An error model for a solid-state gyroscope developed in previous work is included in a Kalman filter for improving the orientation estimate of a mobile robot. Orientation measurement with the error model is compared to the performance when no error model is incorporated in the system. The results demonstrate that without error compensation, the error in localization is between 5-15"/min but can...

in this paper, an adaptive neuro fuzzy inference system (anfis) based control is proposed for the tracking of a micro-electro mechanical systems (mems) gyroscope sensor. the anfis is used to train parameters of the controller for tracking a desired trajectory. numerical simulations for a mems gyroscope are looked into to check the effectiveness of the anfis control scheme. it proves that the sy...

This paper presents results from the experimental evaluation of a state-of-the-art fiber-optics gyroscope. The purpose of our experiments was to evaluate the suitability of this gyroscope for enhancing dead-reckoning in mobile robots. The evaluated gyroscope was the “Autogyro Navigator” made by Andrews. For a 4×4 m square path the dead-reckoning error when using this gyro was less than ±1.2° in...

The need for accurate and reliable navigation techniques for micro air vehicles plays an important part in enabling autonomous operation. Traditional navigation systems typically rely on periodic GPS updates and provide little benefit when operating indoors or in other similarly shielded environments. Moreover, direct integration of the onboard inertial measurement unit (IMU) data stream often ...

We report our progress on the development of thermal calibration and stabilization for silicon MEMS gyroscopes with high quality (Q) factors. The temperature-induced drifts of most MEMS limit their potential applications in realworld missions. To address this limitation, we investigated a long-term bias drift compensation algorithm using the silicon MEMS quadruple mass gyroscope (QMG) with sign...

Gravity and quantum mechanics are expected to unify at the Planck scale described by an exceedingly large energy of 10 GeV. This regime is far from the reach of the highest energy colliders, but tests of fundamental symmetries provide an avenue to explore physics at this scale from the low energy world. Proposed theories of quantum gravity suggest possible spontaneous breaking of Lorentz and CP...

This paper is an overview of current gyroscopes and their roles based on their applications. The considered gyroscopes include mechanical gyroscopes and optical gyroscopes at macro- and micro-scale. Particularly, gyroscope technologies commercially available, such as Mechanical Gyroscopes, silicon MEMS Gyroscopes, Ring Laser Gyroscopes (RLGs) and Fiber-Optic Gyroscopes (FOGs), are discussed. Th...

objective: the self-compassion scale (scs) which originally developed by neff (2003a) is based on the assumption that the self-compassion comprised by self-kindness/self-judgment, common humanity/perceived isolation, and mindfulness/over-identification. this research was aimed to confirm the six-factor structure of scs. methods: 265 university students entered the research to assess the psychom...

This paper provides a comprehensive derivation for thermoelastic damping (TED) in flexural-mode ring gyroscopes, in light of recent efforts to design high rateresolution gyroscopes. Imposing an upper limit on the attainable mechanical noise floor of a vibratory gyroscope, thermoelastic damping in a ring gyroscope is extracted from the equations of linear thermoelasticity. By assuming that it is...

There are several application areas where the simultaneous measurement of rates of rotation about three mutually orthogonal axes is required. In this paper the principle features of a 3-axis vibrating ring gyroscope are described. The fabrication process for the gyroscope is presented and employs standard MEMS techniques. The modal properties for the ring are measured experimentally using laser...