Cette thèse a pour objet de repousser les performances d'un interféromètre à atomes froids principalement sensible aux rotations selon un axe particulier. Des atomes de Cesium sont refroidis par laser, piégés, et lancés verticalement selon une configuration en fontaine. La sensibilité du gyromètre repose sur l'effet Sagnac et est proportionnelle à l'aire physique qu'entourent les deux bras de l'interféromètre. Nous utilisons des transitions Raman stimulées pour séparer les ondes atomiques et former une géométrie d'interféromètre de type Mach-Zehnder replié. Avec un temps d'interrogation de 800 ms, nous parvenons à une aire physique de 11 cm^2. Le manuscrit décrit les améliorations apportées au dispositif expérimental pour faire fonctionner le gyromètre avec une telle aire Sagnac. Une procédure d'alignement relatif des faisceaux Raman au niveau du microrad est présentée et est particulièrement importante pour permettre aux ondes de matière d'interférer. La caractérisation des bruits de vibration impactant la sensibilité du gyromètre, ainsi que sa réjection sont également décrites. Nous démontrons une sensibilité de 160 nrad/s à 1 s, et une stabilité long terme de 1.8 nrad/s après 10 000 s d'intégration. Ce niveau de stabilité représente une amélioration d'un facteur 5 par rapport à la précédente expérience de gyromètre du SYRTE de 2009, et d'un facteur 15 par rapport aux autres résultats publiés. Cette thèse présente également une nouvelle méthode d'interrogation des atomes pour opérer le gyromètre sans temps morts, un aspect important pour diverses applications des capteurs à atomes froids en navigation inertielle, en géophysique et en physique fondamentale. / This thesis aims at pushing the performances of a cold atom interferometer principally sensitive to rates of rotation in a particular axis. In our experiment, Cesium atoms are laser cooled, trapped and launched in a fountain configuration. According to the Sagnac effect, the sensitivity of the interferometer to rotation is proportional to the area enclosed by the interferometer arms. We use stimulated Raman transitions to split the atoms in two paths and to form a folded Mach-Zehnder-like interferometer architecture using four Raman pulses. With an interrogation time of the atoms of 800 ms, we achieve a Sagnac area as high as 11 cm^2. The thesis describes the improvements to the experimental setup to operate the gyroscope with such a high Sagnac area. A procedure for the relative alignment of the Raman beams at the microrad level is presented, which is critical to meet the interference condition of the cold atoms at the interferometer output. The characterization and mitigation of the vibration noise, affecting the gyroscope, is also demonstrated. We finally demonstrate a short term rotation stability of 160 nrad/s at 1 s and a long term stability of 1.8 nrad/s after 10 000 s of integration time. This stability level represents a factor 5 improvement compared to the previous SYRTE gyroscope experiment of 2009 and a factor 15 compared to other published results. The thesis work also presents a new method of interrogation to operate the gyroscope without dead times, which is important for various applications of cold atom sensors in inertial navigation, geophysics and in fundamental physics.

