No description available.

Electrical components constantly being scaled down in size allows for small, inexpensive sensors to be placed on or around the human body for motion sensing applications. In addition, the merging of textiles with electrical components, known as electronic textiles (e-textiles), allows for these sensors to be placed directly on a wearable fabric. Simulation allows for extensive application testing and verification before prototype development. This thesis presents a simulation environment for motion sensing E-textiles. Specifically, this environment incorporates motion capture position data to simulate a rate sensing gyroscope and a dual-axis accelerometer. In addition, this simulation environment is applied to the field of gait analysis, which is the process of quantification and interpretation of a person's stride, to calculate a subject's step length. / Master of Science

Design and analysis of polysilicon and single crystal silicon gyroscopes have been carried out. Variations in suspension design have been explored. Designs that utilize in-plane and out-of-plane sensing are studied. Damping plays an important role in determining the sense response. Reduction in damping directly affects sensor performance. The various damping mechanisms that are prevalent in gyroscopes are studied. Perforations on the proof mass are observed to significantly reduce the damping in the device when operated in air. The effects of perforation geometry and density have been analyzed. The analysis results show that there is a two orders of magnitude reduction in damping of thick gyroscope structures with optimized perforation design. Equivalent circuit lumped parameter models have been developed to analyze gyroscope performance. The simulation results of these models have been compared with results obtained from SABER, a MEMS specific system level design tool from Coventorware. The lumped parameter models are observed to produce faster simulation results with an accuracy comparable to that of Coventorware Three gyroscopes specific to the PolyMUMPS fabrication process have been designed and their performance analyzed. Two of the designs sense motion out-of-plane and the other senses motion in-plane. Results of the simulation show that for a given damping, the gyro design with in-plane modes gives a resolution of 4º/s. The out-of-plane gyroscopes have two variations in suspension. The hammock suspension resolves a rate of 25º/s in a 200 Hz bandwidth while the design with folded beam suspension resolves a rate of 2º/s in a 12 Hz bandwidth. A single crystal silicon in-plane gyroscope has been designed with vertical electrodes to sense Coriolis motion. This design gives an order of magnitude higher Capacitance change for a given rotation in comparison to conventional comb-finger design. The effects of process induced residual stress on the characteristic frequencies of the polysilicon gyroscopes are also studied. The in-plane gyroscope is found to be robust to stress variations. Analysis results indicate that the tuning fork gyroscope with the hammock suspension is the most susceptible to compressive residual stress, with a significant drop in sensitivity at high stress values.

This thesis presents a study of two aspects of ring laser gyroscopes: Correction of systematic errors due to optical backscatter, and development of solid-state ring laser gyroscopes. Backscatter at the optical surfaces of ring laser gyroscopes causes systematic measurement errors. These errors were modelled and corrected for in large ring lasers. The model included backscattering, hole burning and dispersion in the gain medium. The model predictions were used in conjunction with measurements of the intensity modulation of each beam and the phase difference between these modulation to correct the measured Sagnac frequency of the large ring lasers, PR-1 and G-0. Dramatic improvements in the sensitivity of both lasers were achieved. Most current laser gyroscopes use He-Ne plasma as the gain medium. This makes the devices fragile, the plasma creates UV light that degrades the cavity mirrors and the gas itself degrades over time. As a alternative, solid state materials might be used as the gain medium for the gyroscope. Both neodymium doped and erbium ytterbium co-doped phosphate glass lasers were constructed. Initially linear cavity designs were constructed to test the suitability of the gain media. Both laser systems employed longitudinal laser diode pumping. Thirty six perimeter ring lasers were then developed using both gain media. In both cases successful rotation sensing was achieved on a turntable which provided external rotation. For rotation rates between 0.1 and 0.85 rad/s, the gyroscope built using Er-Yb and Nd phosphate glass are superior to Nd:YAG (the only other material known to have been used in a continuous wave solid state gyroscope). This improvement is due to the use of thin heavily doped gain medium, which decreases the detrimental effect caused by gain gratings.

The objective of this research dissertation is to design and implement two novel micromachined silicon vibratory gyroscopes, which attempt to incorporate all the necessary attributes of sub-deg/hr noise performance requirements in a single framework: large resonant mass, high drive-mode oscillation amplitudes, large device capacitance (coupled with optimized electronics), and high-Q resonant mode-matched operation. Mode-matching leverages the high-Q (mechanical gain) of the operating modes of the gyroscope and offers significant improvements in mechanical and electronic noise floor, sensitivity, and bias stability. The first micromachined silicon vibratory gyroscope presented in this work is the resonating star gyroscope (RSG): a novel Class-II shell-type structure which utilizes degenerate flexural modes. After an iterative cycle of design optimization, an RSG prototype was implemented using a multiple-shell approach on (111) SOI substrate. Experimental data indicates sub-5 deg/hr Allan deviation bias instability operating under a mode-matched operating Q of 30,000 at 23ºC (in vacuum). The second micromachined silicon vibratory gyroscope presented in this work is the mode-matched tuning fork gyroscope (M2-TFG): a novel Class-I tuning fork structure which utilizes in-plane non-degenerate resonant flexural modes. Operated under vacuum, the M2-TFG represents the first reported high-Q perfectly mode-matched operation in Class-I vibratory microgyroscope. Experimental results of device implemented on (100) SOI substrate demonstrates sub-deg/hr Allan deviation bias instability operating under a mode-matched operating Q of 50,000 at 23ºC. In an effort to increase capacitive aspect ratio, a new fabrication technology was developed that involved the selective deposition of doped-polysilicon inside the capacitive sensing gaps (SPD Process). By preserving the structural composition integrity of the flexural springs, it is possible to accurately predict the operating-mode frequencies while maintaining high-Q operation. Preliminary characterization of vacuum-packaged prototypes was performed. Initial results demonstrated high-Q mode-matched operation, excellent thermal stability, and sub-deg/hr Allan variance bias instability.

