In this thesis, I propose a robust and easy to implement method to calibrate an IMU without any external equipment. The procedure is based on a multi-position scheme, providing scale and misalignments factors for both the accelerometers and gyroscopes triads, while estimating the sensor biases. The method only requires the sensor to be moved by hand and placed in a set of different, static posi...

Functions We already observed in Section 5.2.2 that a function f : Z → Z is decomposed into elementary functions, i.e., assembly instructions within some basic block. Following the same approach, let us assume that the function f can be expressed as a composition of elementary functions, namely f = λx.h(g1(x, ..., x), ..., gk(x, ..., x)) where h : Zk → Z and gi : Zni → Z. More in general, each ...

DESCRIPTION: A 2-D imaging procedure for ultrasonic nondestructive testing has to be realized. It relies on both the use of pseudo-orthogonal sequences and of an inversion procedure made robust by combining the conjugate gradient iterative method with the Total Variation regularization. The effectiveness of the proposed procedure has been verified by experimental results: the overall system pro...

Sistemi informatici sempre più complessi sono ormai costantemente parte della vita di tutti i giorni di milioni di persone. Le applicazioni software che gestiscono questi sistemi informatici diventano man mano sempre più grosse e difficili da gestire e per questo l’incidenza del numero di bug al loro interno è diventata sempre più alta. La creazione di un software perfetto, ossia senza bug, è u...

Dipartimento di Matematica e Fisica “E. De Giorgi”, Università del Salento, Italy Istituto Nazionale di Fisica Nucleare sez. di Lecce, Lecce, Italy Dipartimento di Fisica, Università di Bari, Italy Istituto Nazionale di Fisica Nucleare sez. di Bari, Genova, Italy Dipartimento di Fisica, Università di Genova, Italy f Istituto Nazionale di Fisica Nucleare sez. di Genova, Genova, Italy Dipartiment...

a new poly(vinylchloride) membrane sensor for cr3+ ions based on di (benzylamino)glyoxime asan ionophore was prepared. the electrode has a linear dynamic range 1×10-6-1×10-1 mol l-1,with anernstian slope of 20.3 ± 0.5 mv per decade and a detection limit of 2×10-7. it has a fast responsetime of

in order to increase the rate of gas absorption, chemical reaction in the liquid phase is considered. the purpose of this paper was to simulate gas absorption process by a liquid film over a spherical packing incorporating eddy viscosity and diffusivity. second order chemical reaction for two different cases (fast and slow) were considered. the system partial differential equations obtained was...

The title compound, (C(12)H(28)N)(2)[Cu(3.194)I(6)(C(5)H(5)N)(2)] was prepared from reaction of copper powder, copper(I) oxide, hydro-iodic acid, tetra-propyl-ammonium iodide and pyridine under hydro-thermal conditions. In the centrosymmetric Cu(4)I(6) (2-) anion, one Cu site is in a trigonal-planar coordination while the second Cu site, which is only partially occupied [site occupancy of 0.596...