The perpendicular gyroscope: modal analysis of plate, beam and gyroscope multistructures.

This paper presents a study of the perpendicular gyroscope, which is formed of two orthogonal beams, a flexural plate and a gyroscope. Two sets of chiral-torsional boundary conditions are derived to analytically model the dynamic effects of the gyroscope while taking into account the broken symmetries of the system. The perpendicular junction causes the coupling of the compressional, flexural and torsional displacements in the system. This complex behaviour is accounted for with a comprehensive set of kinematic and dynamic junction conditions. Modal analysis demonstrates the fully coupled system and reveals how the spinning gyroscope induces dynamic chiral Chladni patterns in the plate.This article is part of the theme issue 'Current developments in elastic and acoustic metamaterials science (Part 2)'.

The Effect of Sensor Feature Inputs on Joint Angle Prediction across Simple Movements.

The use of wearable sensors, such as inertial measurement units (IMUs), and machine learning for human intent recognition in health-related areas has grown considerably. However, there is limited research exploring how IMU quantity and placement affect human movement intent prediction (HMIP) at the joint level. The objective of this study was to analyze various combinations of IMU input signals to maximize the machine learning prediction accuracy for multiple simple movements. We trained a Random Forest algorithm to predict future joint angles across these movements using various sensor features. We hypothesized that joint angle prediction accuracy would increase with the addition of IMUs attached to adjacent body segments and that non-adjacent IMUs would not increase the prediction accuracy. The results indicated that the addition of adjacent IMUs to current joint angle inputs did not significantly increase the prediction accuracy (RMSE of 1.92° vs. 3.32° at the ankle, 8.78° vs. 12.54° at the knee, and 5.48° vs. 9.67° at the hip). Additionally, including non-adjacent IMUs did not increase the prediction accuracy (RMSE of 5.35° vs. 5.55° at the ankle, 20.29° vs. 20.71° at the knee, and 14.86° vs. 13.55° at the hip). These results demonstrated how future joint angle prediction during simple movements did not improve with the addition of IMUs alongside current joint angle inputs.

A 0.05 m Change in Inertial Measurement Unit Placement Alters Time and Frequency Domain Metrics during Running.

Inertial measurement units (IMUs) provide exciting opportunities to collect large volumes of running biomechanics data in the real world. IMU signals may, however, be affected by variation in the initial IMU placement or movement of the IMU during use. To quantify the effect that changing an IMU's location has on running data, a reference IMU was 'correctly' placed on the shank, pelvis, or sacrum of 74 participants. A second IMU was 'misplaced' 0.05 m away, simulating a 'worst-case' misplacement or movement. Participants ran over-ground while data were simultaneously recorded from the reference and misplaced IMUs. Differences were captured as root mean square errors (RMSEs) and differences in the absolute peak magnitudes and timings. RMSEs were ≤1 g and ~1 rad/s for all axes and misplacement conditions while mean differences in the peak magnitude and timing reached up to 2.45 g, 2.48 rad/s, and 9.68 ms (depending on the axis and direction of misplacement). To quantify the downstream effects of these differences, initial and terminal contact times and vertical ground reaction forces were derived from both the reference and misplaced IMU. Mean differences reached up to -10.08 ms for contact times and 95.06 N for forces. Finally, the behavior in the frequency domain revealed high coherence between the reference and misplaced IMUs (particularly at frequencies ≤~10 Hz). All differences tended to be exaggerated when data were analyzed using a wearable coordinate system instead of a segment coordinate system. Overall, these results highlight the potential errors that IMU placement and movement can introduce to running biomechanics data.

An Instrumented Mouthguard for Real-Time Measurement of Head Kinematics under a Large Range of Sport Specific Accelerations.

