Metal oxide gas sensors are predominant solid-state gas detecting devices for domestic, commercial and industrial applications, which have many advantages such as low cost, easy production, and compact size. However, the performance of such sensors is significantly influenced by the morphology and structure of sensing materials, resulting in a great obstacle for gas sensors based on bulk materials or dense films to achieve highly-sensitive properties. Lots of metal oxide nanostructures have been developed to improve the gas sensing properties such as sensitivity, selectivity, response speed, and so on. Here, we provide a brief overview of metal oxide nanostructures and their gas sensing properties from the aspects of particle size, morphology and doping. When the particle size of metal oxide is close to or less than double thickness of the space-charge layer, the sensitivity of the sensor will increase remarkably, which would be called “small size effect”, yet small size of metal oxide nanoparticles will be compactly sintered together during the film coating process which is disadvantage for gas diffusion in them. In view of those reasons, nanostructures with many kinds of shapes such as porous nanotubes, porous nanospheres and so on have been investigated, that not only possessed large surface area and relatively mass reactive sites, but also formed relatively loose film structures which is an advantage for gas diffusion. Besides, doping is also an effective method to decrease particle size and improve gas sensing properties. Therefore, the gas sensing properties of metal oxide nanostructures assembled by nanoparticles are reviewed in this article. The effect of doping is also summarized and finally the perspectives of metal oxide gas sensor are given.
metal oxide; gas sensing; nanostructure; size effect; doping
It is important to reduce the time cost of video compression for image sensors in video sensor network. Motion estimation (ME) is the most time-consuming part in video compression. Previous work on ME exploited intra-frame data reuse in a reference frame to improve the time efficiency but neglected inter-frame data reuse. We propose a novel inter-frame data reuse scheme which can exploit both intra-frame and inter-frame data reuse for ME in video compression (VC-ME). Pixels of reconstructed frames are kept on-chip until they are used by the next current frame to avoid off-chip memory access. On-chip buffers with smart schedules of data access are designed to perform the new data reuse scheme. Three levels of the proposed inter-frame data reuse scheme are presented and analyzed. They give different choices with tradeoff between off-chip bandwidth requirement and on-chip memory size. All three levels have better data reuse efficiency than their intra-frame counterparts, so off-chip memory traffic is reduced effectively. Comparing the new inter-frame data reuse scheme with the traditional intra-frame data reuse scheme, the memory traffic can be reduced by 50% for VC-ME.
memory bandwidth; image sensors; video compression; motion estimation; full search; inter-frame; data reuse
A time difference method to conveniently measure the phase shift between output wavelength and intensity of distributed feedback laser diodes (DFB-LDs) was proposed. This approach takes advantage of asymmetric absorption positions at the same wavelength during wavelength increase and decrease tuning processes in the intensity-time curve by current modulation. For its practical implementation, a measurement example of phase shift was demonstrated by measuring a time difference between the first time and the second time attendances of the same gas absorption line in the intensity-time curve during one sine or triangle modulation circle. The phase shifts at modulation frequencies ranging from 50 Hz to 50 kHz were measured with a resolution of 0.001π. As the modulation frequency increased the shift value increased with a slowed growth rate.
phase shift; DFB-LD; infrared spectroscopy; fiber optics sensors
Differential interferometric synthetic aperture radar has been shown to be effective for monitoring subsidence in coal mining areas. Phase unwrapping can have a dramatic influence on the monitoring result. In this paper, a filtering-based phase unwrapping algorithm in combination with path-following is introduced to unwrap differential interferograms with high noise in mining areas. It can perform simultaneous noise filtering and phase unwrapping so that the pre-filtering steps can be omitted, thus usually retaining more details and improving the detectable deformation. For the method, the nonlinear measurement model of phase unwrapping is processed using a simplified Cubature Kalman filtering, which is an effective and efficient tool used in many nonlinear fields. Three case studies are designed to evaluate the performance of the method. In Case 1, two tests are designed to evaluate the performance of the method under different factors including the number of multi-looks and path-guiding indexes. The result demonstrates that the unwrapped results are sensitive to the number of multi-looks and that the Fisher Distance is the most suitable path-guiding index for our study. Two case studies are then designed to evaluate the feasibility of the proposed phase unwrapping method based on Cubature Kalman filtering. The results indicate that, compared with the popular Minimum Cost Flow method, the Cubature Kalman filtering-based phase unwrapping can achieve promising results without pre-filtering and is an appropriate method for coal mining areas with high noise.
