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Thanks to Daniel Le Guern! You can research all those and achieve wonderful but complex results. My way of explaining things require just basic math. I am a great believer in simplicity. I think a system that is simple is easier to control and monitor, besides many embedded devices do not have the power and resources to implement complex algorithms requiring matrix calculations.
We'll use parameters of this device in our examples below. This unit is a good device to start with because it consists of 3 devices: Now that's a fancy name!
Nevertheless, behind the fancy name is a very useful combination device that we'll cover and explain in detail below. Accelerometer To Embedded systems engineer cover letter this unit we'll start with the accelerometer. When thinking about accelerometers it is often useful to image a box in shape of a cube with a ball inside it.
You may imagine something else like a cookie or a donutbut I'll imagine a ball: If we take this box in a place with no gravitation fields or for that matter with no other fields that might affect the ball's position — the ball will simply float in the middle of the box.
You can imagine the box is in outer-space far-far away from any cosmic bodies, or if such a place is hard to find imagine at least a space craft orbiting around the planet where everything is in weightless state.
Imagine that each wall is pressure sensitive. We then measure the pressure force that the ball applies to the wall and output a value of -1g on the X axis.
Please note that the accelerometer will actually detect a force that is directed in the opposite direction from the acceleration vector. This force is often called Inertial Force or Fictitious Force. One thing you should learn from this is that an accelerometer measures acceleration indirectly through a force that is applied to one of it's walls according to our model, it might be a spring or something else in real life accelerometers.
This force can be caused by the accelerationbut as we'll see in the next example it is not always caused by acceleration. If we take our model and put it on Earth the ball will fall on the Z- wall and will apply a force of 1g on the bottom wall, as shown in the picture below: In this case the box isn't moving but we still get a reading of -1g on the Z axis.
The pressure that the ball has applied on the wall was caused by a gravitation force. In theory it could be a different type of force — for example, if you imagine that our ball is metallic, placing a magnet next to the box could move the ball so it hits another wall.
This was said just to prove that in essence accelerometer measures force not acceleration. It just happens that acceleration causes an inertial force that is captured by the force detection mechanism of the accelerometer.
While this model is not exactly how a MEMS sensor is constructed it is often useful in solving accelerometer related problems. There are actually similar sensors that have metallic balls inside, they are called tilt switches, however they are more primitive and usually they can only tell if the device is inclined within some range or not, not the extent of inclination.
So far we have analyzed the accelerometer output on a single axis and this is all you'll get with a single axis accelerometers. The real value of triaxial accelerometers comes from the fact that they can detect inertial forces on all three axes.
Let's go back to our box model, and let's rotate the box 45 degrees to the right. The ball will touch 2 walls now: Z- and X- as shown in the picture below: The values of 0.
This will become more clear as we introduce our next model for the accelerometer. In the previous model we have fixed the gravitation force and rotated our imaginary box. In last 2 examples we have analyzed the output in 2 different box positions, while the force vector remained constant.
While this was useful in understanding how the accelerometer interacts with outside forces, it is more practical to perform calculations if we fix the coordinate system to the axes of the accelerometer and imagine that the force vector rotates around us. Please have a look at the model above, I preserved the colors of the axes so you can make a mental transition from the previous model to the new one.
Just imagine that each axis in the new model is perpendicular to the respective faces of the box in the previous model.
The vector R is the force vector that the accelerometer is measuring it could be either the gravitation force or the inertial force from the examples above or a combination of both.People and ideas systems As outlined by Andrew Roberts of Middlesex University, London.
Introductory sketches of the ideas of theorists, linked to Andrew Roberts' book Social Science History and the Society and Science History vetconnexx.comped from a course document "Outline of the theorists we could cover" (February ), the web page was created offline before JetBrains is a Way of Life.
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