BACKGROUND: Head impacts in sports can produce brain injuries. The accurate quantification of head kinematics through instrumented mouthguards (iMG) can help identify underlying brain motion during injurious impacts. The aim of the current study is to assess the validity of an iMG across a large range of linear and rotational accelerations to allow for on-field head impact monitoring. METHODS: Drop tests of an instrumented helmeted anthropometric testing device (ATD) were performed across a range of impact magnitudes and locations, with iMG measures collected concurrently. ATD and iMG kinematics were also fed forward to high-fidelity brain models to predict maximal principal strain. RESULTS: The impacts produced a wide range of head kinematics (16-171 g, 1330-10,164 rad/s2 and 11.3-41.5 rad/s) and durations (6-18 ms), representing impacts in rugby and boxing. Comparison of the peak values across ATD and iMG indicated high levels of agreement, with a total concordance correlation coefficient of 0.97 for peak impact kinematics and 0.97 for predicted brain strain. We also found good agreement between iMG and ATD measured time-series kinematic data, with the highest normalized root mean squared error for rotational velocity (5.47 ± 2.61%) and the lowest for rotational acceleration (1.24 ± 0.86%). Our results confirm that the iMG can reliably measure laboratory-based head kinematics under a large range of accelerations and is suitable for future on-field validity assessments.

Application and Development of Fiber Optic Gyroscope Inertial Navigation System in Underground Space.

Fiber Optic Gyroscope Inertial Navigation System (FOG-INS) is a navigation system using fiber optic gyroscopes and accelerometers, which can offer high-precision position, velocity, and attitude information for carriers. FOG-INS is widely used in aerospace, marine ships, and vehicle navigation. In recent years, it has also played an important role in underground space. For example, in the deep earth, FOG-INS can be used in directional well drilling, which can enhance recovery in resource exploitation. While, in shallow earth, FOG-INS is a high-precision positioning technique that can guide construction in trenchless underground pipelaying. This article extensively reviews the application status and latest progress of FOG-INS in underground space from three aspects-FOG inclinometer, FOG drilling tool attitude measurement while drilling (MWD) unit, and FOG pipe-jacking guidance system. First, measurement principles and product technologies are introduced. Second, the research hot spots are summarized. Finally, the key technical issues and future trends for development are put forward. The findings of this work are useful for further research in the field of FOG-INS in underground space, which not only provides new ideas and directions for scientific research, but also offers guidance for subsequent engineering applications.

Mode-Locked Fiber Laser Sensors with Orthogonally Polarized Pulses Circulating in the Cavity.

Intracavity phase interferometry is a powerful phase sensing technique using two correlated, counter-propagating frequency combs (pulse trains) in mode-locked lasers. Generating dual frequency combs of the same repetition rate in fiber lasers is a new field with hitherto unanticipated challenges. The large intensity in the fiber core, coupled with the nonlinear index of glass, result in a cumulative nonlinear index on axis that dwarfs the signal to be measured. The large saturable gain changes in an unpredictable way the repetition rate of the laser impeding the creation of frequency combs with identical repetition rate. The huge amount of phase coupling between pulses crossing at the saturable absorber eliminates the small signal response (deadband). Although there have been prior observation of gyroscopic response in mode-locked ring lasers, to our knowledge this is the first time that orthogonally polarized pulses were used to successfully eliminate the deadband and obtain a beat note.

Control of Frequency Combs with Passive Resonators.

Tailored optical frequency combs are generated by nesting passive etalons within mode-locked oscillators. In this work, the oscillator generates a comb of 6.8 GHz with 106 MHz side-bands. This tailored comb results from the self-synchronized locking of two cavities with precision optical frequency tuning. In this manuscript, it is demonstrated that these combs can be precisely predicted utilizing a temporal ABCD matrix method and precise comb frequency tuning by scanning over the D1 transition line of 87Rb and observing the fluorescence.

A Gyroscope Nanogenerator with Frequency Up-Conversion Effect for Fitness and Energy Harvesting.

Converting the mechanical energy of human motion into electricity is considered an ideal energy supply solution for portable electronics. However, low-frequency human movement limits conversion efficiency of conventional energy harvesting devices, which is difficult to provide sustainable power for portable electronic devices. Herein, a fitness gyroscope nanogenerator (fg-NG) based on a triboelectric nanogenerator (TENG) and electromagnetic generator (EMG) is developed that can convert low-frequency wrist motion into high-frequency rotation by using the frequency up-conversion effect of the gyroscope. Remarkably, the fg-NG can reach a rotational speed of over 8000 rpm by hand, increasing the frequency by more than 280 times. The fg-NG can continuously and stably output a current of 17 mA and a voltage of 70 V at frequency of 220-230 Hz. The fg-NG is demonstrated to consistently power a hygrothermograph, smart bracelet, and mobile phone. Also, it can be applicated to a self-powered intelligent training system, showing its immense application potential in portable electronics and wireless Internet of Things devices.