DInSAR; phase unwrapping; Cubature Kalman filter; multi-looks; quality index; fisher distance; minimum cost flow
Initial alignment is always a key topic and difficult to achieve in an inertial navigation system (INS). In this paper a novel self-initial alignment algorithm is proposed using gravitational apparent motion vectors at three different moments and vector-operation. Simulation and analysis showed that this method easily suffers from the random noise contained in accelerometer measurements which are used to construct apparent motion directly. Aiming to resolve this problem, an online sensor data denoising method based on a Kalman filter is proposed and a novel reconstruction method for apparent motion is designed to avoid the collinearity among vectors participating in the alignment solution. Simulation, turntable tests and vehicle tests indicate that the proposed alignment algorithm can fulfill initial alignment of strapdown INS (SINS) under both static and swinging conditions. The accuracy can either reach or approach the theoretical values determined by sensor precision under static or swinging conditions.
strapdown inertial navigation (SINS); self-alignment; gravitational apparent motion; denoising
Multi-angular observation of land surface thermal radiation is considered to be a promising method of performing the angular normalization of land surface temperature (LST) retrieved from remote sensing data. This paper focuses on an investigation of the minimum requirements of viewing angles to perform such normalizations on LST. The normally kernel-driven bi-directional reflectance distribution function (BRDF) is first extended to the thermal infrared (TIR) domain as TIR-BRDF model, and its uncertainty is shown to be less than 0.3 K when used to fit the hemispheric directional thermal radiation. A local optimum three-angle combination is found and verified using the TIR-BRDF model based on two patterns: the single-point pattern and the linear-array pattern. The TIR-BRDF is applied to an airborne multi-angular dataset to retrieve LST at nadir (Te-nadir) from different viewing directions, and the results show that this model can obtain reliable Te-nadir from 3 to 4 directional observations with large angle intervals, thus corresponding to large temperature angular variations. The Te-nadir is generally larger than temperature of the slant direction, with a difference of approximately 0.5~2.0 K for vegetated pixels and up to several Kelvins for non-vegetated pixels. The findings of this paper will facilitate the future development of multi-angular thermal infrared sensors.
BRDF; angular normalization; land surface temperature; multi-angular; WiDAS
The resonator of a solid-state vibratory gyro is responsible for sensing angular motion. Frequency splitting of an axisymmetric-shell resonator is a common problem caused by manufacturing defects. The defect causes a frequency difference between two working modes which consist of two nodes and two antinodes. The difference leads to the loss of gyroscopic effect, and thus the resonator cannot sense angular motion. In this paper, the resonator based on an axisymmetric multi-curved surface shell structure is investigated and an approach to eliminate frequency splits is proposed. Since axisymmetric multi-curved surface shell resonators are too complex to be modeled, this paper proposes a simplified model by focusing on a common property of the axisymmetric shell. The resonator with stochastic imperfections is made equivalent to a perfect shell with an imperfect mass point. Rayleigh's energy method is used in the theoretical analysis. Finite element modeling is used to demonstrate the effectiveness of the elimination approach. In real cases, a resonator's frequency split is eliminated by the proposed approach. In this paper, errors in the theoretical analysis are discussed and steps to be taken when the deviation between assumptions and the real situation is large are figured out. The resonator has good performance after processing. The elimination approach can be applied to any kind of solid-state vibratory gyro resonators with an axisymmetric shell structure.
