal at ~9.64 MHz with a temperature sensitivity of -27 ppm/°C and phase noise of -104 dBc at 1 kHz from carrier. When the complete ASIC is interfaced with the gyroscope, the sensor shows a measured rate sensitivity of 1.15 mV/o/s with an open-loop bandwidth of 280 Hz and a bias instability of 0.095 o/s, suitable for the rate-grade performance commonly required for commercial and consumer electronics applications. The system is recorded to have a total power of 1.6 mW and a total area of 0.64 mm2. Following the design of the interface ASIC, this dissertation investigates in further detail the requirements for designing and optimizing charge pumps for capacitive MEMS devices. Basic charge pump design is outlined, followed by an overview of techniques that can be used to generate larger polarization voltages from the ASIC. Lastly, an alternate measurement technique for measuring the rotation rate of the gyroscope is discussed. This technique is based on the phase-shift modulation of the gyroscope output signal when the device is driven with two orthogonal signal inputs and can be easily modified to provide either linear scale factor measurement or a linear calibration curve that can be used to track and adjust the variation of the sensor scale factor over time.

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Campelli, Davide. "Determinazione dell'assetto di un corpo rigido mediante il filtro complementare: analisi, implementazione e verifica sperimentale." Bachelor's thesis, Alma Mater Studiorum - Università di Bologna, 2021. http://amslaurea.unibo.it/22838/.

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Nel seguente elaborato di tesi vengono descritti l'algoritmo, l'implementazione e la verifica sperimentale di un filtro complementare basato sugli angoli di Eulero per la determinazione di assetto di un corpo rigido. Viene descritta la struttura dell'hardware utilizzato e trattata la teoria alla base di tale sensoristica e di tale metodologia di determinazione di assetto, assieme ai processi di implementazione, messa a punto (tuning) e verifica sperimentale, svolta in ambiente di laboratorio. La prima parte dello sviluppo consiste nei procedimenti di calibrazione e di configurazione dei tre sensori triassiali presenti nella strumentazione utilizzata, ovvero accelerometro, magnetometro e giroscopio. Vengono riportati i risultati sperimentali che dimostrano la necessità di tali passaggi per ottenere risultati adeguati. La seconda fase di lavoro è invece incentrata sullo sviluppo del filtro complementare, sulla sua implementazione e verifica sperimentale, necessaria per quantificarne le prestazioni. Come risultato del lavoro svolto, viene fornito un algoritmo per la determinazione d'assetto e un procedimento per la sua messa a punto con prestazioni garantite. Ciò permette una sua futura implementazione a bordo del banco prova Alma Test-Bed, al fine di verificare sistemi di controllo d'assetto per nanosatelliti 3U, svolta nel laboratorio dell'Università di Bologna.

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26

Růžička, Jiří. "9DOF senzor pro měření orientace zbraně v prostoru." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2017. http://www.nusl.cz/ntk/nusl-316393.

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This thesis deals with multi-axis position sensors, their nature and individual parts and types of these sensors. It is outlined their historical origin and the most used modern types, such as micro-electro-mechanical sensors. Further, the properties of these sensors, error sources and their compensation are discussed. Output data formats are also discussed here, such as Euler angles, their calculation and applications. The selected sensor is implemented in the simulator electronics, and the graphical application demonstrates its functions.

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27

Koroglu, Muhammed Taha. "Multiple Hypothesis Testing Approach to Pedestrian Inertial Navigation with Non-recursive Bayesian Map-matching." The Ohio State University, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=osu1577135195323298.

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Fabricio, Arthur Rodrigues. "O complexo de culto real de Ramess?s III: espa?o e mem?ria na XX Dinastia do Antigo Egito." PROGRAMA DE P?S-GRADUA??O EM HIST?RIA, 2016. https://repositorio.ufrn.br/jspui/handle/123456789/21904.