Suppression Method of Optical Noises in Resonator-Integrated Optic Gyroscopes.

Resonator-integrated optical gyroscopes have advantages such as all-solid-state, on-chip integration, miniaturized structure, and high precision. However, many factors deteriorate the performance and push it far from the shot-noise limited theoretical sensitivity. This paper reviews the mechanisms of various noises and their corresponding suppression methods in resonator-integrated optical gyroscopes, including the backscattering, the back-reflection, the polarization error, the Kerr effect, and the laser frequency noise. Several main noise suppression methods are comprehensively expounded through inductive comparison and reasonable collation. The new noise suppression technology and digital signal processing system are also addressed.

Phase Nanoscopy with Correlated Frequency Combs.

This study addresses any sensor based on measuring a physical quantity through the phase of a probing beam. This includes sensing of rotation, acceleration, index change, displacement, fields… While most phase measurements are made by detecting an amplitude change in interfering beams, we detect instead a phase change through a relative frequency shift of two correlated frequency combs. This paper explores the limit sensitivity that this method can achieve, when the combs are generated in an Optical Parametric Oscillator (OPO), pumped synchronously by a train of femtosecond pulses separated by half the OPO cavity round-trip time. It is shown that a phase difference as small as 0.4 nanoradians can be resolved between the two pulses circulating in the cavity. This phase difference is one order of magnitude better than the previous record. The root-mean-square deviation of the measured phase over measuring time is close to the standard quantum limit (phase-photon number uncertainty product of 0.66). Innovations that made such improved performances possible include a more stable OPO cavity design; a stabilization system with a novel purely electronic locking of the OPO cavity length relative to that of the pump laser; a shorter pump laser cavity; and a square pulse generator for driving a 0.5 mm pathlength lithium niobate phase modulator. Future data acquisition improvements are suggested that will bring the phase sensitivity exactly to the standard quantum limit, and beyond the quantum limit by squeezing.

INIM: Inertial Images Construction with Applications to Activity Recognition.

Human activity recognition aims to classify the user activity in various applications like healthcare, gesture recognition and indoor navigation. In the latter, smartphone location recognition is gaining more attention as it enhances indoor positioning accuracy. Commonly the smartphone's inertial sensor readings are used as input to a machine learning algorithm which performs the classification. There are several approaches to tackle such a task: feature based approaches, one dimensional deep learning algorithms, and two dimensional deep learning architectures. When using deep learning approaches, feature engineering is redundant. In addition, while utilizing two-dimensional deep learning approaches enables to utilize methods from the well-established computer vision domain. In this paper, a framework for smartphone location and human activity recognition, based on the smartphone's inertial sensors, is proposed. The contributions of this work are a novel time series encoding approach, from inertial signals to inertial images, and transfer learning from computer vision domain to the inertial sensors classification problem. Four different datasets are employed to show the benefits of using the proposed approach. In addition, as the proposed framework performs classification on inertial sensors readings, it can be applied for other classification tasks using inertial data. It can also be adopted to handle other types of sensory data collected for a classification task.

Rapid Prototyping of Inertial MEMS Devices through Structural Optimization.

In this paper, we propose a novel design and optimization environment for inertial MEMS devices based on a computationally efficient schematization of the structure at the a device level. This allows us to obtain a flexible and efficient design optimization tool, particularly useful for rapid device prototyping. The presented design environment-feMEMSlite-handles the parametric generation of the structure geometry, the simulation of its dynamic behavior, and a gradient-based layout optimization. The methodology addresses the design of general inertial MEMS devices employing suspended proof masses, in which the focus is typically on the dynamics associated with the first vibration modes. In particular, the proposed design tool is tested on a triaxial beating-heart MEMS gyroscope, an industrially relevant and adequately complex example. The sensor layout is schematized by treating the proof masses as rigid bodies, discretizing flexural springs by Timoshenko beam finite elements, and accounting for electrostatic softening effects by additional negative spring constants. The MEMS device is then optimized according to two possible formulations of the optimization problem, including typical design requirements from the MEMS industry, with particular focus on the tuning of the structural eigenfrequencies and on the maximization of the response to external angular rates. The validity of the proposed approach is then assessed through a comparison with full FEM schematizations: rapidly prototyped layouts at the device level show a good performance when simulated with more complex models and therefore require only minor adjustments to accomplish the subsequent physical-level design.