vibratory gyro; axisymmetric shell; frequency split; vibration mode
In this research, super-paramagnetic Fe3O4 nanoparticles (magnetic particles) were coated with Staphylococcus protein A (SPA) and coupled with polyclonal antibody (pcAb) to construct magnetic capturing probes, and HRP-conjugated phage antibody was then used as specific detecting probe to design a labeled immunosensor for trace detection of Staphylococcus aureus enterotoxin B (SEB). The linear detection range of the sensor was 0.008∼125 μg/L, the regression equation was Y = 0.487X + 1.2 (R = 0.996, N = 15, p < 0.0001), the limit of detection (LOD) was 0.008 μg/L, and the limit of quantification (LOQ) was 0.008 μg/L. HRP-conjugated phage antibody, SPA and magnetic particles can enhance the sensitivity 4-fold, 3-fold and 2.6-fold higher, respectively. Compared with conventional double-antibody sandwich ELISA, the detection sensitivity of the sensor was 31-fold higher resulting from the integrated amplifying effect. The immunosensor integrates the unique advantages of SPA-oriented antibody as magnetic capturing probe, HRP-conjugated phage antibody as detecting probe, magnetic separation immunoassay technique, and several other advanced techniques, so it achieves high sensitivity, specificity and interference-resistance. It is proven to be well suited for analysis of trace SEB in various environmental samples with high recovery rate and reproducibility.
Staphylococcus protein A; HRP-conjugated phage antibody; signal amplification; nanomagnetic immunosensor; Staphylococcus aureus enterotoxin B
Radio Frequency Identification (RFID) is an important technique for wireless sensor networks and the Internet of Things. Recently, considerable research has been performed in the combination of public key cryptography and RFID. In this paper, an efficient architecture of Elliptic Curve Cryptography (ECC) Processor for RFID tag chip is presented. We adopt a new inversion algorithm which requires fewer registers to store variables than the traditional schemes. A new method for coordinate swapping is proposed, which can reduce the complexity of the controller and shorten the time of iterative calculation effectively. A modified circular shift register architecture is presented in this paper, which is an effective way to reduce the area of register files. Clock gating and asynchronous counter are exploited to reduce the power consumption. The simulation and synthesis results show that the time needed for one elliptic curve scalar point multiplication over GF(2163) is 176.7 K clock cycles and the gate area is 13.8 K with UMC 0.13 μm Complementary Metal Oxide Semiconductor (CMOS) technology. Moreover, the low power and low cost consumption make the Elliptic Curve Cryptography Processor (ECP) a prospective candidate for application in the RFID tag chip.
wireless sensor network; RFID; Elliptic Curve Cryptography (ECC); processor
Star trackers are currently the most accurate spacecraft attitude sensors. As a result, they are widely used in remote sensing satellites. Since traditional charge-coupled device (CCD)-based star trackers have a limited sensitivity range and dynamic range, the matching process for a star tracker is typically not very sensitive to star brightness. For active pixel sensor (APS) star trackers, the intensity of an imaged star is valuable information that can be used in star identification process. In this paper an improved brightness referenced star identification algorithm is presented. This algorithm utilizes the k-vector search theory and adds imaged stars' intensities to narrow the search scope and therefore increase the efficiency of the matching process. Based on different imaging conditions (slew, bright bodies, etc.) the developed matching algorithm operates in one of two identification modes: a three-star mode, and a four-star mode. If the reference bright stars (the stars brighter than three magnitude) show up, the algorithm runs the three-star mode and efficiency is further improved. The proposed method was compared with other two distinctive methods the pyramid and geometric voting methods. All three methods were tested with simulation data and actual in orbit data from the APS star tracker of ZY-3. Using a catalog composed of 1500 stars, the results show that without false stars the efficiency of this new method is 4∼5 times that of the pyramid method and 35∼37 times that of the geometric method.
