Improved Angular Velocity Estimation Using MEMS Sensors with Applications in Miniature Inertially Stabilized Platforms

The performance of any inertially stabilized platform （ISP） is strongly related to the bandwidth and accuracy of the angular velocity signals. This paper discusses the development of an optimal state estimator for sensing inertial velocity using low-cost micro-electro-mechanical systems （MEMS） sensors. A low-bandwidth gyroscope is used alone with two low-performance accelerometers to obtain the estimation. The gyroscope has its own limited dynamics and mainly contributes to the low-frequency components of the estimation. The accelerometers have inherent biases and mainly contribute to the high-frequency components of the estimation. Extensive experimental results show that the state estimator can achieve high-performance signals over a wide range of velocities without drifts in both the t- and s-domains. Furthermore, with applications in miniature inertially stabilized platforms, the control characteristic presents a significantly improvement over the existing methods. The method can be also applied to robotics, attitude estimation, and friction compensation.

Application in prestiction friction compensation for angular velocity loop of inertially stabilized platforms

Abstract To overcome the influence of the nonlinear friction on the gimbaled servo-system of an inertial stabilized platforms （ISPs） with DC motor direct-drive, the methods of modeling and compensation of the nonlinear friction are proposed. Firstly, the inapplicability of LuGre model when trying to interpret the backward angular displacement in the prestiction regime is observed experimentally and the reason is deduced theoretically. Then, based on the dynamic model of direct-drive ISPs, a modified LuGre model is proposed to describe the characteristic of the friction in the prestiction regime. Furthermore, the state switch condition of the three friction regimes including presliding, gross sliding and prestiction is presented. Finally, a composite compensation controller including a nonlinear friction observer and a feedforward compensator based on the novel LuGre model is designed to restrain the nonlinear friction and to improve the control precision. Experimental results indicate that compared with those of the conventional proportion-integrationdifferentiation （PID） control method and the PID plus LuGre model-based friction compensation method, the dwell-time has decreased from 0.2 s to almost 0 s, the position error decreased to 86.7% and the peak-to-peak value of position error decreased to 80% after the novel compensation controller is added. It concludes that the composite compensation controller can greatly improve the control precision of the dynamic sealed ISPs.

Review of the Tuned Mass Damper Inerter(TMDI)in Energy Harvesting and Vibration Control:Designs,Analysis and Applications

Tuned mass damper inerter(TMDI)is a device that couples traditional tuned mass dampers(TMD)with an inertial device.The inertial device produces resistance proportional to the relative acceleration at its two ends through its“inertial”constant.Due to its unique mechanical properties,TMDI has received widespread attention and application in the past twenty years.As different configurations are required in different practical situations,TMDI is still active in the research on vibration control and energy harvesting in structures.This paper provides a comprehensive review of the research status of TMDI.This work first examines the generation and important vibration control characteristics of TMDI.Then,the energy harvesting performance of electromagnetic tuned mass damper inerter(EM-TMDI)is discussed.This work emphasizes the formation of a passive dynamic vibration absorber by coupling traditional TMD with inertial devices.This paper also summarizes the design and implementation of optimal vibration control and energy harvesting for TMDI.Furthermore,this paper details the applications of TMDI in the fields of bridges and building engineering.Finally,this paper summarizes the necessity of research on tuned mass-damper-inertia,the challenges faced currently,and future research directions,such as control of parameters in electromagnetic energy harvesting TMDI systems and low-cost TMDI.

STRONGLY CONVERGENT INERTIAL FORWARD-BACKWARD-FORWARD ALGORITHM WITHOUT ON-LINE RULE FOR VARIATIONAL INEQUALITIES

This paper studies a strongly convergent inertial forward-backward-forward algorithm for the variational inequality problem in Hilbert spaces.In our convergence analysis,we do not assume the on-line rule of the inertial parameters and the iterates,which have been assumed by several authors whenever a strongly convergent algorithm with an inertial extrapolation step is proposed for a variational inequality problem.Consequently,our proof arguments are different from what is obtainable in the relevant literature.Finally,we give numerical tests to confirm the theoretical analysis and show that our proposed algorithm is superior to related ones in the literature.