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Ramess?s III (1187 ? 1157 a.C.), segundo fara? da XX dinastia eg?pcia, reinou durante a passagem da Idade do Bronze para a Idade do Ferro, no contexto de um delicado clima pol?tico e social, com tentativas de invas?o por estrangeiros, greves de trabalhadores e uma tentativa de regic?dio em meio a um golpe de estado. Apesar das adversidades, este fara? foi o respons?vel pela constru??o de um suntuoso complexo de culto real, em Medinet Habu, a ?ltima grande estrutura monumental erigida no Novo Imp?rio. Neste espa?o sagrado, um dos exemplos mais bem conservados da estrutura axial templ?ria da ?poca, re?ne-se grande parte da heran?a cultural eg?pcia do per?odo, seus padr?es art?sticos, arquitet?nicos, escult?ricos, seus mitos, anseios e rituais, suas cren?as no p?s-vida e na fun??o do fara?, principal mediador entre as esferas divina e humana. Neste sentido, com base no conceito de mem?ria cultural, este trabalho tem por objetivo realizar uma an?lise do templo memorial de Ramess?s III, por meio de suas iconografias e de suas inscri??es, buscando demonstrar como este pode ter sido utilizado para perpetuar uma mem?ria de longa dura??o da sociedade eg?pcia e de seus valores, ressaltando os diversos tipos de recursos e estrat?gias que foram adotados neste espa?o para a consolida??o deste projeto rememorativo e da autoimagem de Ramess?s III ? ?poca.
Ramesses III (1187 ? 1157 BC), the second pharaoh of the XX Egyptian dynasty, reigned during the transition from the Bronze Age to the Iron Age, in the context of a delicate political and social climate, with invasion attempts by foreigners, workers? strikes and an attempted regicide in the midst of a coup d?etat. Despite the adversities, this Pharaoh was the responsible for the construction of a sumptuous royal cult complex at Medinet Habu, the last large monumental structure erected in the New Kingdom. In this sacred space, one of the best preserved examples of templar axial structure of the time, gathers much of the Egyptian cultural heritage of the period, its artistics and architectural patterns, sculptural models, their myths, anxieties and rituals, its beliefs in the afterlife and the roles of the Pharaoh as the main mediator between the divine and the human spheres. Considering this, based on the cultural memory concept, this work aims to realize an analysis of the memorial temple of Ramesses III, through its iconographies and its inscriptions, searching to demonstrate how this may have been used to perpetuate a long-term memory of Egyptian society and its values, highlighting the different types of resources and strategies that have been adopted in this space to the consolidation of this remembrance project and of the self-image of Ramesses III at the time.

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29

Graf, Alexander. "Entwicklung eines miniaturisierten Ionenfilters und Detektors für die potentielle Anwendung in Ionenmobilitätsspektrometern." Doctoral thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2015. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-163935.

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Die Ionenmobilitätsspektrometrie ermöglicht eine selektive Detektion von niedrigkonzentrierten Gasen in Luft. Darauf beruhende Analysegeräte können verhältnismäßig einfach umgesetzt werden und in vielfältigen mobilen Einsatzszenarien wie der Umweltanalytik Anwendung finden. Die vorliegende Dissertation gibt einen Überblick über die Grundlagen der Ionenmobilitätsspektrometrie und setzt die funktionellen Teilkomponenten Ionenfilter und Ionendetektor mit Mikrosystemtechniken um. Dafür werden Möglichkeiten aus dem Stand der Technik vorgestellt und eine für die Umsetzung optimale Variante identifiziert. Ein Ionenfilter basierend auf der Differenzionenmobilitätsspektrometrie zeigt diesbezüglich ein sehr geeignetes Skalierungsverhalten. Zur Integration in einen Demonstrator-Chip wird ein neuartiges Bauelementkonzept verfolgt, mit technologischen Vorversuchen untersetzt und erfolgreich in einen Gesamtherstellungsablauf überführt. Mit Hilfe von weiterführenden analytischen Untersuchungen werden spezifische Phänomene bei der elektrischen Kontaktierung der verwendeten BSOI-Wafer als Ausgangsmaterial hergeleitet und Empfehlungen zur Vermeidung gegeben. Der Funktionsnachweis der Teilkomponente Ionendetektor wird anhand von hergestellten Demonstrator-Chips und mit Hilfe eines entwickelten Versuchsaufbaus begonnen. Es werden die weiteren Schritte zum Nachweis der Gesamtfunktionalität abgeleitet und festgehalten. Auf Basis des umgesetzten Bauelement- und Technologiekonzepts und der vorliegenden Ergebnisse, wird das entwickelte und realisierte Gesamtkonzept als sehr aussichtsreich hinsichtlich der favorisierten Verwendung als Teilkomponente eines miniaturisierten Ionenmobilitätsspektrometers eingeschätzt.

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ISMAEL, C?sar de Carvalho. "O ?maestro da aboli??o? e sua ?pera O Escravo: dilemas do pensamento social na transi??o para a Rep?blica." Universidade Federal Rural do Rio de Janeiro, 2014. https://tede.ufrrj.br/jspui/handle/jspui/1813.