star tracker; star ID; star magnitude; ZY-3; star brightness; k-vector search theory
Laser-machined microcavities for simultaneous measurement of high-temperature and high-pressure are demonstrated. These two cascaded microcavities are an air cavity and a composite cavity including a section of fiber and an air cavity. They are both placed into a pressure chamber inside a furnace to perform simultaneous pressure and high-temperature tests. The thermal and pressure coefficients of the short air cavity are ∼0.0779 nm/°C and ∼1.14 nm/MPa, respectively. The thermal and pressure coefficients of the composite cavity are ∼32.3 nm/°C and ∼24.4 nm/MPa, respectively. The sensor could be used to separate temperature and pressure due to their different thermal and pressure coefficients. The excellent feature of such a sensor head is that it can withstand high temperatures of up to 400 °C and achieve precise measurement of high-pressure under high temperature conditions.
high pressure sensing; high temperature sensing; laser micromachining; micro-cavity; simultaneous measurement
Secret key leakage in wireless sensor networks (WSNs) is a high security risk especially when sensor nodes are deployed in hostile environment and physically accessible to attackers. With nowadays semi/fully-invasive attack techniques attackers can directly derive the cryptographic key from non-volatile memory (NVM) storage. Physically Unclonable Function (PUF) is a promising technology to resist node capture attacks, and it also provides a low cost and tamper-resistant key provisioning solution. In this paper, we designed a PUF based on double-data-rate SDRAM Type 3 (DDR3) memory by exploring its memory decay characteristics. We also described a prototype of 128-bit key generation based on DDR3 PUF with integrated fuzzy extractor. Due to the wide adoption of DDR3 memory in WSN, our proposed DDR3 PUF technology with high security levels and no required hardware changes is suitable for a wide range of WSN applications.
WSN; PUF; DDR3; key generation; fuzzy extractor
A fault diagnosis strategy based on the wayside acoustic monitoring technique is investigated for locomotive bearing fault diagnosis. Inspired by the transient modeling analysis method based on correlation filtering analysis, a so-called Parametric-Mother-Doppler-Wavelet (PMDW) is constructed with six parameters, including a center characteristic frequency and five kinematic model parameters. A Doppler effect eliminator containing a PMDW generator, a correlation filtering analysis module, and a signal resampler is invented to eliminate the Doppler effect embedded in the acoustic signal of the recorded bearing. Through the Doppler effect eliminator, the five kinematic model parameters can be identified based on the signal itself. Then, the signal resampler is applied to eliminate the Doppler effect using the identified parameters. With the ability to detect early bearing faults, the transient model analysis method is employed to detect localized bearing faults after the embedded Doppler effect is eliminated. The effectiveness of the proposed fault diagnosis strategy is verified via simulation studies and applications to diagnose locomotive roller bearing defects.
fault diagnosis; locomotive bearing; wayside monitoring; Doppler effect; transient model
Blower and exhaust fans consume over 30% of electricity in a thermal power plant, and faults of these fans due to rotation stalls are one of the most frequent reasons for power plant outage failures. To accurately predict the occurrence of fan rotation stalls, we propose a support vector regression machine (SVRM) model that predicts the fan internal pressures during operation, leaving ample time for rotation stall detection. We train the SVRM model using experimental data samples, and perform pressure data prediction using the trained SVRM model. To prove the feasibility of using the SVRM model for rotation stall prediction, we further process the predicted pressure data via wavelet-transform-based stall detection. By comparison of the detection results from the predicted and measured pressure data, we demonstrate that the SVRM model can accurately predict the fan pressure and guarantee reliable stall detection with a time advance of up to 0.0625 s. This superior pressure data prediction capability leaves significant time for effective control and prevention of fan rotation stall faults. This model has great potential for use in intelligent fan systems with stall prevention capability, which will ensure safe operation and improve the energy efficiency of power plants.