Thesis (MScEng (Mechanical and Mechatronic Engineering))--University of Stellenbosch, 2010. / ENGLISH ABSTRACT: This thesis deals with the mathematical optimization of the detecting chamber of a thermal convective microfluidic gyroscope and the comparison of several different optimization strategies. An analytical model is developed for the gyroscope and some design considerations are discussed. Sequential approximate optimization strategies are explained and compared to each other by implementing test problems fromthe literature. The optimization problem is formulated from the analytical model and implemented using the different optimization strategies. Results are presented and compared to find the most effective optimization strategy. A sequential approximate optimization algorithm is implemented in MATLAB and tested using the gyroscope design problem and common test problems from the literature. Results and iteration history are compared with an existing FORTRAN implementation. / AFRIKAANSE OPSOMMING: Hierdie tesis handel oor die wiskundige optimering van die deteksiekamer van n termies-konvektiewe mikrovloeier giroskoop en die vergelyking van verskeie optimeringsstrategieë. ’n Analitiese model is opgestel vir die giroskoop en verskeie ontwerpsoorwegings word bespreek. Sekwensiëel benaderde optimeringsstrategieë word bespreek en met mekaar vergelyk, deur dit op toetsprobleme uit die literatuur toe te pas. Die optimeringsprobleem is geformuleer uit die analitiese model en geimplementeer deur gebruik te maak van verskeie optimeringsstrategieë. Resultate word getoon en vergelyk, omdie mees effektiewe optimeringsstrategie te vind. ’n Algoritme vir sekwensiëel benaderde optimeringsprobleme is inMATLAB geimplementeer. Die giroskoop probleem, asook probleme uit die literatuur, is gebruik om resultate en iterasie geskiedenis te vergelyk met ’n bestaande FORTRAN implementasie.

MEMS gyroscopes have become an essential component in consumer, industrial and automotive applications, owing to their small form factor and low production cost. However, their poor stability, also known as drift, has hindered their penetration into high-end tactical and navigation applications, where highly stable bias and scale factor are required over long period of time to avoid significant positioning error. Improving the long-term stability of MEMS gyroscopes has created new challenges in both the physical sensor design and fabrication, as well as the system architecture used for interfacing with the physical sensor. The objective of this research is to develop interface circuits and systems for in-situ control and self-calibration of MEMS resonators and resonant gyroscopes to enhance the stability of bias and scale factor without the need for any mechanical rotary stage, or expensive bulky lab characterization equipment. The self-calibration techniques developed in this work provide 1-2 orders of magnitude improvement in the drift of bias and scale factor of a resonant gyroscope over temperature and time.

No description available.

The accurate determination of spacecraft attitude has always been a critical issue in many applications. The presence of imperfect sensors introduces errors in the system and affects the outcome of the mission. One of the most significant sensors is the rate gyroscope. Particularly, the rate gyros are known to degrade with time, introducing random noise and bias. This calls for estimation algorithms which process the measured data in order to reduce the effects of the disturbances to a minimum. This research presents an approach which takes full advantage on the nonlinear dynamics and possibly non-Gaussian disturbances. It is based on recent work involving particle filters, where the probability density functions are approximated by a relatively large number of parameters. It is shown that accurate attitude estimation can be obtained with a manageable number of particles.

The ARIES Unmanned Underwater Vehicle (UUV) currently uses an Inertial Measurement Unit (IMU) with an inherent rotation rate error bias of 10 degrees/hour. Then need for a more accurate IMU for long term missions has led to the purchase of the Honeywell HG1700 IMU. The HG1700 is a ring laser gyroscope designed specifically as part of the navigation software in multiple U.S. missiles. The objective of this research is to perform numerous bench tests on the HG1700 to test its capabilities and to begin the process of implementing the IMU into the ARIES unmanned underwater vehicle. Specifically, the IMU is tested for correct setup configurations, angle of rotation accuracies, the rotation rate error bias, and positional accuracies. Also, guidelines for integrating the IMU with the current software in the ARIES vehicle are discussed.