scholarly journals Design and Implementation of a 3-Dimensional Attitudes Estimator Device using Low Cost Accelerometer & Gyroscope with Microcontroller IDE

2020 ◽  
Vol 12 (2) ◽  
pp. 151-161
Author(s):  
M. RAJA ◽  
Ugur GUVEN ◽  
Kartikay SINGH
Keyword(s):  
Dimensional Space ◽  
Low Cost ◽  
Three Dimensional ◽  
3 Dimensional ◽  
Aerospace Applications ◽  
Vector Quantity ◽  
Measurement Units ◽  
Fixed Axis ◽  
The Stability ◽  
Three Dimensional Space

Navigation and guidance systems for most automobile as well as aerospace applications require a coupled chip setup known as Inertial Measurement Units (IMU) which, depending on the degree of freedoms, contains a Gyroscope (for maintaining orientation and angular velocity), Accelerometers (to determine acceleration in the respective direction) and a Magnetometer (to determine the respective magnetic fields). In the three-dimensional space, any required rotation analysis is limited to the coordinate systems and all subtended angles in either direction must be defined by a fixed axis to effectively estimate the stability and to define all the attitude estimates needed to compile different rotations and orientations. The Quaternions are mathematical notations used for defining rotations and orientation in three-dimensional space. The simplest terms Quaternions are impossible to visualize in a three-dimensional space; the first three terms will be identical to the coordinate system, but through Quaternions another vector quantity is added into the equations, which may in fact underline how we can account for all rotational quantities. The fundamental analysis of these components different applications for various fields is proposed.

3D Laser Scanner and its Application in Engineering Survey

2013 ◽  
Vol 671-674 ◽  
pp. 2111-2114
Author(s):  
Yan Ping Feng ◽  
Wei Guo Li ◽  
Li Bing Yang ◽  
Yan Li Gao ◽  
Wen Bin Li
Keyword(s):  
Laser Scanning ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Laser Scanner ◽  
Target Object ◽  
Scanning System ◽  
3 Dimensional ◽  
Working Principle ◽  
Laser Scanning System ◽  
Three Dimensional Space

3D laser scanning system is to use laser ranging principle to record intensively the 3D coordinates, reflectivity and texture information on the surface of the target object. It makes a real record of the three-dimensional space, which makes traditional measurement be released from the limit that couldn’t be exceeded in the past, and let the measurement precision up to a new level. At the same time, it has provided extensive researches with better help than ever. This paper mainly discusses the characteristics, working principle, application and future development of the ground 3 dimensional laser scanner.

Cubic Hybrid Mechanism Based on S[T] Output Base and P/R Input Base

2012 ◽  
Vol 430-432 ◽  
pp. 1725-1728
Author(s):  
Jian Guo Luo ◽  
Mao Yan He
Keyword(s):  
Parallel Mechanism ◽  
Dimensional Space ◽  
Three Dimensional ◽  
One Dimensional ◽  
Hybrid Mechanism ◽  
Hybrid Manipulator ◽  
New Type ◽  
The Stability ◽  
Serial Mechanism ◽  
Three Dimensional Space

Based on the flexibility of single couple of serial mechanism and the stability of multi couples of parallel mechanism, a new type of S[T] output base of hybrid mechanism presented, component of sphere joint run through the tiger joint, this component still the output one with the capability of rotate in three dimensional space. Add serial branch including three translation couple P or/and rotation couple R to the new type of S[T] output base, put these members on one cubic frame, twenty seven configurations obtained with 3-DOF(degree of freedom) allow of three dimensional rotation, twenty seven configurations belong to three conditions obtained with 4-DOF allow of three dimensional rotation and one dimensional translation, nine configurations belong to three conditions obtained with 5-DOF allow of three dimensional rotation and two dimensional translation, one configuration obtained with 6-DOF allow of three dimensional rotation and three dimensional translation, all those sixty four configurations have no more than six translation couple or rotation couple, and the sum of two kind of couple is equal to six. Developing new type of hybrid manipulator based on the hybrid cubic mechanism constructed with S[T] output base and P/R input base will be possible in theory and useful.

scholarly journals Quantum Bose-Fermi droplets

2019 ◽  
Vol 6 (6) ◽  
Author(s):  
Debraj Rakshit ◽  
Tomasz Karpiuk ◽  
Miroslaw Brewczyk ◽  
Mariusz Gajda
Keyword(s):  
Dimensional Space ◽  
Mean Field ◽  
Three Dimensional ◽  
Field Energy ◽  
Liquid Droplets ◽  
Spin Polarized ◽  
The Stability ◽  
Three Body ◽  
Higher Order Corrections ◽  
Three Dimensional Space

We study the stability of a zero temperature mixture of attractively interacting degenerate bosons and spin-polarized fermions in the absence of confinement. We demonstrate that higher order corrections to the standard mean-field energy can lead to a formation of Bose-Fermi liquid droplets – self-bound systems in three-dimensional space. The stability analysis of the homogeneous case is supported by numerical simulations of finite systems by explicit inclusion of surface effects. We discuss the experimental feasibility of formation of quantum droplets and indicate the main obstacle – inelastic three-body collisions.