rotation stall prediction; support vector machine; wavelet transform; energy efficiency
A new surface acoustic wave (SAW)-based rate sensor pattern incorporating metallic dot arrays was developed in this paper. Two parallel SAW delay lines with a reverse direction and an operation frequency of 80 MHz on a same X-112°Y LiTaO3 wafer are fabricated as the feedback of two SAW oscillators, and mixed oscillation frequency was used to characterize the external rotation. To enhance the Coriolis force effect acting on the SAW propagation, a copper (Cu) dot array was deposited along the SAW propagation path of the SAW devices. The approach of partial-wave analysis in layered media was referred to analyze the response mechanisms of the SAW based rate sensor, resulting in determination of the optimal design parameters. To improve the frequency stability of the oscillator, the single phase unidirectional transducers (SPUDTs) and combed transducer were used to form the SAW device to minimize the insertion loss and accomplish the single mode selection, respectively. Excellent long-term (measured in hours) frequency stability of 0.1 ppm/h was obtained. Using the rate table with high precision, the performance of the developed SAW rate sensor was evaluated experimentally; satisfactory detection sensitivity (16.7 Hz·deg·s−1) and good linearity were observed.
Coriolis force; delay line; metallic dot array; oscillator; SAW rate sensor
A bell-shaped vibratory angular rate gyro, which is inspired by the Chinese traditional bell, is a kind of axisymmetric shell resonator gyroscope. Its sensitive element is a vibratory-like Chinese traditional bell, using a piezoelectric element on the wall of the vibrator to detect the standing wave's precession to solve the input angular rate. This work mainly studies the circuit system of a bell-shaped vibratory angular rate gyro. It discusses the process of circuit system design, analysis and experiment, in detail, providing the foundation to develop a bell-shaped vibratory angular rate gyro. Since the bell-shaped resonator's curved structure has the characteristics of large noise in the piezoelectric signal and large harmonics, this paper analyzes its working and signal detection method, then gives the whole plan of the circuit system, including the drive module, the detection module and the control loop. It also studies every part of the whole system, gives a detailed design and analysis process and proves part of the circuit system using digital simulation. At the end of the article, the test result of the circuit system shows that it can remove the disadvantages of the curved structure having large noise in the piezoelectric signal and large harmonics and is more effective at solving the input angular rate.
bell-shaped vibratory angular rate gyro; Coriolis vibrating gyro; bell-shaped vibratory angular rate gyro circuit system; axisymmetric shell resonator gyroscopes; signal process of bell-shaped vibratory angular rate gyro
To develop a convenient; sensitive; accurate; and economical technique for genotyping of hepatitis B viruses (HBVs).
The mercapto-modified B1; B2; C1; and C2-specific genotyping probes consisted of two probes for each HBV genotype that served as a double verification system. These probes were fixed on the surface of No. 1; 2; 3; and 4 gold electrodes; respectively; via Au-S bonds. Different charge generated by the binding of RuHex to phosphate groups of the DNA backbone before and after hybridization was used for distinguishing the different genotypes.
During hybridization with genotype B; the charges detected at the No. 1 and 2 electrodes were significantly increased; while the charge at the No. 3 and 4 electrodes did not change significantly. During hybridization with genotype C; the charges detected at No. 3 and 4 electrodes were significantly increased; while the signals remained unchanged at the No. 1 and 2 electrodes. During hybridization with mixed genotypes (B and C); the charges detected at all four electrodes were significantly increased. The linear range of detection was 10−7 to 10−10 mol/L and the sensitivity for detecting mixed B (10%) or C (10%).
Rapid genotyping of HBVs based on electrochemical sensing is simple, has good specificity; and can greatly reduce the cost. This method can be used for sensitive detection of mixed B and C HBV genotypes.
