Ce manuscrit est dédié à la résolution du problème de localisation dans les réseaux de capteurs sans fil mobiles. Les méthodes développées se basent principalement sur des caractéristiques de fingerprints ainsi que sur des informations de mobilité. Les premières s'attaquent aux valeurs de RSSI entre capteurs tandis que les deuxièmes prennent en considération la mobilité des capteurs mesurée à l'aide d'accéléromètres et de gyroscopes. La combinaison des données collectées est effectuée dans le cadre de l'analyse par intervalles, ou bien du filtrage de Kalman. Les travaux proposés introduisent des modèles de mobilité d'ordres un, deux ou trois, permettant d'approximer au mieux les trajectoires des capteurs à l'aide des accélérations mesurées. Ceux-là sont couplés à l'algorithme des K plus proches voisins, d'abord dans un système centralisé. Ensuite, les modèles de mobilités sont améliorés pour prendre en compte les rotations des nœuds. Une méthode de localisation décentralisée est également proposée dans ce qui suit, s'adaptant au mécanisme fonctionnel des réseaux de capteurs de grande échelle. Enfin, ce manuscrit propose une méthode de zonage visant à déterminer les zones dans lesquelles les capteurs résident. La méthode proposée aborde le problème de zonage en utilisant à la fois la théorie des fonctions de croyance et l'analyse par intervalles / This thesis is dedicated to solve the localization problem in mobile wireless sensor networks. It works mainly with fingerprints features and inertial movements information. The former tackles the RSSIs values between sensors while the latter deals with the objets movement attitude by using accelerometer and gyroscope. The combination of both information is performed in terms of interval analysis, or Kalman filtering. The proposed work introduces three orders mobility models to approximate nodes trajectories using accelerations, combined then to the weighted K nearest neighbors algorithm in a centralized scheme. Then the mobility models are extended up to the inertial information taking into consideration the rotations of the nodes. A decentralized localization method is also proposed in the following in view of the working mechanism of large scale sensor networks. Finally, this thesis proposes a zoning localization method aiming at determining the zones in which the nodes reside. The proposed method addresses the zoning problem by using both the belief functions theory and the interval analysis

This dissertation discusses the design, simulation and characterization of process-compatible accelerometers and gyroscopes for the implementation of multi-degree-of-freedom (multi-DOF) systems. All components presented herein were designed to operate under the same vacuum-sealed environment to facilitate batch fabrication and wafer-level packaging (WLP), enabling the development of small form-factor single-die inertial measurement units (IMUs). The high-aspect-ratio poly and single-crystal silicon (HARPSS) process flow was used to co-fabricate the devices that compose the system, enabling the implementation ultra-narrow capacitive gaps (< 300 nm) in thick device-layer substrates (40 um). The presented gyroscopes were implemented as high-frequency BAW disk resonators operating in a mode-matched condition. A new technique to reduced dependencies on environmental stimuli such as temperature, vibration and shock was introduced. Novel decoupling springs were utilized to effectively isolate the gyros from their substrate, minimizing the effect that external sources of error have on offset and scale-factor. The substrate-decoupled (SD) BAW gyros were interfaced with a customized IC to achieve supreme random-vibration immunity (0.012 (deg/s)/g) and excellent rejection to shock (0.075 (deg/s)/g). With a scale factor of 800 uV/(deg/s), the complete SD-BAW gyro system attains a large full-scale range (2500 deg/s) with excellent linearity. The measured angle-random walk (ARW) of 0.36 deg/rthr and bias-instability of 10.5 deg/hr are dominated by the thermal and flicker noise of the IC, respectively. Additional measurements using external electronics show bias-instability values as low as 3.5 deg/hr. To implement the final monolithic multi-DOF IMU, accelerometers were carefully designed to operate in the same vacuum environment required for the gyroscopes. Narrow capacitive gaps were used to adjust the accelerometer squeeze-film damping (SFD) levels, preventing an under-damped response. Robust simulation techniques were developed using finite-element analysis (FEA) tools to extract accurate values of SFD, which were then match with measured results. Ultra-small single proof-mass tri-axial accelerometers with Brownian-noise as low as 30 ug/rtHz were interfaced with front-end electronics exhibiting scale-factor values in the order of 5 to 10 mV/g and cross-axis sensitivities of less than 3% before any electronic compensation.

Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2007. / The successful control of a three-degree-of-freedom gyroscope is presented for the application of steering and stabilising a platform mounted underneath an airship. The end goal is to stabilise a camera for earth observation purposes. The development of the necessary electronics, sensors and actuators along with the hardware and software to interface these components are presented. This include DC drives, torque control systems for the gimbal motors and a speed control system for the gyroscope as well as platform angle and angular rate sensors. A mathematical model for the gyroscope, based on Euler's equations of motion, is presented. Non-linear simulations are performed and compared to measurements of the plant's behaviour to step torque commands to determine the parameters of the gyroscope. Pole placement and LQR optimal control methods are considered in the design of a MIMO controller to steer the platform in the elevation plane, along with a PI controller to steer the platform in the azimuth plane. Ground tests display the success of the steering controllers.

"Microelectromechanical systems (MEMS) are integrated mechanical and electrical devices that are fabricated with features micrometers in size. MEMS are used as chemical laboratories on a chip, actuators, sensors, etc. To increase their operational capability, various MEMS sensors are being integrated into sensor systems, whose functionality may not decrease when their size decreases. However, before more advancement can be made in the sensor systems, behavior of individual sensors must be better understood. Without the basic knowledge of how and why MEMS sensors react the way they do, it is impossible to determine how MEMS sensor systems will behave. Out of the many sensors that can be included in the system, a MEMS gyroscope was selected for consideration in this paper. More specifically, the effects that suspension has on the topography of the microgyroscopes were studied. In this thesis, the folded springs that support the MEMS gyroscopes were modeled using analytical and computational methods, whose results were verified using experimentation. The analytical results correlated well with the computational and experimental results. The analytical and computational results for the deformations of the cantilever compared within 0.1%. The differences between the analytical and experimental results were on the order of 10%. Knowledge gained from these studies will help in the development of a through methodology for modeling the microgyroscope. This methodology will facilitate insertion of the microgyroscopes into the sensor systems."

Thesis. 1976. M.S.--Massachusetts Institute of Technology. Dept. of Aeronautics and Astronautics. / MICROFICHE COPY AVAILABLE IN ARCHIVES AND AERONAUTICS. / Includes bibliographical references. / by David M. Stofko. / M.S.

This thesis proposes a motion sensing system for wheelchairs with the main objective of determining tips, falls and risky situations. The system relies on measurements from an Inertial Measurement Unit, (IMU), consisting of a 3-axis accelerometer and a 2-axis gyroscope as the source of information. The IMU was embedded in a portable device, the "Motion Logger", which collects motion data in a Secure Digital memory card after running a real time preprocessing algorithm. The algorithm was designed to reduce energy consumption and memory usage. Actual signal analysis and attitude estimation is carried out offline. The motion sensing system was developed for determining wheelchair-related falls as part of a major research effort carried out at the research center of the James A Haley VA Hospital Subject Safety Center, Tampa, Florida. The focus of the study concentrated on achieving a thorough understanding of the demographics, nature, consequences and the creation of prediction models for fall events. The main goal of the embedded system was to successfully estimate the motion variables relevant to the occurrence of falls, tips and similar risky situations. Currently, off-line smoothing techniques based on Kalman filter concepts allow for optimal estimation of angles in the longitudinal direction, roll, and in the lateral direction, pitch. Results from both predefined experiments with known outcomes and data collected from actual wheelchair users during pilot and final deployment stages are presented and discussed.

This study develops a discrete search-based optimization method for path planning in a highly nonlinear dynamical system. The method enables real-time trajectory improvement and singular configuration avoidance in satellite rotation using Control Moment Gyroscopes. By streamlining a legacy optimization method and combining it with a local singularity management scheme, this optimization method reduces the computational burden and advances the capability of satellites to make autonomous look-ahead decisions in real-time. Current optimization methods plan offline before uploading to the satellite and experience high sensitivity to disturbances. Local methods confer autonomy to the satellite but use only blind decision-making to avoid singularities. This thesis' method seeks near-optimal trajectories which balance between the optimal trajectories found using computationally intensive offline solvers and the minimal computational burden of non-optimal local solvers. The new method enables autonomous guidance capability for satellites using discretization and stage division to minimize the computational burden of real-time optimization.

