Abstract:

As progress of rotational sensor, it had been extensively applied to several fields, like aerospace, consumer electronics, robotics, structure monitoring, seismology, etc. There are various rotational sensor technologies available including micro-electro-mechanical, fiber optic gyroscopes, ring lasers, and molecular electronic transducers. Rotational sensor can be classified either low-pass or band-pass systems depending on whether their pass-band reaches DC or not. Different application requires rotational sensor with different specification, e.g. robotics measures rotational motion with rapid and large amplitude, while seismology records slow and tiny ground rotation. Therefore, choosing an adequate rotational sensor to meet various requirements is important.

This dissertation investigates the rotational sensor extensively, including instrument calibration and application. For the instrument calibration, we propose a novel mechanical design of rotational shake table and calibration methodology. We also use AerotechTM ARMS-200TM simulator to calibrate eentecTM R-1TM rotational sensor in detail. We compare array rotation and point rotation, and we point out several advantages from 6 degree-of-freedom (DOF) recordings for teleseismic and near-field earthquake. To prove the theory we proposed, we discuss the rotational motion between array-derived and direct measurement from translational and rotational array in TAIPEI 101, analyze the first 6-DOF ground motion for a teleseismic, and make experiment by attaching 6-DOF sensors on the robotic arm. We also implement the attitude estimator and North finder by using a rotational sensor.

Finally, this dissertation made several conclusions for rotational seismology. We proposed the specification requirement of a strong-motion rotational sensor for seismology, point out the merit that wave direction and wave velocity can be derived from 6-DOF ground measurements at one station, correct rotational effects on accelerometer to derive permanent displacement, and demonstrate that the North finder for finding the true North will not be affected by environment variation.