Abstract: The invention provides an inertial sensing device the capability to achieve self-alignment (sensor error compensation), by using dual-rotation modulation technique. The self-alignment process is performed based on fully building the sensor's mathematical model and rotating the inertial sensor blocks in a specific order. The advantages of this technology are fast calibration time, high accuracy, and the ability to separate independent movements on the axes of the inertial sensor. The inertial sensor based on a dual-rotation modulation platform is applied to marine and aeronautical fields.

Abstract: The invention relates to an apparatus for treatment of material, especially for thermal and/or chemical treatment, having an ascending pipeline branch, a diversion chamber and at least one descending pipeline branch. In the diversion chamber there is provided a deflecting wall that is oriented substantially transversely to the direction of flow of the material entering the diversion chamber via the ascending pipeline branch.