The main purpose of this research is to investigate the effectiveness and feasibility of semi-active control systems for structural protection during severe earthquake loading. However, the research reported herein also involves analytical studies on the effect of adding viscous damping to the second and fourth quadrants of the force-displacement curve, and laboratory and field testing of a fibre-optic gyroscope (FOG) for measuring rotations in civil engineering structures. The concept of the 2-4 viscous damping is introduced to reduce the response of single-degree-of-freedom (SDOF) systems subjected to harmonic and earthquake excitations. This concept involves the addition of structural viscous damping to the second and fourth quadrants of the force-displacement graph. Time-history analyses and response spectra for various SDOF systems are carried out to assess the effect of adding 2-4 viscous damping. The analytical results indicate that the addition of 2-4 viscous damping is beneficial for reducing the harmonic and seismic response of a wide range of SDOF systems. A newly developed semi-active resettable device is proposed to reduce the seismic response of a one-fifth scale structure. The device is investigated as part of a resettable tendon system installed in the structure. Nonlinear dynamic analyses are performed to determine the optimal configuration of the resettable tendon in the structure. Several shake table tests are performed on the structure equipped with two resettable devices. The dynamic characteristics of the structure and the devices are described. Various earthquake records at different levels of intensity are used during the seismic testing. Different control laws are employed to manipulate the hysteretic behaviour of the devices. The results of the shake table tests validate the effectiveness of the resettable devices to reduce the seismic response of structures. Analytical studies are performed to determine the optimal utilization of the resettable devices in a twelve-storey reinforced concrete building. The seismic performance of the structure is discussed in relation to the number and distribution of the devices. Inelastic time-history analyses are carried out to assess the effectiveness of the devices to reduce the seismic response of the building. The impact of various tendon arrangements and different control laws on the earthquake response is investigated. Relevant issues for the implementation of the resettable devices in actual building systems are identified. Finally, a new measurement concept based on the use of the fibre-optic gyroscope is proposed to measure rotation rates, rotations, displacements and inter-storey drifts of civil engineering structures. FOGs are compact, easy to install and, unlike conventional linear potentiometers, do not require a fixed reference frame to operate. Measurements recorded during the seismic testing of the one-fifth scale structure and displacement measurements at the Sky Tower in Auckland validate the suitability of the FOGs for applications in civil engineering.

