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Full-Text Articles in Aerospace Engineering
Design And Fem Modelling Of Mems Capacitive Accelerometer And Gyroscope For Quadcopter/Uav Applications, Shaikha Rashid Alnaqbi
Design And Fem Modelling Of Mems Capacitive Accelerometer And Gyroscope For Quadcopter/Uav Applications, Shaikha Rashid Alnaqbi
Theses
This study presents the design, simulation, and analysis of Micro Electromechanical Systems (MEMS) sensors, constituting the principal components of MEMS-based Inertial Measurement Units (IMUs). The main objective of the study is to design, simulate and analyze 3-axis capacitive accelerometer and 3-axis gyroscope. The MEMS-based capacitive accelerometers and gyroscope are analyzed using Ansys Workbench. Modal, Static Structural and harmonic analysis are used to obtain resonant frequencies, deformation/stress and profile of amplitude over a wide range of frequencies. Mechanical sensitivity analysis of the designed accelerometer and gyroscope is performed using the Finite Element Method (FEM). Analytical Equations are developed to calculate mechanical …
Robust State Estimation Methods For Robotics Applications, Shounak Das
Robust State Estimation Methods For Robotics Applications, Shounak Das
Graduate Theses, Dissertations, and Problem Reports
State estimation is an integral component of any autonomous robotic system. Finding the correct position, velocity, and orientation of an agent in its environment enables it to do other tasks like mapping and interacting with the environment, and collaborating with other agents. State estimation is achieved by using data obtained from multiple sensors and fusing them in a probabilistic framework. These include inertial data from Inertial Measurement Unit (IMU), images from camera, range data from lidars, and positioning data from Global Navigation Satellite Systems (GNSS) receivers. The main challenge faced in sensor-based state estimation is the presence of noisy, erroneous, …