We propose an event-based dynamic segmentation technique for the classification of locomotion activities, able to detect the midswing, initial contact and end contact events. This technique is based on the use of a shank-mounted inertial sensor incorporating a tri-axial accelerometer and a tri-axial gyroscope, and it is tested on four different locomotion activities: walking, stair ascent, stai...

An electro-conjugate fluid (ECF) is a kind of dielectric fluid that works as a functional/smart fluid generating a powerful jet flow (ECF jet) when subjected to a high d.c. voltage. The authors previously proposed the first liquid rate gyroscope in the world using ECF. The ECF liquid rate gyroscope proposed uses the drift of the ECF jet due to the Coriolis force when an angular motion is applie...

The central element of the Stanford relativity experiment is a cryogenic gyroscope with a performance in space many orders of magnitude superior to that of conventional earth-boiind devices. In the early pllases of the program, a great deal of thought wa? given t o the problem of achieving the performance goal, and an entirely new gyro concept was developed by William Fairbank and Francis Everi...

In this paper, an Adaptive Neuro Fuzzy Inference System (ANFIS) based control is proposed for the tracking of a Micro-Electro Mechanical Systems (MEMS) gyroscope sensor. The ANFIS is used to train parameters of the controller for tracking a desired trajectory. Numerical simulations for a MEMS gyroscope are looked into to check the effectiveness of the ANFIS control scheme. It proves that the sy...

Gyroscopes are instruments capable of sensing changes in their inertial orientation. A gyroscope has one or more sensitive axis and can measure a rotation around them. They are usually mechanical devices that employ a rapid spinning mass to detect the inertial variations. Satellites usually have gyroscopes in the Attitude and Orbit Control System as attitude (orientation) sensors that measure a...

in this paper, an adaptive neuro fuzzy inference system (anfis) based control is proposed for the tracking of a micro-electro mechanical systems (mems) gyroscope sensor. the anfis is used to train parameters of the controller for tracking a desired trajectory. numerical simulations for a mems gyroscope are looked into to check the effectiveness of the anfis control scheme. it proves that the sy...

This paper presents results from the experimental evaluation of a state-of-the-art fiber-optics gyroscope. The purpose of our experiments was to evaluate the suitability of this gyroscope for enhancing dead-reckoning in mobile robots. The evaluated gyroscope was the “Autogyro Navigator” made by Andrews. For a 4×4 m square path the dead-reckoning error when using this gyro was less than ±1.2° in...

We investigated how V1 neurons integrate two stimulus features by presenting stimuli from a stimulus set made up of all combinations of eight different directions of motion and nine binocular disparities. We investigated the occurrence and shape of the resulting joint tuning function. Among V1 neurons, approximately 80% were jointly tuned for disparity with orientation or direction. The joint t...

This paper describes experiments conducted in order to simultaneously tune 15 joints of a humanoid robot. Two Genetic Algorithm (GA) based tuning methods were developed and compared against a hand-tuned solution. The system was tuned in order to minimise tracking error while at the same time achieve smooth joint motion. Joint smoothness is crucial for the accurate calculation of online ZMP esti...

There are several application areas where the simultaneous measurement of rates of rotation about three mutually orthogonal axes is required. In this paper the principle features of a 3-axis vibrating ring gyroscope are described. The fabrication process for the gyroscope is presented and employs standard MEMS techniques. The modal properties for the ring are measured experimentally using laser...