Ringlaser dienen dazu, durch genaue inertiale Messungen Rotationen ohne Bezug auf ein externes Referenzsystem lokal und praktisch in Echtzeit zu bestimmen. Sie wurden in den 1970er Jahren insbesondere für die Navigation von Flugzeugen entwickelt. In den letzten Jahrzehnten wurden Ringlaser dann so weit verbessert, dass sie nun auch als eigenständige Messinstrumente in der Geodäsie Verwendung finden. Aufgrund der erreichbaren Genauigkeit ist es inzwischen möglich, Variationen in der Erdrotation mit der dafür erforderlichen Präzision zu detektieren. Der stabilste unter den Ringlasern, der so genannte Ringlaser "G" der geodätischen Fundamentalstation Wettzell, erreicht eine Sensitivität von 1.2 x 10 -11 nrad. Damit ist dieses Instrument in der Lage, Neigungen von bis zu 1 nrad (dies entspricht einem Signal von 0.2 mas in der Polbewegung, in Änderung der Rotationsgeschwindigkeit der Erde) im täglichen und halb-täglichen Frequenzband zu messen. Motivation dieser Arbeit ist es, der in den letzten Jahren erreichten Verbesserung des Auflösungsvermögens und der Sensorstabilität Rechnung zu tragen und die für die Auswertung von Ringlaserdaten benutzten geophysikalischen Modelle weiter zu verbessern, um dadurch die variable Rotation der Erde noch präziser vermessen zu können. Die dafür relevanten Effekte werden in den einzelnen Kapiteln dieser Arbeit separat behandelt. Nach einer Einführung werden in Kapitel 2 dieser Arbeit drei lokale, topozentrische Koordinatensysteme konstruiert, mit welchen sich das zu beobachtende Sagnac-Signal eines Ringlasers in der ersten post-Newtonischen Näherung der Allgemeinen Relativitätstheorie adäquat beschrieben lässt. In Kapitel 3 wird ein verbessertes Modell für die Orientierung des Ringlasers, basierend auf Ergebnissen von Dehant et al. (1999), entwickelt. Ein in den bislang benutzten Modellen vernachlässigter Neigungsterm konnte dabei identifiziert werden. Ein Modell für die retrograde tägliche Polbewegung der Erde wird in Kapitel 4 entwickelt. Ausgehend von den dynamischen Gleichungen für eine starre Erde werden diese um elastische Effekte und Einflüsse der Mehrschichtigkeit der Erde ergänzt und die entsprechenden Euler-Liouvilleschen Gleichungen und Transfer-Funktionen abgeleitet. Gezeiteneinflüsse des Ozeans, speziell die dadurch hervorgerufene sub-tägliche Variation der Erdrotation und ozeanische Auflasteffekte, werden in Kapitel 5 behandelt. Es wird gezeigt, dass die ozeanischen Signale größer als 10 -9 Δf0 (Δf0 348 Hz für den Ringlaser "G") sind und damit in den Messdaten des Ringlasers "G" nachweisbar sein sollten. Auf Grundlage der in dieser Arbeit entwickelten Modelle wurde eine 168 Tage (30. April 17. Oktober 2010) umfassenden Datenreihe des Ringlasers "G" in Kapitel 6 ausgewertet. Für die Auswertung wurde die Software ETERNA 3.40 genutzt und entsprechend angepasst. Die tägliche retrograde Polbewegung konnte dabei mit einer Genauigkeit von 0.15 mas bestimmt werden. Diese Auswertung beweist ein weiteres Mal die Existenz eines flüssigen Erdkerns. Des weiteren konnte gezeigt werden, dass bestimmte Gezeitenparameter des halb-täglichen Frequenzbandes durch lokale Effekte beeinflusst werden. Lokal gemessene Luftdruckdaten wurden benutzt, um den Einfluss atmosphärischer Auflasteffekte auf den Ringlaser "G" zu untersuchen. Die Ergebnisse dieser Arbeit zeigen, dass sich für diese Effekte kein signifikanter Einfluss nachweisen lässt. Die Arbeit schließt mit einer Zusammenfassung der Resultate, einer Beschreibung der sich ergebenden Schlussfolgerungen und einem Ausblick auf zukünftige Arbeiten auf dem Gebiet der Ringlaseranalyse. / Ring laser gyroscopes measure inertial rotations locally and in real-time without the need for an external reference system. Initially, they were developed for aircraft navigation applications in the 1970s. With the improvement of ring laser technology during the last decades large ring laser gyroscopes (RLGs) are nowadays used as independent geodetic instruments. Due to the achievable accuracy more and more geophysical signals become observable in the data. The G-ring located at the Geodetic Observatory Wettzell is reckoned as the most stable one amongst the running large RLGs and reaches a sensitivity of 1.2 x 10 -11 nrad. Therefore, the instrument is able to detect a tilt signal of 1 nrad (equivalent to a signal of 0.2 mas in polar motion or 10 -9 Ω0 in variation of Earth rotation rate) in the diurnal and semi-diurnal band. This motivates us to improve previous geophysical models and estimate associated tilt and Earth rotation signals, which are the focuses of this Thesis. Firstly, we construct three local proper topocentric reference frames and interpret the Sagnac effect observed by large RLGs in the first post-Newtonian (PN) approximation of Einstein's theory of gravity. Secondly, in Chapter 3 we develop an improved orientation model for the Sagnac platform, based on the numerical results of Dehant et al. (1999). A missing tilt term in previous RLG tilt models is found. In Chapter 4, based on the Euler-Liouville equations or nutation transfer functions for a rigid Earth, a purely elastic Earth, a two-layered Earth and a three-layered Earth, five retrograde diurnal polar motion models are computed with the HW95 tidal potential catalogue. Thirdly, ocean tide effects (two aspects: effects on sub-daily variations of Earth rotation and loading effect on tilt) are considered in Chapter 5. We show that the Sagnac signals induced by ocean tides are larger than 10 -9 Δf0 (Δf0 348 Hz for the G-ring) and their influences are visible in the G-ring. Fourthly, based on the above-mentioned improved models and 168 days (from Apr.30 to Oct.17 in 2010) of G-ring data, in the diurnal band, we estimate the retrograde diurnal polar motion signal with an accuracy of 0.15 mas. The Earth tide software ETERNA 3.40 was adopted and modified to analyse this data. Our estimation provides one more evidence for the existence of the Earth's fluid outer core. Furthermore, we found that the tidal parameters for the G-ring are affected by the cavity and topographic effects in the semi-diurnal band. The local air pressure record is used in order to investigate the atmospheric loading effect on the G-ring by a simple regression model. Nevertheless, the preliminary result shows that no significant influence from atmospheric loading on our estimation is found. This Thesis closes with a summary of the obtained results, conclusions and suggestions how the analysis of ring laser data could be improved in future work.