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FAPERJ
The purpose of this thesis is to recognize the aims and the historical, political and sociological implications that guided the life and work of Brazilian composer Ant?nio Carlos Gomes (1836-96), which at the apex of the abolitionist movement led to replacement of a black person by a native Brazilian as the main character of his opera Lo Schiavo [The Slave], finished in 1888; he thus repeated the same character utilized in O Guarani, composed eighteen years before. The text focused on the cultural and social relationship between the State and the composer?s artistic production linked to Brazil?s imperial politics; bearing this in mind, an effort was made to ponder the objectives and political implications that led Gomes to substitute a native Brazilian for a black character in The Slave. The research on the life and work of the Brazilian conductor is here conceived as a means for reflecting on the political-cultural ideas that emerged in late nineteenth-century Brazilian urban and educated society, such as Indianism, the greatest form of Brazilian romanticism, and on concepts such as ?patrimonialization? in the moment of the formation of a national social and historical thought.
O objeto central desta pesquisa foi reconhecer os objetivos e as implica??es hist?ricas, pol?ticas e sociol?gicas que nortearam a vida e a obra do compositor campineiro Ant?nio Carlos Gomes (1836-96), e que, mesmo no ?pice do movimento abolicionista, culminaram com a substitui??o do negro pelo ?ndio como personagem central de sua ?pera Lo Schiavo [O Escravo], finalizada em 1888, retomando assim a mesma personagem de sua ?pera O Guarani, composta dezoito anos antes. Enfocou-se neste trabalho a rela??o cultural e social entre o Estado e a produ??o art?stica do compositor vinculada ? pol?tica imperial, e, a partir disso, buscou-se refletir tamb?m acerca das rela??es sociais do maestro Carlos Gomes. A pesquisa acerca da vida e da obra do maestro campineiro ? aqui concebida como um meio para refletir sobre as ideias pol?tico-culturais que emanavam da sociedade brasileira urbana e instru?da da ?poca, como o indigenismo ? express?o m?xima do Romantismo brasileiro.

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Tsuei, Tz-Shin, and 崔子信. "Error Compensation of MEMS Based IMU and its Application in Vehicle Navigation." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/44562641839668409249.

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碩士
國立成功大學
電機工程學系碩博士班
97
Nowadays, GPS has been applied to vehicle navigation extensively. But the GPS signal is easy to be obstructed, which may make the navigation difficult. In order to overcome this limitation, inertial measurement units with navigation algorithm have been used to integrate with GPS receivers. Existing GPS/INS integration navigation algorithm typically use the Extended Kalman Filter (EKF) to estimate vehicle position and velocity based on GPS and IMU measurements. When GPS is outage, the corrected position, velocity, and attitude estimated from INS can be used. However, the navigation solution may be subject to divergence after GPS signal is lost for a significant period of time. The objective of the thesis is to estimate the accelerometer bias and gyro drift in real time so as to mitigate the divergence issue and guarantee the accuracy of positioning.

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Yan, Wenlin. "Development of an Algorithm for a GNSS/MEMS-IMU/Imaging Coupled System for Direct Georeferencing." Tese, 2017. https://hdl.handle.net/10216/105809.

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Yan, Wenlin. "Development of an Algorithm for a GNSS/MEMS-IMU/Imaging Coupled System for Direct Georeferencing." Doctoral thesis, 2017. https://hdl.handle.net/10216/105809.

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Hall, Russell Ilus. "Design and analysis of a new sensing technique for casing joint validation through integrating turns measurement into a torque sensor." Thesis, 2012. http://hdl.handle.net/2152/23875.