Intracavity Measurement Sensitivity Enhancement without Runaway Noise.

A method to increase the sensitivity of an intracavity differential phase measurement that is not made irrelevant by a larger increase of noise is explored. By introducing a phase velocity feedback by way of a resonant dispersive element in an active sensor in which two ultrashort pulses circulate, it is shown that the measurement sensitivity is elevated without significantly increasing the Petermann excess noise factor. This enhancement technique has considerable implications for any optical phase based measurement; from gyroscopes and accelerometers to magnetometers and optical index measurements. Here we describe the enhancement method in the context of past dispersion enhancement studies including the recent work surrounding non-Hermitian quantum mechanics, justify the method with a theoretical framework (including numerical simulations), and propose practical applications.

An Auto-Tuning Continuous-Time Bandpass Sigma-Delta Modulator with Signal Observation for MEMS Gyroscope Readout Systems.

This paper presents the design and implementation of an auto-tuning continuous-time bandpass sigma-delta (ΣΔ) modulator for micro-electromechchanical systems (MEMS) gyroscope readout systems. Its notch frequency can well match the input signal frequency by adding a signal observation to the traditional ΣΔ modulator. The filter of the observation adopts the same architecture as that of the traditional ΣΔ modulator, allowing the two filters to have the same response to input signal change, which is converted into a control voltage on metal-oxide semiconductor (MOS) resistance in the filters. The automatic tuning not only works to solve the mismatch problem caused by process error and temperature variation, but can also be applied to the interface circuit of gyroscopes with different resonant frequencies. The circuit is implemented in a 0.18-µm complementary metal-oxide semiconductor (CMOS) process with a core area of 2.4 mm2. The improved modulator achieves a dynamic range of 106 dB, a noise floor below 120 dB and a maximum signal-to-noise and distortion ratio (SNDR) of 86.4 dB. The tuning capability of the chip is relatively stable under input signals from 6 to 15 kHz at temperatures ranging from -45 to 60 °C.

Consumption Analysis of Smartphone based Fall Detection Systems with Multiple External Wireless Sensors.

Fall Detection Systems (FDSs) based on wearable technologies have gained much research attention in recent years. Due to the networking and computing capabilities of smartphones, these widespread personal devices have been proposed to deploy cost-effective wearable systems intended for automatic fall detection. In spite of the fact that smartphones are natively provided with inertial sensors (accelerometers and gyroscopes), the effectiveness of a smartphone-based FDS can be improved if it also exploits the measurements collected by small low-power wireless sensors, which can be firmly attached to the user's body without causing discomfort. For these architectures with multiple sensing points, the smartphone transported by the user can act as the core of the FDS architecture by processing and analyzing the data measured by the external sensors and transmitting the corresponding alarm whenever a fall is detected. In this context, the wireless communications with the sensors and with the remote monitoring point may impact on the general performance of the smartphone and, in particular, on the battery lifetime. In contrast with most works in the literature (which disregard the real feasibility of implementing an FDS on a smartphone), this paper explores the actual potential of current commercial smartphones to put into operation an FDS that incorporates several external sensors. This study analyzes diverse operational aspects that may influence the consumption (as the use of a GPS sensor, the coexistence with other apps, the retransmission of the measurements to an external server, etc.) and identifies practical scenarios in which the deployment of a smartphone-based FDS is viable.

Consideration of Thermo-Vacuum Stability of a MEMS Gyroscope for Space Applications.

Thermo-vacuum stability of the aerospace gyroscopes is one of the crucial issues in the harsh and remote environment of space. This paper reports a bias drift compensation algorithm for the MEMS (microelectromechanical systems) gyroscope with atmosphere package. This approach takes advantage of linear frequency-temperature dependence and linear amplitude-pressure dependence for self-compensation of the gyroscope bias drifts in real-time. The dependences were analyzed and evaluated by subjecting the gyroscope to a thermo-vacuum condition. The real-time self-compensation yielded a total bias error of 0.01°/s over a temperature range of 7-45 °C. A MEMS rate sensor was flown in space and the on-orbit data also verify the effectiveness of the approach.