Design and Performance Analysis of HMDV Dynamic Inertial Suspension Based on Active Disturbance Rejection Control

This paper addresses the impact of vertical vibration negative effects,unbalanced radial forces generated by the static eccentricity of the hub motor,and road excitation on the suspension performance of Hub Motor Driven Vehicle(HMDV).A dynamic inertial suspension based on Active Disturbance Rejection Control(ADRC)is proposed,combining the vertical dynamic characteristics of dynamic inertial suspension with the features of ADRC,which distinguishes between internal and external disturbances and arranges the transition process.Firstly,a simulation model of the static eccentricity of the hub motor is established to simulate the unbalanced radial electromagnetic force generated under static eccentricity.A quarter-vehicle model of an HMDV with a controllable dynamic inertial suspension is then constructed.Subsequently,the passive suspension model is studied under different grades of road excitation,and the impact mechanism of suspension performance at speeds of 0–20 m/s is analyzed.Next,the three main components within the ADRC controller are designed for the second-order controlled system,and optimization algorithms are used to optimize its internal parameters.Finally,the performance of the traditional passive suspension,the PID-based controllable dynamic inertial suspension,and the ADRC-based controllable dynamic inertial suspension are analyzed under different road inputs.Simulation results show that,under sinusoidal road input,the ADRC-based controllable dynamic inertial suspension exhibits a 52.3%reduction in the low-frequency resonance peak in the vehicle body acceleration gain diagram compared to the traditional passive suspension,with significant performance optimization in the high-frequency range.Under random road input,the ADRC-based controllable dynamic inertial suspension achieves a 29.53%reduction in the root mean square value of vehicle body acceleration and a 14.87%reduction in dynamic tire load.This indicates that the designed controllable dynamic inertial suspension possesses excellent vibration isolation performance.

Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.

Maximum Correntropy Criterion-Based UKF for Loosely Coupling INS and UWB in Indoor Localization

Indoor positioning is a key technology in today’s intelligent environments,and it plays a crucial role in many application areas.This paper proposed an unscented Kalman filter(UKF)based on the maximum correntropy criterion(MCC)instead of the minimummean square error criterion(MMSE).This innovative approach is applied to the loose coupling of the Inertial Navigation System(INS)and Ultra-Wideband(UWB).By introducing the maximum correntropy criterion,the MCCUKF algorithm dynamically adjusts the covariance matrices of the system noise and the measurement noise,thus enhancing its adaptability to diverse environmental localization requirements.Particularly in the presence of non-Gaussian noise,especially heavy-tailed noise,the MCCUKF exhibits superior accuracy and robustness compared to the traditional UKF.The method initially generates an estimate of the predicted state and covariance matrix through the unscented transform(UT)and then recharacterizes the measurement information using a nonlinear regression method at the cost of theMCC.Subsequently,the state and covariance matrices of the filter are updated by employing the unscented transformation on the measurement equations.Moreover,to mitigate the influence of non-line-of-sight(NLOS)errors positioning accuracy,this paper proposes a k-medoid clustering algorithm based on bisection k-means(Bikmeans).This algorithm preprocesses the UWB distance measurements to yield a more precise position estimation.Simulation results demonstrate that MCCUKF is robust to the uncertainty of UWB and realizes stable integration of INS and UWB systems.

A Novel Fall Detection Framework Using Skip-DSCGAN Based on Inertial Sensor Data

With the widespread use of Internet of Things(IoT)technology in daily life and the considerable safety risks of falls for elderly individuals,research on IoT-based fall detection systems has gainedmuch attention.This paper proposes an IoT-based spatiotemporal data processing framework based on a depthwise separable convolution generative adversarial network using skip-connection(Skip-DSCGAN)for fall detection.The method uses spatiotemporal data from accelerometers and gyroscopes in inertial sensors as input data.A semisupervised learning approach is adopted to train the model using only activities of daily living(ADL)data,which can avoid data imbalance problems.Furthermore,a quantile-based approach is employed to determine the fall threshold,which makes the fall detection frameworkmore robust.This proposed fall detection framework is evaluated against four other generative adversarial network(GAN)models with superior anomaly detection performance using two fall public datasets(SisFall&MobiAct).The test results show that the proposed method achieves better results,reaching 96.93% and 92.75% accuracy on the above two test datasets,respectively.At the same time,the proposed method also achieves satisfactory results in terms ofmodel size and inference delay time,making it suitable for deployment on wearable devices with limited resources.In addition,this paper also compares GAN-based semisupervised learning methods with supervised learning methods commonly used in fall detection.It clarifies the advantages of GAN-based semisupervised learning methods in fall detection.

