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IEEE sensors journal v.17 no.4, 2017년, pp.1132 - 1143  

Radiation Response and Adaptive Control-Based Degradation Mitigation of MEMS Accelerometers in Ionizing Dose Environments

Pitt, E. Bryn ; Barth, Eric J. ; Diggins, Zachary J. ; Mahadevan, Nagabhushan ; Karsai, Gabor ; Sierawski, Brian D. ; Reed, Robert A. ; Schrimpf, Ronald D. ; Weller, Robert A. ; Alles, Michael L. ; Witulski, Arthur F. ;
  • 초록  

    This paper investigates the effects of gamma radiation on the operation of commercially available capacitive microelectromechanical accelerometers intended for use in robotic systems deployed for nuclear disaster remediation. Radiation-induced accelerometer degradation is examined in terms of its effects on the input–output relationship of ADXL325 accelerometers (Analog Devices, Inc., Norwood, Massachusetts, USA) prior to sensor failure. Results show a moderate increase in sensor nonlinearity as well as significant, non-monotonic changes to accelerometer axis sensitivity and zero- $g$ bias. Both part-to-part variation and axis-to-axis variation within individual accelerometers are observed. The effects of the observed accelerometer degradation on the performance of a simple robotic manipulator that relies on acceleration feedback are evaluated in simulation. Additionally, using tools derived from adaptive control theory, this paper presents a real-time recalibration technique for mitigating the effects of the measured accelerometer degradation on the performance of robotic systems that can be applied in-field, without the knowledge of the degradation mechanisms. An example implementation of this technique is also evaluated. Results suggest that control-based strategies for mitigating hardware degradation may be able to extend the useful operating lifetime of non-radiation-hardened sensors in robotic systems deployed in extreme radiation environments.


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