This paper introduces a method of design and implementation of a two-wheeled inverted pendulum (TWIP) robot with friction compensation. Friction in the drive mechanism is a critical factor of robot self-balancing and affects its performance. The friction parameters are identified based on the dynamic model of the drive mechanism. The dynamics of the whole robot system are obtained by the Lagran...

In the field of Global Navigation Satellite System (GNSS) attitude determination, the constraints usually play a critical role in resolving the unknown ambiguities quickly and correctly. Many constraints such as the baseline length, the geometry of multi-baselines and the horizontal attitude angles have been used extensively to improve the performance of ambiguity resolution. In the GNSS/Inerti...

Citation Lin, L. et al. " Studies of turbulence and transport in Alcator C-Mod H-mode plasmas with phase contrast imaging and comparisons with GYRO. Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use. The MIT Faculty has made this article openly available. Please share how this access ...

A Micro Inertial Measurement Unit (μIMU) which is based on MEMS accelerometers and gyro sensors is developed for real-time recognition of human body motions, specifically falling-down motions caused by slippage. A μIMU measures three-dimensional angular rates and accelerations. With an integrated microcontroller, the overall size of our μIMU is less than 26mm*20mm*20mm. We present our progress ...

The need for micromechanical inertial sensors is increasing in future electronic stability control (ESC) and other positioning, navigation and guidance systems. Due to the rising density of sensors in automotive and consumer devices the goal is not only to get high performance, robustness and smaller package sizes, but also to optimize the energy management of the overall sensor system. This pa...

The distinctive features of the ion gyro-harmonic discrete structures in narrowband stimulated electromagnetic emission (NSEE) spectra (within ±1 kHz heater frequency), excited by an extraordinary (X-mode) polarized high frequency (HF) pump wave F-region latitude ionosphere, are reported. Results were obtained from three sets experiments at EISCAT (European incoherent Scatter) HF Heating facili...

This report summarizes results from using TelOpTrak, a new approach for precision indoor tracking of tele-operated UGVs. TelOpTrak does not rely on GPS, or external references; it uses odometry and a low-cost MEMS-based gyro. Our method corrects heading errors incurred by the high drift rate of the gyro by exploiting the structured nature of most indoor environments, but without having to direc...

A relativistic bounce-averaged quasilinear diffusion equation is derived to describe stochastic particle transport associated with arbitrary-frequency electromagnetic fluctuations in a nonuniform magnetized plasma. Expressions for the elements of a relativistic quasilinear diffusion tensor are calculated explicitly for magnetically-trapped particle distributions in axisymmetric magnetic geometr...