Improved spatio-temporal alignment measurement method for hull deformation

In this paper,an improved spatio-temporal alignment measurement method is presented to address the inertial matching measurement of hull deformation under the coexistence of time delay and large misalignment angle.Large misalignment angle and time delay often occur simultaneously and bring great challenges to the accurate measurement of hull deformation in space and time.The proposed method utilizes coarse alignment with large misalignment angle and time delay estimation of inertial measurement unit modeling to establish a brand-new spatiotemporal aligned hull deformation measurement model.In addition,two-step loop control is designed to ensure the accurate description of dynamic deformation angle and static deformation angle by the time-space alignment method of hull deformation.The experiments illustrate that the proposed method can effectively measure the hull deformation angle when time delay and large misalignment angle coexist.

Free-walking:Pedestrian inertial navigation based on dual foot-mounted IMU

The inertial navigation system(INS),which is frequently used in emergency rescue operations and other situations,has the benefits of not relying on infrastructure,high positioning frequency,and strong real-time performance.However,the intricate and unpredictable pedestrian motion patterns lead the INS localization error to significantly diverge with time.This paper aims to enhance the accuracy of zero-velocity interval(ZVI)detection and reduce the heading and altitude drift of foot-mounted INS via deep learning and equation constraint of dual feet.Aiming at the observational noise problem of low-cost inertial sensors,we utilize a denoising autoencoder to automatically eliminate the inherent noise.Aiming at the problem that inaccurate detection of the ZVI detection results in obvious displacement error,we propose a sample-level ZVI detection algorithm based on the U-Net neural network,which effectively solves the problem of mislabeling caused by sliding windows.Aiming at the problem that Zero-Velocity Update(ZUPT)cannot suppress heading and altitude error,we propose a bipedal INS method based on the equation constraint and ellipsoid constraint,which uses foot-to-foot distance as a new observation to correct heading and altitude error.We conduct extensive and well-designed experiments to evaluate the performance of the proposed method.The experimental results indicate that the position error of our proposed method did not exceed 0.83% of the total traveled distance.

Linear and Non-Linear Dynamics of Inertial Waves in a Rotating Cylinder with Antiparallel Inclined Ends

This work is devoted to the experimental study of inertial wave regimes in a non-uniform rotating cylinder with antiparallel inclined ends.In this setting,the cross-section of the cylinder is divided into two regions where the fluid depth increases or decreases with radius.Three different regimes are found:inertial wave attractor,global oscillations(the cavity’s resonant modes)and regime of symmetric reflection of wave beams.In linear wave regimes,a steady single vortex elongated along the rotation axis is generated.The location of the wave’s interaction with the sloping ends determines the vortex position and the vorticity sign.In non-linear regimes several pairs of the triadic resonance subharmonics are detected simultaneously.The instability of triadic resonance is accompanied by the periodic generation of mean vortices drifting in the azimuthal direction.Moreover,the appearance frequency of the vortices is consistent with the low-frequency subharmonic of the triadic resonance.The experimental results shed light on the mechanisms of the inertial wave interaction with zonal flow and may be useful for the development of new methods of mixing.

Observation of Arctic surface currents using data from a surface drifting buoy

During the 10th Chinese Arctic scientific expedition carried out in the summer of 2019,the surface current in the high-latitude areas of the Arctic Ocean was observed using a self-developed surface drifting buoy,which was initially deployed in the Chukchi Sea.The buoy traversed the Chukchi Sea,Chukchi Abyssal Plain,Mendeleev Ridge,Makarov Basin,and Canada Basin over a period of 632 d.After returning to the Mendeleev Ridge,it continued to drift toward the pole.Overall,the track of the buoy reflected the characteristics of the transpolar drift and Chukchi Slope Current,as well as the inertial flow,cross-ridge surface flow,and even the surface disorganized flow for some time intervals.The results showed that:(1)the transpolar drift mainly occurs in the Chukchi Abyssal Plain,Mendeleev Ridge,and western Canada Basin to the east of the ridge where sea ice concentration is high,and the average northward flow velocity in the region between 79.41°N and 86.32°N was 5.1 cm/s;(2)the average surface velocity of the Chukchi Slope Current was 13.5 cm/s,and while this current moves westward along the continental slope,it also extends northwestward across the continental slope and flows to the deep sea;and(3)when sea ice concentration was less than 50%,the inertial flow was more significant(the maximum observed inertial flow was 26 cm/s,and the radius of the inertia circle was 3.6 km).