The Use of Inertial Measurement Units for the Study of Free Living Environment Activity Assessment: A Literature Review.

This article presents an overview of fifty-eight articles dedicated to the evaluation of physical activity in free-living conditions using wearable motion sensors. This review provides a comprehensive summary of the technical aspects linked to sensors (types, number, body positions, and technical characteristics) as well as a deep discussion on the protocols implemented in free-living conditions (environment, duration, instructions, activities, and annotation). Finally, it presents a description and a comparison of the main algorithms and processing tools used for assessing physical activity from raw signals.

Heart Rate Variability Analysis on Electrocardiograms, Seismocardiograms and Gyrocardiograms on Healthy Volunteers.

Physiological variation of the interval between consecutive heartbeats is known as the heart rate variability (HRV). HRV analysis is traditionally performed on electrocardiograms (ECG signals) and has become a useful tool in the diagnosis of different clinical and functional conditions. The progress in the sensor technique encouraged the development of alternative methods of analyzing cardiac activity: Seismocardiography and gyrocardiography. In our study we performed HRV analysis on ECG, seismocardiograms (SCG signals) and gyrocardiograms (GCG signals) using the PhysioNet Cardiovascular Toolbox. The heartbeats in ECG were detected using the Pan-Tompkins algorithm and the heartbeats in SCG and GCG signals were detected as peaks within 100 ms from the occurrence of the ECG R waves. The results of time domain, frequency domain and nonlinear HRV analysis on ECG, SCG and GCG signals are similar and this phenomenon is confirmed by very strong linear correlation of HRV indices. The differences between HRV indices obtained on ECG and SCG and on ECG and GCG were statistically insignificant and encourage using SCG or GCG for HRV estimation. Our results of HRV analysis confirm stronger correlation of HRV indices computed on ECG and GCG signals than on ECG and SCG signals because of greater tolerance to inter-subject variability and disturbances.

The Energy Compensation of the HRG Based on the Double-Frequency Parametric Excitation of the Discrete Electrode.

In this study, for energy compensation in the whole-angle control of Hemispherical Resonator Gyro (HRG), the dynamical equation of the resonator, which is excited by parametric excitation of the discrete electrode, is established, the stability conditions are analyzed, and the method of the double-frequency parametric excitation by the discrete electrode is derived. To obtain the optimal parametric excitation of the resonator, the total energy stability of the resonator is simulated for the evolution of the resonator vibration with different excitation parameters and the free precession of the standing wave by the parametric excitation. In addition, the whole-angle control of the HRG is designed, and the energy compensation of parametric excitation is proven by the experiments. The results of the experiments show that the energy compensation of the HRG in the whole-angle control can be realized using discrete electrodes with double-frequency parametric excitation, which significantly improves the dynamic performance of the whole-angle control compared to the force-to-rebalance.

Design of Readout Circuit with Quadrature Error and Auxiliary PLL for MEMS Vibratory Gyroscope.

Traditional MEMS gyroscope readout eliminates quadrature error and relies on the phase relationship between the drive displacement and the Coriolis position to accomplish a coherent demodulation. This scheme shows some risk, especially for a mode-matching gyro. If only a slight resonant frequency deviation between the drive and sense mode occurs, a dramatic change in the phase relationship follows, which leads to a wrong demodulation. To solve this, this paper proposes a new readout based on the quadrature error and an auxiliary phase-locked loop (PLL). By tuning the phase shifter in the sense-mode circuit, letting the quadrature error and the carrier of the mixer be in 90° phase alignment, the Coriolis was simultaneously in phase with the carrier. Hence, the demodulation was accomplished. The carrier comes from the PLL output of the drive-mode circuit due to its low jitter and independence of the work mode of the gyro. Moreover, an auxiliary PLL is used to filter the quadrature error to enhance the phase alignment accuracy. Through an elaborate design, a printed circuit board was used to verify the proposed idea. The experimental results show the readout circuit functioned well. The scale factor of the gyro was 6.8 mV/°/s, and the bias instability was 204°/h.