Spatial Distribution of Gravity-Dependent Gain Changes in the Vestibuloocular Reflex

2005 ◽  
Vol 93 (6) ◽  
pp. 3693-3698 ◽  
Author(s):  
Sergei B. Yakushin ◽  
Yongqing Xiang ◽  
Theodore Raphan ◽  
Bernard Cohen
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Head Tilt ◽  
Fundamental Property ◽  
Head Position ◽  
Three Dimensions ◽  
Vestibuloocular Reflex ◽  
Gain Adaptation ◽  
The Stability ◽  
Three Dimensional Space

This study determined whether dependence of angular vestibuloocular reflex (aVOR) gain adaptation on gravity is a fundamental property in three dimensions. Horizontal aVOR gains were adaptively increased or decreased in two cynomolgus monkeys in upright, side down, prone, and supine positions, and aVOR gains were tested in darkness by yaw rotation with the head in a wide variety of orientations. Horizontal aVOR gain changes peaked at the head position in which the adaptation took place and gradually decreased as the head moved away from this position in any direction. The gain changes were plotted as a function of head tilt and fit with a sinusoid plus a bias to obtain the gravity-dependent (amplitude) and gravity-independent (bias) components. Peak-to-peak gravity-dependent gain changes in planes containing the position of adaptation and the magnitude of the gravity-independent components were both ∼25%. We assumed that gain changes over three-dimensional space could be described by a sinusoid the amplitude of which also varied sinusoidally. Using gain changes obtained from the head position in which the gains were adapted, a three-dimensional surface was generated that was qualitatively similar to a surface obtained from the experimental data. This extends previous findings on vertical aVOR gain adaptation in one plane and introduces a conceptual framework for understanding plasticity in three dimensions: aVOR gain changes are composed of two components, one of which depends on head position relative to gravity. It is likely that this gravitational dependence optimizes the stability of retinal images during movement in three-dimensional space.

Design of 3-Dimensional Guidance Law of Missile Based on Discrete Sliding Mode

2013 ◽  
Vol 816-817 ◽  
pp. 976-980
Author(s):  
Nuan Wen ◽  
Zheng Hua Liu ◽  
Le Chang
Keyword(s):  
Discrete Time ◽  
Relative Motion ◽  
Sliding Mode ◽  
Dimensional Space ◽  
Three Dimensional ◽  
New Approach ◽  
3 Dimensional ◽  
Guidance Law ◽  
Guidance Laws ◽  
Three Dimensional Space

In this article, a new approach to design discrete-time sliding-mode guidance laws is presented based on the target-missile relative motion equation in three-dimensional space. This method significantly reduced system chattering and could be easily achieved on engineering. Furthermore, effectiveness of the proposed guidance laws is demonstrated through simulation by comparing with the traditional proportional guidance laws.

On the dynamics of a massless beam with end mass rotating in the three-dimensional space

2012 ◽  
Vol 227 (3) ◽  
pp. 434-448 ◽  
Author(s):  
Giancarlo Genta
Keyword(s):  
Rotation Axis ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Beam Theory ◽  
Beam Model ◽  
Inertial Reference Frame ◽  
Centrifugal Stiffening ◽  
Constant Rate ◽  
Fixed Axis ◽  
Three Dimensional Space

Many elements of machines, like shafts, blades, connecting rods, etc., are often modeled using the so-called beam theory and, when these elements rotate with respect to an inertial reference frame, this rotation can deeply affect their dynamic behavior. The position of the beam with respect to the rotation axis and the possibility that the rotation is more complicated than a simple constant-rate rotation about a fixed axis influence this effect, and different models are usually employed. As a result, different phenomena, like gyroscopic effect, centrifugal stiffening or softening, and instability due to rotation are often mentioned in reference to the different cases. The aim of this article is that of building a much simplified beam model, and to subject it to a compound, nonconstant rate rotation. Since the model can be solved in closed form, at least in several cases, a general discussion of the revant phenomena can be done to shed some light on some aspects, like the instability ranges due to rotation and to the damping of the system.

scholarly journals A New Perspective on Low-Cost MEMS-Based AHRS Determination

Sensors ◽  
2021 ◽  
Vol 21 (4) ◽  
pp. 1383
Author(s):  
Neda Navidi ◽  
Rene Landry
Keyword(s):  
Reference System ◽  
Dimensional Space ◽  
Low Cost ◽  
Three Dimensional ◽  
Navigation Systems ◽  
Adaptive Kalman Filter ◽  
Initial Attitude ◽  
New Perspective ◽  
And Control ◽  
Three Dimensional Space