Thesis (MTech (Electrical Engineering))--Cape Peninsula University of Technology, 2007 / Micro Electro-Machnical Systems (MEMS) applications are fastest development technology present. MEMS processes leverage mainstream IC technologies to achieve on chip sensor interface and signal processing circuitry, multi-vendor accessibility, short design cycles, more on-chip functions and low cost. MEMS fabrications are based on thin-film surface microstructures, bulk micromaching, and LIGA processes. This thesis centered on developing optical micromaching inertial sensors based on MEMS fabrication technology which incorporates bulk Si into microstructures. Micromachined inertial sensors, consisting of the accelerometers and gyroscopes, are one of the most important types of silicon-based sensors. Microaccelerometers alone have the second largest sales volume after pressure sensors, and it is believed that gyroscopes will soon be mass produced at the similar volumes occupied by traditional gyroscopes. A traditional gyroscope is a device for measuring or maintaining orientation, based on the principle of conservation of angular momentum. The essence of the gyroscope machine is a spinning wheel on an axle. The device, once spinning, tends to resist changes to its orientation due to the angular momentum of the wheel. In physics this phenomenon is also known as gyroscopic inertia or rigidity in space. The applications are limited by the huge volume. MEMS Gyroscopes, which are using the MEMS fabrication technology to minimize the size of gyroscope systems, are of great importance in commercial, medical, automotive and military fields. They can be used in cars for ASS systems, for anti-roll devices and for navigation in tall buildings areas where the GPS system might fail. They can also be used for the navigation of robots in tunnels or pipings, for leading capsules containing medicines or diagnostic equipment in the human body, or as 3-D computer mice. The MEMS gyroscope chips are limited by high precision measurement because of the unprecision electrical readout system. The market is in need for highly accurate, high-G-sustainable inertial measuring units (IMU's). The approach optical sensors have been around for a while now and because of the performance, the mall volume, the simplicity has been popular. However the production cost of optical applications is not satisfaction with consumer. Therefore, the MEMS fabrication technology makes the possibility for the low cost and micro optical devices like light sources, the waveguide, the high thin fiber optical, the micro photodetector, and vary demodulation measurement methods. Optic sensors may be defined as a means through which a measurand interacts with light guided in an optical fiber (an intrinsic sensor) or guided to (and returned from) an interaction region (an extrinsic sensor) by an optical fiber to produce an optical signal related to the parameter of interest. During its over 30 years of history, fiber optic sensor technology has been successfully applied by laboratories and industries worldwide in the detection of a large number of mechanical, thermal, electromagnetic, radiation, chemical, motion, flow and turbulence of fluids, and biomedical parameters. The fiber optic sensors provided advantages over conventional electronic sensors, of survivability in harsh environments, immunity to Electro Magnetic Interference (EMI), light weight, small size, compatibility with optical fiber communication systems, high sensitivity for many measurands, and good potential of multiplexing. In general, the transducers used in these fiber optic sensor systems are either an intensity-modulator or a phase-modulator. The optical interferometers, such as Mach-Zehnder, Michelson, Sagnac and Fabry-Perot interferometers, have become widely accepted as a phase modulator in optical sensors for the ultimate sensitivity to a range of weak signals. According to the light source being used, the interferometric sensors can be simply classified as either a coherence interferometric sensor if a the interferometer is interrogated by a coherent light source, such as a laser or a monochromatic light, or a lowcoherence interferometric sensor when a broadband source a light emitting diode (LED) or a superluminescent diode (SLD), is used. This thesis proposed a novel micro electro-mechanical gyroscope system with optical interferometer readout system and fabricated by MEMS technology, which is an original contribution in design and research on micro opto-electro-mechanical gyroscope systems (MOEMS) to provide the better performances than the current MEMS gyroscope. Fiber optical interferometric sensors have been proved more sensitive, precision than other electrical counterparts at the measurement micro distance. The MOMES gyroscope system design is based on the existing successful MEMS vibratory gyroscope and micro fiber optical interferometer distances sensor, which avoid large size, heavy weight and complex fabrication processes comparing with fiber optical gyroscope using Sagnac effect. The research starts from the fiber optical gyroscope based on Sagnac effect and existing MEMS gyroscopes, then moving to the novel design about MOEMS gyroscope system to discuss the operation principles and the structures. In this thesis, the operation principles, mathematics models and performances simulation of the MOEMS gyroscope are introduced, and the suitable MEMS fabrication processes will be discussed and presented. The first prototype model will be sent and fabricated by the manufacture for the further real time performance testing. There are a lot of inventions, further research and optimize around this novel MOEMS gyroscope chip. In future studying, the research will be putted on integration three axis Gyroscopes in one micro structure by optical sensor multiplexing principles, and the new optical devices like more powerful light source, photosensitive materials etc., and new demodulation processes, which can improve the performance and the interface to co-operate with other inertial sensors and navigation system.