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Fossil fuels and their byproducts are a vital part of our economy, and society. Until renewable energy sources and energy storage technologies advance to the point where they are reliable and inexpensive, the US Economy will continue to depend upon fossil fuels. Current resources are being consumed, and the "easy to reach" reserves are becoming depleted. This leads to the requirement for more exploratory drilling, and the potential for more disasters like the recent Deepwater Horizon spill in the Gulf of Mexico. Drilling is the first of several steps in the creation of a productive oil or natural gas well. Completing a well involves casing the walls in concrete to prevent damage to the surrounding rock formations and to ensure that all of the oil or gas is captured without escaping to the surrounding environment. Ensuring the piping, which is used to case wells, is assembled correctly and to manufacturer's specifications is the focus of this study. Individual pipe sections are screwed together with a requirement for torque and number of turns. Each joint must be verified to ensure integrity, and minimize the possibility of a spill or leak. The torque measurement can be accomplished by a "torque sub", a sensor installed in-line with the drill string. The torque sub is a wireless sensor that transmits torque data to the control system for logging and display. This thesis defines the parameters required to integrate a "number of turns" measurement into an existing torque sub so that both parameters can be captured, recorded and reported using a single device. The Yost Engineering 3-Space Sensor was evaluated for use in this application. The configuration that gave the most accurate data was selected, along with the determination of some correction factors to account for site specific variation in the signals. A calibration algorithm is discussed, along with several unique methods for ensuring that the sensor output doesn't drift over the course of the joint make-up process.
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Graf, Alexander. "Entwicklung eines miniaturisierten Ionenfilters und Detektors für die potentielle Anwendung in Ionenmobilitätsspektrometern." Doctoral thesis, 2014. https://tud.qucosa.de/id/qucosa%3A28629.