Orientador: Fabiano Fruett / Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Elétrica e de Computação / Made available in DSpace on 2018-08-14T11:02:09Z (GMT). No. of bitstreams: 1 HenaoRoa_YullHeilordt_M.pdf: 7869452 bytes, checksum: 6eb77ade8ee7633b4c0a686b201bd6a7 (MD5) Previous issue date: 2009 / Resumo: Apesar de existirem várias ferramentas tecnológicas para o auxílio do treinamento esportivo, a maioria delas são soluções de alto custo e geralmente específicas para um esporte em particular, o que dificulta a difusão de tais tecnologias no país. Este trabalho propõe o desenvolvimento de um protótipo eletrônico microcontrolado de baixo custo, baseado no uso de sensores microeletromecânicos (MEMs) de aceleração e rotação que permitam obter informações biomecânicas do esportista e monitorá-lo durante o treinamento, e de maneira não invasiva sem que ele tenha que sair do ambiente natural de sua atividade. O sistema envia as informações dos sensores via RF para serem processadas no computador através de um programa de interface intuitivo e de fácil operação desenvolvido no LabVIEWr. Esta interface salva e apresenta os dados em forma de gráficos em tempo real. Os testes de campo foram feitos em bicicleta estacionária e no velódromo de Americana com a colaboração do Laboratório de Instrumentação para Biomecânica (LIB) da Faculdade de Educação Física (FEF) da UNICAMP. O protótipo é de fácil fixação no atleta e permite o monitoramento no local de treinamento, com um alcance máximo de transmissão de 70 m, com resultados muito satisfatórios quanto a aquisição dos dados, sendo ainda pequeno (37x49x20 mm) e leve (40 g). Tornando-o uma alternativa versátil para o auxílio de atletas e treinadores durante o treinamento, aperfeiçoamento da técnica e como ferramenta de auxílio na pesquisa na área de educação física. / Abstract: Although there are several technological tools to aid the training in sports, most of them are high cost solutions and generally very specific to a particular sport, which hinders the diffusion of such technologies. This paper proposes the development of a low cost non-invasive microcontroller Sport ActivitiesMonitoring System (SAMS) prototype, based on acceleration and rotation microelectromechanical sensors (MEMs) for obtaining biomechanical data during training in athletes, without leave the natural environment of their activities. The sensors signals are wireless transmitted from the SAMS to the computer in order to process the data, by an easy and intuitive program interface developed in LabVIEWr. This software saves and displays real time data information in a graphic form. The field tests were made by stationary bike in the laboratory of Instrumentation for Biomechanics, at the Faculty of Physical Education in the Campinas University (UNICAMP) in Brazil, and in a cycle track in Americana city. This prototype is easy to attach to the athlete and allows the training monitoring, with a maximum transmission range of 70 m, with very satisfactory data acquisition results, although small size (37x49x20 mm) and lightweight (40 g). Making it a versatile alternative to aid athletes and coaches during the training, allowing technique refinement. This system is also a suitable tool for physical education research area. / Mestrado / Eletrônica, Microeletrônica e Optoeletrônica / Mestre em Engenharia Elétrica

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.

A literature review was done to find that there are still issues with writing passwords. From the information gathered, it is stated that using keystroke characteristics could have the potential to add another layer of security to compromised user accounts. The world has become more and more connected and the amount of people who store personal information online or on their phones has steadily increased. In this thesis, a solution is proposed and evaluated to make authentication safer and less intrusive. Less intrusive in this case means that it does not require cooperation from the user, it just needs to capture data from the user in the background. As authentication methods such as fingerprint scanning and facial recognition are becoming more popular this work is investigating if there are any other biometric features for user authentication.Employing Artificial Intelligence, extra sensor metrics and Machine Learning models with the user's typing characteristics could be used to uniquely identify users. In this context the Neural Network and Support Vector Machine algorithms have been examined, alongside the gyroscope and the touchscreen sensors. To test the proposed method, an application has been built to capture typing characteristics for the models to train on. In this thesis, 10 test subjects were chosen to type a password multiple times so that they would generate the data. After the data was gathered and pre-processed an analysis was conducted and sent to train the Machine Learning models. This work's proposed solution and presented data serve as a proof of concept that there are additional sensors that could be used to authenticate users, namely the gyroscope. Capturing typing characteristics of users, our solution managed to achieve a 97.7% accuracy using Support Vector Machines in authenticating users.

The main aim of this thesis is to design and build automatic calibration system for inertial measurement sensors. The calibration system is intended to support the development of devices with inertial measurement sensors. The great emphasis is placed on the configurability of system and for this reason all calculations are realized by Matlab system, which is well known by engineers. There is also presented design of inertial measurement unit, which is used as a~model sensor unit for calibration system development.

Within this Master’s thesis, design and construction of a strapdown inertial navigation system based on MEMS sensors is described. The thesis includes theoretic analysis of physics behind determining the position of an object based on the object’s aceleration and changes in the object’s orientation in space. Included is also an overview of mathematical methods related to the position calculation.

The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.