A Temporary Frequency Response Strategy Using a Voltage Source-Based PermanentMagnet Synchronous Generator and Energy Storage Systems

Energy storage systems(ESS)and permanent magnet synchronous generators(PMSG)are speculated to be able to exhibit frequency regulation capabilities by adding differential and proportional control loops with different control objectives.The available PMSG kinetic energy and charging/discharging capacities of the ESS were restricted.To improve the inertia response and frequency control capability,we propose a short-term frequency support strategy for the ESS and PMSG.To this end,the weights were embedded in the control loops to adjust the participation of the differential and proportional controls based on the system frequency excursion.The effectiveness of the proposed control strategy was verified using PSCAD/EMTDC.The simulations revealed that the proposed strategy could improve the maximum rate of change of the frequency nadir and maximum frequency excursion.Therefore,it provides a promising solution of ancillary services for frequency regulation of PMSG and ESS.

Weak and Strong Convergence of Self Adaptive Inertial Subgradient Extragradient Algorithms for Solving Variational Inequality Problems

Many solutions of variational inequalities have been proposed,among which the subgradient extragradient method has obvious advantages.Two different algorithms are given for solving variational inequality problem in this paper.The problem we study is defined in a real Hilbert space and has L-Lipschitz and pseudomonotone condition.Two new algorithms adopt inertial technology and non-monotonic step size rule,and their convergence can still be proved when the value of L is not given in advance.Finally,some numerical results are designed to demonstrate the computational efficiency of our two new algorithms.

Comparison study on measurement of rail weld joint between inertial reference method and multi-point chord reference method

Purpose – Straightness measurement of rail weld joint is of essential importance to railway maintenance. Dueto the lack of efficient measurement equipment, there has been limited in-depth research on rail weld joint with a5-m wavelength range, leaving a significant knowledge gap in this field.Design/methodology/approach – In this study, the authors used the well-established inertial referencemethod (IR-method), and the state-of-the-art multi-point chord reference method (MCR-method). Two methodshave been applied in different types of rail straightness measurement trollies, respectively. These instrumentswere tested in a high-speed rail section within a certain region of China. The test results were ultimatelyvalidated through using traditional straightedge and feeler gauge methods as reference data to evaluate the railweld joint straightness within the 5-m wavelength range.Findings – The research reveals that IR-method and MCR-method produce reasonably similar measurementresults for wavelengths below 1 m. However, MCR-method outperforms IR-method in terms of accuracy forwavelengths exceeding 3 m. Furthermore, it was observed that IR-method, while operating at a slower speed,carries the risk of derailing and is incapable of detecting rail weld joints and low joints within the track.Originality/value – The research compare two methods’ measurement effects in a longer wavelength rangeand demonstrate the superiority of MCR-method.

A PID Tuning Approach for Inertial Systems Performance Optimization

In the practice of control the industrial processes, proportional-integral-derivative controller remains pivotal due to its simple structure and system performance-oriented tuning process. In this paper are presented two approaches for synthesis the proportional-integral-derivative controller to the models of objects with inertia, that offer the procedure of system performance optimization based on maximum stability degree criterion. The proposed algorithms of system performance optimization were elaborated for model of objects with inertia second and third order and offer simple analytical expressions for tuning the PID controller. Validation and verification are conducted through computer simulations using MATLAB, demonstrating successful performance optimization and showcasing the effectiveness PID controllers’ tuning. The proposed approaches contribute insights to the field of control, offering a pathway for optimizing the performance of second and third-order inertial systems through robust controller synthesis.

Relativistic Heavy Ion Collider and the Large Hadron Collider for Heavy Ion Fusion

Heavy Ion Fusion makes use of the Relativistic Heavy Ion Collider at Brookhaven National Lab and the Large Hadron Collider in Geneva, Switzerland for Inertial Confinement Fusion. Two Storage Rings, which may or may not initially be needed, added to each of the Colliders increases the intensity of the Heavy Ion Beams making it comparable to the Total Energy delivered to the DT target by the National Ignition Facility at the Lawrence Livermore Lab. The basic Physics involved gives Heavy Ion Fusion an advantage over Laser Fusion because heavy ions have greater penetration power than photons. The Relativistic Heavy Ion Collider can be used as a Prototype Heavy Ion Fusion Reactor for the Large Hadron Collider.

