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The delaying mechanism is an important part of micro-electro-mechanical systems (MEMS) devices. However, very few mechanical delaying mechanisms are available. In this paper, an elastic-beam delaying mechanism has been proposed innovatively through establishing a three-dimensional model of an elastic-beam delay mechanism, establishing the force and the parameters of an elastic-beam delay mechanism, deriving the mathematical model according to the rigid dynamic mechanics theory, establishing the finite element model by using Ls-dyna solver of the Ansys software, and carrying out the centrifugal test. Simulation and test results match theoretical results quite well. It is believed that the elastic-beam delaying mechanism is quite effective and useful to slow the speed of the movable part in MEMS devices.

The smooth variable structure filter (ASVSF) has been relatively considered as a new robust predictor-corrector method for estimating the state. In order to effectively utilize it, an SVSF requires the accurate system model, and exact prior knowledge includes both the process and measurement noise statistic. Unfortunately, the system model is always inaccurate because of some considerations avoided at the beginning. Moreover, the small addictive noises are partially known or even unknown. Of course, this limitation can degrade the performance of SVSF or also lead to divergence condition. For this reason, it is proposed through this paper an adaptive smooth variable structure filter (ASVSF) by conditioning the probability density function of a measurement to the unknown parameters at one iteration. This proposed method is assumed to accomplish the localization and direct point-based observation task of a wheeled mobile robot, TurtleBot2. Finally, by realistically simulating it and comparing to a conventional method, the proposed method has been showing a better accuracy and stability in term of root mean square error (RMSE) of the estimated map coordinate (EMC) and estimated path coordinate (EPC). This is an open access article under the CC BY-SA license.

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