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This paper treats the Brillouin backscattering in a single mode optical fiber and its implications on the Brillouin Ring Laser Gyroscope (BRLG). The BRLG consists of a fiber ring cavity in which stimulated Brillouin scattering is induced and provides two resonant counterpropagating backscattered waves. If this cavity is rotating around its axis, the backscattered waves get different resonant frequencies because of the Sagnac effect. The frequency difference is proportional to the rotation rate (Omega) by inducing a frequency offset between the counterpropagating waves. Some reported Brillouin spectra exhibit several peaks, which means that one pump wave provides at least two backscattered waves with distinguishable frequencies. In order to understand this multi-backscattering and to take advantage of it for the BRLG, we present results of a simulation of the Brillouin backscattering in a single mode optical fiber.
The prototype of an optical gyro encoder (OGE) has been successfully tested on the NTT telescope in September '93. The OGE consists of a ring laser gyro and a fiber optic gyro with their input axis parallel. The gyro outptu signals are compensated for earth rotation and misalignment and are subsequently integrated to get the angles. An adaptive digital control loop locks the fiber optic gyro to the laser gyro data. Thus the combined output has the precision of the laser gyro and the low noise of the fiber optic gyro. Specifically, the bias stability is better than 2 X 10-3 deg/h, the scale factor accuracy better than 1 ppm, the random walk coefficient better than 5 X 10-4 deg/(root)h and the resolution better than 3 X 10-4 arcsec. The OGE has been mounted in the altitude and in the azimuthy axis of the telescope. The data were compared with the telescope disk encoder data. The test data show that the pointing accuracy is about 1 arcsec and the tracking accuracy 0.1 arcsec over a time of 30 seconds. This accuracy is sufficient for the very large telescope, for instance.
An investigation is underway regarding the usefulness of altazimuth-mounting telescopes' incorporation of laser gyros for pointing and fiber gyros with extremely small random-walk coefficient for telescope inertial stabilization during tracking. A star tracker is expected to help stabilize long-term gyro bias. Gyro and telescope specifications have been derived by means of computer simulations and systems analyses.
This paper describes the magmaOffenburg 3D simulation team trying to qualify for RoboCup 2013. While last year’s TDP focused on different ways how robot behavior can be defined in the magmaOffenburg framework this year we focus on how we statistically evaluate new features on distributed systems. We also show some results gained through such analysis.