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Die Ionenmobilitätsspektrometrie ermöglicht eine selektive Detektion von niedrigkonzentrierten Gasen in Luft. Darauf beruhende Analysegeräte können verhältnismäßig einfach umgesetzt werden und in vielfältigen mobilen Einsatzszenarien wie der Umweltanalytik Anwendung finden. Die vorliegende Dissertation gibt einen Überblick über die Grundlagen der Ionenmobilitätsspektrometrie und setzt die funktionellen Teilkomponenten Ionenfilter und Ionendetektor mit Mikrosystemtechniken um. Dafür werden Möglichkeiten aus dem Stand der Technik vorgestellt und eine für die Umsetzung optimale Variante identifiziert. Ein Ionenfilter basierend auf der Differenzionenmobilitätsspektrometrie zeigt diesbezüglich ein sehr geeignetes Skalierungsverhalten. Zur Integration in einen Demonstrator-Chip wird ein neuartiges Bauelementkonzept verfolgt, mit technologischen Vorversuchen untersetzt und erfolgreich in einen Gesamtherstellungsablauf überführt. Mit Hilfe von weiterführenden analytischen Untersuchungen werden spezifische Phänomene bei der elektrischen Kontaktierung der verwendeten BSOI-Wafer als Ausgangsmaterial hergeleitet und Empfehlungen zur Vermeidung gegeben. Der Funktionsnachweis der Teilkomponente Ionendetektor wird anhand von hergestellten Demonstrator-Chips und mit Hilfe eines entwickelten Versuchsaufbaus begonnen. Es werden die weiteren Schritte zum Nachweis der Gesamtfunktionalität abgeleitet und festgehalten. Auf Basis des umgesetzten Bauelement- und Technologiekonzepts und der vorliegenden Ergebnisse, wird das entwickelte und realisierte Gesamtkonzept als sehr aussichtsreich hinsichtlich der favorisierten Verwendung als Teilkomponente eines miniaturisierten Ionenmobilitätsspektrometers eingeschätzt.:1 Einleitung 1.1 Motivation und Zielstellung 1.2 Aufbau und Gliederung der Arbeit 2 Grundlagen zur Ionenmobilitätsspektrometrie 2.1 Grundprinzip der Ionenmobilitätsspektrometrie 2.2 Anwendungsfelder und Substanzen 2.3 Grundlagen der Ionenbewegung 2.4 Ionenquellen 2.4.1 Ionisation mittels radioaktiver Strahlungsquellen 2.4.2 Photoionisation 2.4.3 Weitere Ionenquelle 2.4.4 Vergleich von Ionenquellen 2.5 Ionendetektion 2.6 Bewertungskriterien Ionenmobilitätsspektrometer 3 Stand der Technik Ionenfilter 3.1 Überblick und Einteilung Ionenfilter 3.2 Zeitaufgelöste Detektion 3.3 Ortsaufgelöste Detektion 3.4 Differenz der Ionenmobilität 3.4.1 Differenzionenmobilitätsspektrometrie 3.4.2 Transversal Modulation Ionenfilter 3.5 Sonstige Filterrealisierungen 3.5.1 Ionenfilter mit Gegengasströmung 3.5.2 Travelling Wave Filter 3.6 Vergleich Ionenfilter für ein miniaturisiertes Ionenmobilitätsspektrometer 3.7 Konkretisierte Zielstellung der Arbeit 4 Konzeptionelle Vorarbeiten 4.1 Modellbildung und Dimensionierung des Ionenfilters 4.1.1 Allgemeine Lösung der Bewegungsgleichung 4.1.2 Lösung für den Spezialfall mit Rechteckanregung 4.1.3 Randbedingungen bei der Filterauslegung 4.1.4 Elektrische Simulation des Ionenfilters mit diskreten Elementen 4.1.5 Auslegung eines miniaturisierten Ionenfilters 4.2 Modellbildung und Auslegung des Ionendetektors 4.3 Ableitung eines relevanten Parameterraums 5 Voruntersuchungen und Empfehlungen zur technologischen Umsetzung 5.1 Herleitung des Bauelementkonzepts 5.1.1 Konzept 1 – Planar-Aufbau 5.1.2 Konzept 2 – Sandwich-Struktur 5.1.3 Konzept 3 – Erweiterte Tiefenstruktur 5.1.4 Ableitung des umzusetzenden Bauelementkonzepts 5.2 Konzept zur Herstellung der Ionenkanäle 5.2.1 Nasschemische Siliziumstrukturierung mit TMAH 5.2.2 Trockenchemische Siliziumstrukturierung mit DRIE 5.2.3 Durchführung und Ergebnisse des Vorversuchs 5.2.4 Schlussfolgerung und Ausblick für die Herstellung der Elektrodenkanäle 5.3 Konzept zur Realisierung der Elektrodenkontakte 5.3.1 Möglichkeiten zur Kontaktierung der Elektrodenstrukturen 5.3.2 Verfahren und Materialien für das Erzeugen von Isolationen 5.3.3 Verfahren und Materialien für das Abscheiden von Metallen 5.3.4 Besonderheiten beim Metall-Halbleiter-Kontakt 5.3.5 Ableiten eines Technologieablaufs und Durchführung eines Versuchs zur Herstellung der Rückseitenkontakte 5.3.6 Elektrische Charakterisierung der Rückseitenkontakte 5.3.7 Ausblick zur weiteren Bewertung der Rückseitenkontakte 5.4 Überblick über relevante Waferbondverfahren 5.5 Konzept für die Aufbau- und Verbindungstechnik 5.6 Integration der Vorversuche in ein erweitertes Bauelementkonzept 6 Bauelementauslegung für ein Ionenmobilitätsspektrometer 6.1 Voruntersuchungen für die Bauelementdimensionierung 6.1.1 Simulation des elektrischen Verhaltens mit einem erweiterten Ersatzschaltbild 6.1.2 Dimensionierung des Einströmbereichs und des Vorfilters 6.2 Zusammenfassung der Voruntersuchungen und Ableitung von Designvarianten 7 Technologische Umsetzung und Untersuchung der Kontaktproblematik 7.1 Umsetzung Filter- und Detektordemonstrator 7.1.1 Auswahl der Metallisierung 7.1.2 Erstellen eines detailliertern Gesamttechnologieablaufs 7.1.3 Verifikation des umgesetzten Herstellungsprozesses an den realisierten Demonstrator-Chips 7.2 Untersuchung Metall-Halbleiter-Kontakt 7.2.1 Untersuchung Metall-Halbleiter-Interface 7.2.2 Einfluss des Ausheilschritts auf das Kontaktverhalten 7.2.3 Untersuchung des Dotierungs- und Leitfähigkeitsprofils 7.2.4 Herleitung einer möglichen Ursachenkette für die Bor-Kontamination 7.2.5 Gegenprüfung der Ursachenkette und Schlussfolgerung 7.3 Zusammenfassung Technologieablauf 8 Charakterisierung der Teilkomponenten 8.1 Konzeptionelle Vorarbeiten zum Versuchsaufbau 8.1.1 Methoden zur Testgaserzeugung 8.1.2 Integration des IMS-Chips in die Gasversorgung 8.1.3 Elektronikanbindung 8.2 Versuchsaufbau und Versuchsplanung 8.2.1 Beschreibung Versuchsaufbau 8.2.2 Planung der Versuche für Bewertung Ionendetektor 8.2.3 Planung der Versuche für Bewertung Ionenfilter 8.3 Versuche und Bewertung Ionendetektor 8.3.1 Versuchsdurchführung 8.3.2 Auswertung Ionendetektor 8.4 Zusammenfassung und Ausblick der Charakterisierung 9 Zusammenfassung und Ausblick Literaturverzeichnis

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Dissertations / Theses on the topic 'MEMS IMU'

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