In today’s society, approximately half of the world population utilize their smart phone for their everyday tasks as handling scheduled events, financial inquires and general social life, according to Ash Turner’s statistical study on the topic. They have been an amazing tool for helping people handle these tasks easily, conveniently and swiftly, all at the palm of our hand. This also includes traveling and navigation. Even for traveling by foot, smartphones possess features that makes it a flexible option. As such, navigation apps have been of heavy use. They do have some problems, such as lacking information of more recent paths or smaller known areas that have not been added to the database. Hence, Neava AB had an interest in exploring this field and find a solution using Augmented Reality (AR). This thesis will document the process, from the creation of the development plan, to the development process, the final result and discussion. It will also showcase other applications of the AR technology in similar and completely different fields, along with future potential usage. The final prototype is a small program that allows the user to guided from a start position to a destination with visual aid in terms of an arrow that points the user towards the destination. It guides the user to a certain checkpoint between the two points. When the user has reached the checkpoint, they press the button on the screen to be guided to the next checkpoint with audio in the form of a audio clip informing which direction to turn. This is repeated until the destination is reached. At that point, pressing the button again will bring out text. The current text is dummy text currently, but is meant to contain information about the destination in the final build. This thesis will also analyse the reliability of the GPS and Gyroscope components within a smartphone by request of the examiner. This test is done by walking from a starting position towards a set location while recording the current coordinates and time since departure. These values are recorded in a text file. The program is then terminated and the process repeats itself back to the starting position. The data will then be visualised analysed to determine the stability. In the end, the prototype showed promise in becoming a commercial product with more development time. There were many features that did not make into the prototype such as a virtual trail for improved visual guidance and have voicelines and checkpoints change automatically. The GPS tests showed great promise in reliability and stability, showcasing small deviation which could be attributed to other factors than the component itself. The gyroscope was a bit less reliable, but that can be addressed in software. / I dagens samhälle, använder sig ungefär hälften av världens befolkning av smarttelefoner för att sin vardagliga åtgärder. Detta kan inkludera hantering av schemalagda åtgärder, finansiella behov och fritidslivet, enligt Ash Turner’s statistiska forskning. Smarttelefoner har blivit ett praktiskt modell för att hantera dessa ˚åtgärder enkelt, lämpligt och snabbt. Detta inkluderar även resa och navigering. När man även reser till fots, är smarttelefoner ett mer praktiskt val för navigeringsmedel än traditionella kartor. PA grund av detta, har navigeringsappar sett stor användning. Dock är de inte utan sina nackdelar, speciellt i mindre kända områden. Neava AB har haft ett intresse att undersöka detta fall och skapa en lösning till problemet. Därför önskade de en prototyp för smarttelefoner som använder sig av Augmented Reality(AR). Denna rapport dokumenterar hela processen, från skapandet av utvecklingsplanen till utvecklingsprocessen, slutresultatet och diskussion. Rapporten kommer även visa gå igenom tidigare tillämpningar av AR i olika industrier och framtida tillämpningar. Slutprototypen blev ett litet program som låter användaren bli vägled från Punkt A till Punkt B med både en pil och ljusröd. Mellan dessa punkter finns det mellanpunkter som kopplar Punkt A till Punkt B. Användaren börjar med att bli vägled till den första mellanpunkten. När den har nåtts så trycker man på knappen och då vägleds man till nästa mellanpunkt, med pilen riktad åt den och ljudklipp som säger vilken riktning man ska ta. Denna process upprepas tills man har kommit till punkt B, då man trycker på knappen och textinformation dyker upp på skärmen. Rapporten kommer också undersöka pålitligheten hos GPS och gyroskop komponenten inom en smarttelefon. Undersökningen kommer att genomföras genom ett test då programmet startas och telefon är tagen från startposition, genom en specifik rutt, till en destination. Under tiden man rör sig mot destination, sparas tid och nuvarande koordinater varje sekund i en textfil. När man har nått destinationen, termineras programmet, åter-uppstartas och man rör tillbaks till startpositionen, samma process. All data från textfilen sedan visualieras och analyseras. Prototypen har en bra chans att bli en kommersiell produkt om det byggs på vidare. Det fanns flera funktioner och idéer som kunde inte implementeras i prototypen på grund av tid. Några av dessa funktioner var bättre visuell vägledning (rita en virtuell linje går från användaren till den kommande mellanpunkten). En annan idéer var att låta ljudspelningar och mål byta automatiskt när man når en mellanpunkt, istället för att användaren måste göra det manuellt. Resultatet från testerna för GPSen visar att den är stabil och pålitlig när de inte är påverkade av andra faktorer. Gyroskopen visade sig vara mindre pålitlig, men det kan lösa mig hjälp av mjukvara som rättar till den.

This study investigates if a smartphones orientation in the pocket affects the result of a decision tree model trained with data from personal falls, and also how a low-pass filter affects these results. A comparison is made between the results gathered from this study, compared to previous studies and products within the field. The data was gathered using a smartphone application and was later split up to get datasets for all the different orientations of the smartphone. Before training the models, the data was processed through a low pass filter. Results showed that low pass filtered signals generally performed better and that two of the trained models, could outscore at least one other algorithm cited in this thesis in at least one category. However, existing products on the market that were investigated do not disclose their statistics and a comparison to these products could not be made. The best two orientations for the phone to be placed in the pocket was when the face of the phone was pointing out from the leg, and top of the phone was pointing up and also when the face of the phone was pointing out from the leg, and the top of the phone was pointing down.

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.