Attitude and heading reference system (AHRS) is the term used to describe a rigid body’s angular orientation in three-dimensional space. This paper describes an AHRS determination and control system developed for navigation systems by integrating gyroscopes, accelerometers, and magnetometers signals from low-cost MEMS-based sensors in a complementary adaptive Kalman filter. AHRS estimation based on the iterative Kalman filtering process is required to be initialized first. A new method for AHRS initialization is proposed to improve the accuracy of the initial attitude estimates. Attitude estimates derived from the initialization and iterative adaptive filtering processes are compared with the orientation obtained from a high-end reference system. The improvement in the accuracy of the initial orientation as significant as 45% is obtained from the proposed method as compared with other selected techniques. Additionally, the computational process is reduced by 96%.

scholarly journals Collision Avoidance of 3D Rectangular Planes by Multiple Cooperating Autonomous Agents

2020 ◽  
Vol 2020 ◽  
pp. 1-13
Author(s):  
Jai Raj ◽  
Krishna Raghuwaiya ◽  
Jito Vanualailai
Keyword(s):  
Autonomous Agents ◽  
Direct Method ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Initial Position ◽  
Point Mass ◽  
Multiple Point ◽  
Shortest Distance ◽  
The Stability ◽  
Three Dimensional Space

We develop a set of novel autonomous controllers for multiple point-mass robots or agents in the presence of wall-like rectangular planes in three-dimensional space. To the authors’ knowledge, this is the first time that such a set of controllers for the avoidance of rectangular planes has been derived from a single attractive and repulsive potential function that satisfies the conditions of the Direct Method of Lyapunov. The potential or Lyapunov function also proves the stability of the system of the first-order ordinary differential equations governing the motion of the multiple agents as they traverse the three-dimensional space from an initial position to a target that is the equilibrium point of the system. The avoidance of the walls is via an approach called the Minimum Distance Technique that enables a point-mass agent to avoid the wall from the shortest distance away at every unit time. Computer simulations of the proposed Lyapunov-based controllers for the multiple point-mass agents navigating in a common workspace are presented to illustrate the effectiveness of the controllers. Simulations include towers and walls of tunnels as obstacles. In the simulations, the point-mass agents also show typical swarming behaviors such as split-and-rejoin maneuvers when confronted with multiple tower-like structures. The successful illustration of the effectiveness of the controllers opens a fertile area of research in the development and implementation of such controllers for Unmanned Aerial Vehicles such as quadrotors.

Cooperative Pursuit Control for Multiple Underactuated Underwater Vehicles with Time Delay in Three-Dimensional Space

Robotica ◽  
2020 ◽  
pp. 1-15
Author(s):  
Xue Qi ◽  
Zhi-Jun Cai
Keyword(s):  
Time Delay ◽  
Dimensional Space ◽  
Three Dimensional ◽  
Underwater Vehicles ◽  
Logic Control ◽  
Complex Calculation ◽  
Pursuit Control ◽  
The Stability ◽  
Product Of Matrices ◽  
Three Dimensional Space

SUMMARY In this paper, the k-valued logic control network is introduced to study the cooperative pursuit control problem of multiple underactuated underwater vehicles (UUVs) with time delay in three-dimensional space. The semi-tensor product of matrices is used to solve the complex calculation problem of the large dimension matrix. The influence of communication delay on multiple UUVs’ optimization and cooperative pursuit control is expressed in a matrix. Under the leadership of evader UUV, the control algorithm can ensure that all the pursuit UUVs reach the desired position. The stability of the closed loop system is proved.

Use of Strategy in a 3-Dimensional Spatial Ability Test

2010 ◽  
Vol 31 (2) ◽  
pp. 74-77 ◽  
Author(s):  
Irene Strasser ◽  
Ingrid Koller ◽  
Sabine Strauß ◽  
Mathis Csisinko ◽  
Hannes Kaufmann ◽  
...  
Keyword(s):  
Dimensional Space ◽  
Three Dimensional ◽  
Evaluation Study ◽  
Test Design ◽  
Training Module ◽  
Final Test ◽  
Ability Test ◽  
3 Dimensional ◽  
Spatial Test ◽  
Three Dimensional Space

Use of strategy was investigated using a new spatial test in which items are presented in three-dimensional space and solutions are actively constructed rather than selected from alternatives. As the final test also comprises a training module, the focus of a first evaluation study was on the strategies participants use and their relationship to performance. Participants were interviewed after completing the test. The number of strategies reported and two specific strategies were significantly correlated to the test score. Implications of the findings for strategy assessment and test design are discussed.

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