HBV genotypes; biosensors; RuHex
To address the bottleneck issues of an elastic-style six-axis force/torque sensor (six-axis force sensor), this work proposes a no-elastic piezoelectric six-axis force sensor. The operating principle of the piezoelectric six-axis force sensor is analyzed, and a structural model is constructed. The static-active design theory of the piezoelectric six-axis force sensor is established, including a static analytical/mathematical model and numerical simulation model (finite element model). A piezoelectric six-axis force sensor experimental prototype is developed according to the analytical mathematical model and numerical simulation model, and selected static characteristic parameters (including sensitivity, isotropic degree and cross-coupling) are tested using this model with three approaches. The measured results are in agreement with the analytical results from the static-active design method. Therefore, this study has successfully established a foundation for further research into the piezoelectric multi-axis force sensor and an overall design approach based on static characteristics.
finite element; static characteristic; six-axis force/torque; piezoelectric sensor; active design theory
Presented here is a slotted-quad-beam structure sensor for the measurement of friction in micro bearings. Stress concentration slots are incorporated into a conventional quad-beam structure to improve the sensitivity of force measurements. The performance comparison between the quad-beam structure sensor and the slotted-quad-beam structure sensor are performed by theoretical modeling and finite element (FE) analysis. A hollow stainless steel probe is attached to the mesa of the sensor chip by a tailor-made organic glass fixture. Concerning the overload protection of the fragile beams, a glass wafer is bonded onto the bottom of sensor chip to limit the displacement of the mesa. The calibration of the packaged device is experimentally performed by a tri-dimensional positioning stage, a precision piezoelectric ceramic and an electronic analytical balance, which indicates its favorable sensitivity and overload protection. To verify the potential of the proposed sensor being applied in micro friction measurement, a measurement platform is established. The output of the sensor reflects the friction of bearing resulting from dry friction and solid lubrication. The results accord with the theoretical modeling and demonstrate that the sensor has the potential application in measuring the micro friction force under stable stage in MEMS machines.
micro-force sensor; stress concentration slots; friction measurement
The bell-shaped vibratory angular rate gyro (abbreviated as BVG) is a novel shell vibratory gyroscope, which is inspired by the Chinese traditional bell. It sensitizes angular velocity through the standing wave precession effect. The bell-shaped resonator is a core component of the BVG and looks like the millimeter-grade Chinese traditional bell, such as QianLong Bell and Yongle Bell. It is made of Ni43CrTi, which is a constant modulus alloy. The exciting element, control element and detection element are uniformly distributed and attached to the resonator, respectively. This work presents the design, analysis and experimentation on the BVG. It is most important to analyze the vibratory character of the bell-shaped resonator. The strain equation, internal force and the resonator's equilibrium differential equation are derived in the orthogonal curvilinear coordinate system. When the input angular velocity is existent on the sensitive axis, an analysis of the vibratory character is performed using the theory of thin shells. On this basis, the mode shape function and the simplified second order normal vibration mode dynamical equation are obtained. The coriolis coupling relationship about the primary mode and secondary mode is established. The methods of the signal processing and control loop are presented. Analyzing the impact resistance property of the bell-shaped resonator, which is compared with other shell resonators using the Finite Element Method, demonstrates that BVG has the advantage of a better impact resistance property. A reasonable means of installation and a prototypal gyro are designed. The gyroscopic effect of the BVG is characterized through experiments. Experimental results show that the BVG has not only the advantages of low cost, low power, long work life, high sensitivity, and so on, but, also, of a simple structure and a better impact resistance property for low and medium angular velocity measurements.
bell-shaped vibratory angular rate gyro; BVG; coriolis vibratory gyro; bell-shaped resonator
A signal mass piezoelectric six-degrees-of-freedom (six-DOF) accelerometer is put forward in response to the need for health monitoring of the dynamic vibration characteristics of high grade digitally controlled machine tools. The operating principle of the piezoelectric six-degrees-of-freedom accelerometer is analyzed, and its structure model is constructed. The numerical simulation model (finite element model) of the six axis accelerometer is established. Piezoelectric quartz is chosen for the acceleration sensing element and conversion element, and its static sensitivity, static coupling interference and dynamic natural frequency, dynamic cross coupling are analyzed by ANSYS software. Research results show that the piezoelectric six-DOF accelerometer has advantages of simple and rational structure, correct sensing principle and mathematic model, good linearity, high rigidity, and theoretical natural frequency is more than 25 kHz, no nonlinear cross coupling and no complex decoupling work.
