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Related Concept Videos

Gyroscope01:02

Gyroscope

A gyroscope is defined as a spinning disk in which the axis of rotation is free to assume any orientation. When spinning, the orientation of the spin axis is unaffected by the orientation of the body that encloses it. The body or vehicle enclosing the gyroscope can be moved from place to place, while the orientation of the spin axis remains the same. This makes gyroscopes very useful in navigation, especially where magnetic compasses cannot be used, such as in crewed and crewless spacecraft,...
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Precession can be demonstrated effectively through a spinning top. If a spinning top is placed on a flat surface near the surface of the Earth at a vertical angle and is not spinning, it will fall over due to the force of gravity producing a torque acting on its center of mass. However, if the top is spinning on its axis, it precesses about the vertical direction, rather than topple over due to this torque. Precessional motion is a combination of a steady circular motion of the axis and the...
Torque Free Motion01:15

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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
Rotation with Constant Angular Acceleration - I01:37

Rotation with Constant Angular Acceleration - I

If angular acceleration is constant, then we can simplify equations of rotational kinematics, similar to the equations of linear kinematics. This simplified set of equations can be used to describe many applications in physics and engineering where the angular acceleration of a system is constant.
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Rotation with Constant Angular Acceleration - II01:16

Rotation with Constant Angular Acceleration - II

Kinematics is the description of motion. The kinematics of rotational motion discusses the relationships between rotation angle, angular velocity, angular acceleration, and time. One can describe many things with great precision using kinematics, but kinematics does not consider causes. For example, a large angular acceleration describes a very rapid change in angular velocity without any consideration of its cause. Thus, rotational kinematics does not represent the laws of nature.
The first...
Relating Angular And Linear Quantities - I01:09

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If the rotational definitions are compared with the definitions of linear kinematic variables from motion along a straight line and motion in two and three dimensions, we can observe a mapping of the linear variables to the rotational ones.
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Transfer Function Compensation in Gyroscope-free Inertial Measurement Units for Accurate Angular Motion Sensing.

W T Latt1, U-X Tan, C N Riviere

  • 1Department of Computing, and the Hamlyn Center for Robotic Surgery, Imperial College London (phone:+44 0 7542163363).

IEEE Sensors Journal
|October 23, 2012
PubMed
Summary
This summary is machine-generated.

Gyroscope-free inertial measurement units (IMUs) can improve microsurgical instrument motion sensing. This study highlights how non-identical accelerometer transfer functions impact accuracy and proposes a method to equalize them for better angular motion sensing.

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Area of Science:

  • Robotics and Automation
  • Biomedical Engineering
  • Sensor Technology

Background:

  • Gyroscope-free inertial measurement units (IMUs) are increasingly used for motion sensing, particularly in delicate applications like hand-held microsurgical instruments.
  • Existing research on accelerometer placement configurations has overlooked the critical impact of non-identical transfer functions on sensing accuracy.

Purpose of the Study:

  • To investigate the underappreciated effect of non-identical accelerometer transfer functions on the accuracy of angular motion sensing.
  • To propose and validate a method for ensuring identical transfer functions across all accelerometers within an IMU.

Main Methods:

  • Analysis of phase differences in accelerometer outputs resulting from non-identical transfer functions.
  • Development of a novel method to synchronize the transfer functions of multiple accelerometers.
  • Experimental validation using ADXL-203 accelerometers to demonstrate the proposed method's effectiveness.

Main Results:

  • Non-identical transfer functions introduce significant phase discrepancies, negatively impacting angular motion sensing accuracy.
  • The proposed method successfully equalizes the transfer functions of the accelerometers.
  • Experimental results confirm a marked improvement in sensing accuracy after applying the equalization method.

Conclusions:

  • The transfer functions of accelerometers in gyroscope-free IMUs must be considered for accurate angular motion sensing.
  • The developed method provides a practical solution for enhancing the precision of IMUs in sensitive applications.
  • This research contributes to the advancement of motion sensing technology for microsurgical instruments and other fields.