ENSO Index Variations and Links with Solar and Volcanic Activity

In this paper, we investigated the Oceanic Niño Index (ONI), for simplicity called in this paper an El Nino Southern Oscillation (ENSO) index in 1950-2023 by applying the wavelet spectral transform and the IBM SPSS correlations analysis. ONI follows the three months’ current measurements of the average temperature of the sea surface in the East-Central tropical part of the Pacific Ocean nearby the international line of the date change over the average sea surface temperature over the past 30 years. The ENSO index is found to have a strong (>87%) correlation with the Global Land-Ocean Temperature (GLOT). The scatter plots of the ENSO-GLOT correlation with the linear and cubic fits have shown that the ENSO index is better fit by the cubic polynomial increasing proportionally to a cubic power of the GLOT variations. The wavelet analysis allowed us to detect the two key periods in the ENSO (ONI) index: 4 - 5 years and 12 years. The smaller period of 4.5 years can be linked to the motion of tectonic plates while the larger period of 12 years is shown to have a noticeable correlation of 25% with frequencies of the underwater (submarine) volcanic eruptions in the areas with ENSO occurrences. Not withholding any local terrestrial factors considered to contribute to the ENSO occurrences, we investigated the possibility of the volcanic eruptions causing ENSO to be also induced by the tidal forces of Jupiter and Sun showing the correlation of the underwater volcanic eruption frequency with the Jupiter-Earth distances to be 12% and with the Sun-Earth distances, induced by the solar inertial motion, in January, when the Earth is turned to the Sun with the southern hemisphere where the ENSO occurs, to become 15%. Hence, the underwater volcanic eruptions induced by tidal forces of Jupiter and Sun can be the essential additional factors imposing this 12 year period of the ENSO (ONI) index variations.

Atmospheric and oceanic responses to Super Typhoon Mangkhut in the South China Sea:a coupled CROCO-WRF simulation

The South China Sea(SCS)is the largest marginal sea in the Northwest Pacific Ocean,and it encounters frequent typhoons.The atmosphere and ocean will create significant thermal and dynamic responses during the intense disturbance caused by typhoons.However,these responses have not been thoroughly investigated owing to the complicated marine environment.According to the satellite data,the SCS Basin was observed to have a strong sea surface temperature(SST)response to Typhoon Mangkhut,resulting in widespread SST cooling.A coupled model was used to investigate the atmospheric and oceanic responses to Typhoon Mangkhut.Best-track data,satellite SST,and ARGO measurements show that the coupled WRF-CROCO simulation displays better track,intensity,SST,temperature,and salinity profiles than those of the WRF-only simulation.Results show that the typhoon induced rightward intensifications in wind speed,ocean current,and SST.The following are some remarkable atmosphere and ocean responses:(1)the SST below the inner-core region is cooled by 1℃,resulting in a 37%-44%decrease in wet enthalpy,and the central pressure is increased by~9 hPa.Therefore,the changes in SST below the innercore region of the SCS Basin have a significant impact on air-sea fluxes under high-wind conditions;(2)the ocean boundary layer analysis shows that near-inertial oscillations on the right side of the typhoon track and a strong inertial current up to~2.28 m/s in the upper ocean were observed,which resonated with the local wind and flow field on the right side and induced strong SST cooling;(3)a decrease in SST decreased the moist static energy of the typhoon boundary layer,thereby weakening the typhoon’s intensity.The difference in equivalent potential temperature and sea surface pressure have a good correlation,indicating that the influence of moist static energy on typhoon intensity cannot be overlooked.

A RELAXED INERTIAL FACTOR OF THE MODIFIED SUBGRADIENT EXTRAGRADIENT METHOD FOR SOLVING PSEUDO MONOTONE VARIATIONAL INEQUALITIES IN HILBERT SPACES

In this paper,we investigate pseudomonotone and Lipschitz continuous variational inequalities in real Hilbert spaces.For solving this problem,we propose a new method that combines the advantages of the subgradient extragradient method and the projection contraction method.Some very recent papers have considered different inertial algorithms which allowed the inertial factor is chosen in[0;1].The purpose of this work is to continue working in this direction,we propose another inertial subgradient extragradient method that the inertial factor can be chosen in a special case to be 1.Under suitable mild conditions,we establish the weak convergence of the proposed algorithm.Moreover,linear convergence is obtained under strong pseudomonotonicity and Lipschitz continuity assumptions.Finally,some numerical illustrations are given to confirm the theoretical analysis.