six-DOF accelerometer; piezoelectric sensor; finite element
This paper presents a review and analysis of the research that has been carried out on dynamic calibration for optical-fiber solids concentration probes. An introduction to the optical-fiber solids concentration probe was given. Different calibration methods of optical-fiber solids concentration probes reported in the literature were reviewed. In addition, a reflection-type optical-fiber solids concentration probe was uniquely calibrated at nearly full range of the solids concentration from 0 to packed bed concentration. The effects of particle properties (particle size, sphericity and color) on the calibration results were comprehensively investigated. The results show that the output voltage has a tendency to increase with the decreasing particle size, and the effect of particle color on calibration result is more predominant than that of sphericity.
optical-fiber probe; solids concentration; calibration method; gas-solid two-phase flows
In a health management system, prognostics, which is an engineering discipline that predicts a system's future health, is an important aspect yet there is currently limited research in this field. In this paper, a hybrid approach for prognostics is proposed. The approach combines the least squares support vector regression (LSSVR) with the hidden Markov model (HMM). Features extracted from sensor signals are used to train HMMs, which represent different health levels. A LSSVR algorithm is used to predict the feature trends. The LSSVR training and prediction algorithms are modified by adding new data and deleting old data and the probabilities of the predicted features for each HMM are calculated based on forward or backward algorithms. Based on these probabilities, one can determine a system's future health state and estimate the remaining useful life (RUL). To evaluate the proposed approach, a test was carried out using bearing vibration signals. Simulation results show that the LSSVR/HMM approach can forecast faults long before they occur and can predict the RUL. Therefore, the LSSVR/HMM approach is very promising in the field of prognostics.
prognostics; least squares support vector regression; hidden Markov model; remaining useful life
Bell-shaped vibratory angular rate gyro (abbreviated as BVG) is a new type Coriolis vibratory gyro that was inspired by Chinese traditional clocks. The resonator fuses based on a variable thickness axisymmetric multicurved surface shell. Its characteristics can directly influence the performance of BVG. The BVG structure not only has capabilities of bearing high overload, high impact and, compared with the tuning fork, vibrating beam, shell and a comb structure, but also a higher frequency to overcome the influence of the disturbance of the exterior environment than the same sized hemispherical resonator gyroscope (HRG) and the traditional cylinder vibratory gyroscope. It can be widely applied in high dynamic low precision angular rate measurement occasions. The main work is as follows: the issue mainly analyzes the structure and basic principle, and investigates the bell-shaped resonator's mathematical model. The reasonable structural parameters are obtained from finite element analysis and an intelligent platform. Using the current solid vibration gyro theory analyzes the structural characteristics and principles of BVG. The bell-shaped resonator is simplified as a paraboloid of the revolution mechanical model, which has a fixed closed end and a free opened end. It obtains the natural frequency and vibration modes based on the theory of elasticity. The structural parameters are obtained from the orthogonal method by the research on the structural parameters of the resonator analysis. It obtains the modal analysis, stress analysis and impact analysis with the chosen parameters. Finally, using the turntable experiment verifies the gyro effect of the BVG.
bell-shaped vibratory angular rate gyro; Coriolis vibratory gyro; bell-shaped resonator
Curb detection is an important research topic in environment perception, which is an essential part of unmanned ground vehicle (UGV) operations. In this paper, a new curb detection method using a 2D laser range finder in a semi-structured environment is presented. In the proposed method, firstly, a local Digital Elevation Map (DEM) is built using 2D sequential laser rangefinder data and vehicle state data in a dynamic environment and a probabilistic moving object deletion approach is proposed to cope with the effect of moving objects. Secondly, the curb candidate points are extracted based on the moving direction of the vehicle in the local DEM. Finally, the straight and curved curbs are detected by the Hough transform and the multi-model RANSAC algorithm, respectively. The proposed method can detect the curbs robustly in both static and typical dynamic environments. The proposed method has been verified in real vehicle experiments.
curb detection; laser range finder; mapping; dynamic environment