For a launch vehicle, the Navigation System is responsible for determining the vehicle state and providing state and state derived information for Guidance and Controls. The accuracy required of the Navigation System by the vehicle is dependent upon the vehicle, vehicle mission, and other consideration, such as impact foot print. NASAs Ares I launch vehicle and SLS are examples of launch vehicles with are/where to employ inertial navigation systems. For an inertial navigation system, the navigation system accuracy is defined by the inertial instrument errors to a degree determined by the method of estimating the initial navigation state. Utilization of GPS aiding greatly reduces the accuracy required in inertial hardware to meet the same accuracy at orbit insertion. For a launch vehicle with lunar bound payload, the navigation accuracy can have large implications on propellant required to correct for state errors during trans-lunar injection.

This report documents the development of the Subwave, a remotely-operated underwater vehicle (ROV), and an artificial neural network based inertial positioning system. The Subwave uses the open-source ArduSub software framework, commercial-off-the-shelf hardware components, and several custom systems. It is designed as a platform for researching autonomous underwater vehicles (AUVs). The first step for an AUV is navigating waypoints, which requires the AUV to know its global position. Since global navigation satellite systems (GNSSs) are denied underwater, the available underwater positioning systems were surveyed and determined that all the available systems were too large and expensive for the Subwave. It was also discovered that the only consistent underwater positioning method was inertial positioning. So, experimentation began on a small, low-cost system that employs an artificial neural network to predict latitude and longitude using micro-electromechanical system (MEMS) inertial measurement unit (IMU) data as inputs, which would become the Neural-Inertial Positioning System.

Yes / The mechanical output at the ankle provides key contribution to everyday activities, particularly step/stair ascent and descent. Age-related decline in ankle functioning can lead to an increased risk of falls on steps and stairs. The rising up-on-the-toes (UTT) 30-second test (UTT-30) is used in the clinical assessment of ankle muscle strength/function and endurance; the main outcome being how many repetitive UTT movements are completed. This preliminary study describes how inertial measurement units (IMUs) can be used to assess the UTT-30. Twenty adults (26.2 ± 7.7 years) performed a UTT-30 at a comfortable speed, with IMUs attached to the dorsal aspect of each foot. Use of IMUs’ angular velocity signal to detect the peak plantarflexion angular velocity (p-fAngVelpeak) associated with each repeated UTT movement indicated the number of UTT movements attempted by each participant. Any UTT movements that were performed with a p-fAngVelpeak 2SD below the mean were deemed to have not been completed over a sufficiently ‘full’ range. Findings highlight that use of IMUs can provide valid assessment of the UTT 30-second test. Their use detected the same number of attempted UTT movements as that observed by a researcher (average difference, -0.1 CI, -0.2 – 0.1), and on average 97.6 ± 3.1% of these movements were deemed to have been completed ‘fully’. We discuss the limitations of our approach for identifying the movements not completed fully, and how assessing the consistency in the magnitude of the repeated p-fAngVelpeak could be undertaken and what this would indicate about UTT-30 performance.

A major method in object tracking systems and other inertial measurement devices resolves around the use of one, two, or three axis accelerometers. A leader in the field such devices is Microstrain Incorporated. They have developed a three axis accelerometer that uses a three axis magnetic sensor array to compute the pitch, roll, and yaw of a compact inertial measurement unit. In researching such devices, it became apparent that data collected using such units is extremely sensitive both to local magnetic fields and human interactions with the devices. It is therefore of great importance to ensure the device or devices are properly calibrated. In the construction of an effective calibration program, it is necessary to measure and zero out even minor discrepancies, as even small misalignments have deleterious effects on device performance.

The intent of this thesis is to simulate the effect of a background magnetic field on Rayleigh-Taylor (RT) instability morphology and evolution in support of a Discovery Science campaign at the National Ignition Facility. The RT instability is relevant in High Energy Density (HED) systems including supernova remnants such as the Crab Nebula and inertial fusion confinement (ICF). Magnetic fields affect RT evolution and can suppress small-scale fluid motion. Thus far no experimental work has quantified the effect of a B-field on RT evolution morphology. RT evolution under a B-field was examined in three-dimensional magnetohydrodynamic (MHD) simulations using the hydrocode ARES, developed by Lawrence Livermore National Laboratory. The parameter space of the experiment is explored to determine the parameters that yield a visible effect on RT evolution. The effect of resistive MHD and conductivity is examined to further establish the desired parameter space to observe the suppression of RT morphology.

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We present the design and analysis of a new type of MEMS inertia switch with a tunable threshold, which can passively sense angular acceleration. The designs have a big proof mass for inducing rotation due to the angular impacts and also flexible cantilever beams to tune the acceleration threshold. The proposed designs were simulated using COMSOL Multiphysics, analytically modeled, and numerically integrated using MATLAB. The results showed that the acceleration can be tuned from 0 rad/s$^2$ to 65,000 rad/s$^2$ based on the used electrostatic voltage. The designs experience less than 10% overshot for shock durations higher than 20 ms. The rise time was less than 10 ms for all designs when the applied shock duration was less than 30 ms. The designs’ tunabilities were studied and characteristic angular acceleration versus tuning voltage graphs were developed for each design. The tuning voltage varied between the designs where the maximum pull-in voltage was 179 V in Design 2 and the minimum pull-in voltage was 59 V in Design 4.