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MEMS SoC: observer-based coplanar gyro-free inertial measurement unit

Tsung-Lin Chen, Sungsu Park
2005 Journal of Micromechanics and Microengineering  
measurements for an object in motion.  ...  This paper presents a novel design of a coplanar gyro-free inertial measurement unit (IMU) that consists of seven to nine single-axis linear accelerometers, and it can be utilized to perform the six DOF  ...  The outputs of gyro-free IMUs for rotation dynamics can either be angular acceleration or angular velocity, depending on the configuration of accelerometers deployed in an IMU.  ... 
doi:10.1088/0960-1317/15/9/008 fatcat:k55qbg7jmzfcrlzqda3q2uzlb4

Design and Analysis of a Fault-Tolerant Coplanar Gyro-Free Inertial Measurement Unit

Tsung-Lin Chen
2008 Journal of microelectromechanical systems  
(DOF) measurements for an object in motion.  ...  This paper presents a novel design of a fault-tolerant, coplanar, and gyro-free inertial measurement unit (IMU) that consists of 13 single-axis linear accelerometers and can perform six degree-of-freedom  ...  Previously, the author proposed a novel observer-based "coplanar" gyro-free IMU design, in which all the employed accelerometers are situated on the same facet of a measurement unit [12] .  ... 
doi:10.1109/jmems.2007.911372 fatcat:3r3vntpenzconjxdb7ecbmbxui

Measurement Model and Precision Analysis of Accelerometers for Maglev Vibration Isolation Platforms

Qianqian Wu, Honghao Yue, Rongqiang Liu, Xiaoyou Zhang, Liang Ding, Tian Liang, Zongquan Deng
2015 Sensors  
A method is presented to minimize angular acceleration noise based on analysis of the root mean square noise of the angular acceleration.  ...  It is necessary to propose an accelerometer configuration measurement model that yields such a high measuring precision.  ...  Author Contributions Qianqian Wu and Honghao Yue contributed to the conception of the study and wrote the manuscript preparation. Rongqiang Liu and Liang Ding contributed to the data analysis.  ... 
doi:10.3390/s150820053 pmid:26287203 pmcid:PMC4570409 fatcat:3yun5y2thvbrxajm54hlovfopu

Observing Relative Motion With Three Accelerometer Triads

Patrick Schopp, Hagen Graf, Michael Maurer, Michailas Romanovas, Lasse Klingbeil, Yiannos Manoli
2014 IEEE Transactions on Instrumentation and Measurement  
A gyroscope-free inertial measurement unit (GF-IMU) detects the relative motion of a body based on acceleration measurements only.  ...  Hence, the presented Kalman filter approach is applicable to all observable GF-IMU configurations. The measurements taken with a prototype on a 3-D rotation table confirm the observability analysis.  ...  A gyroscope-free inertial measurement unit (GF-IMU) employs only accelerometers in order to detect the relative body motion.  ... 
doi:10.1109/tim.2014.2327472 fatcat:cx3y6s4ucrepbaw5lgsxwb3ije

Design and implementation of a 12-axis accelerometer suite

Chi-Wei Ho, Pei-chun Lin
2009 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems  
An optimal configuration of the system is proposed based on the analysis of rigid body dynamics and matrix theory. We also report the results of experimental evaluation.  ...  We report on a 12-axis accelerometer suite which utilizes 12-axis linear acceleration measurements from four 3-axis accelerometers.  ...  The 1-axis accelerometer installed at the point, p, on the body measures the projected linear acceleration of spatial body motion, b a p , along the sensing directionŝ j , b a j = a p ·ŝ j = [a o +ω ×  ... 
doi:10.1109/iros.2009.5353892 dblp:conf/iros/HoL09 fatcat:2hgrb6sosneshd7qzz5t73gyfa

Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits

Pei-Chun Lin, H. Komsuoglu, D.E. Koditschek
2006 IEEE Transactions on robotics  
angular acceleration measurement, avoiding the need for localization of the accelerometer at the center of mass on the robot's body, and simplifying installation and calibration.  ...  angular acceleration measurement, avoiding the need for localization of the accelerometer at the center of mass on the robot's body, and simplifying installation and calibration.  ...  Skaff and A. Rizzi for several useful discussions. They thank G. Sharp for his GTMS implementation. Also, they thank J. Weingarten and J. Raisanen for jogging gait tuning.  ... 
doi:10.1109/tro.2006.878954 fatcat:jsp67ha5pncydnct6wdbdjka7a

Compensation for inertial and gravity effects in a moving force platform

Sandra K. Hnat, Ben J.H. van Basten, Antonie J. van den Bogert
2018 Journal of Biomechanics  
Force plates for human movement analysis provide accurate measurements when mounted rigidly on an inertial reference frame.  ...  It was concluded that the compensation method can reduce the inertial and gravitational artifacts to an acceptable level for human gait analysis.  ...  It may be possible to use only three accelerometers, or a coplanar accelerometer configuration.  ... 
doi:10.1016/j.jbiomech.2018.05.009 pmid:29789150 fatcat:3mrqaezbujhexoj6ccmxyakuzm

ANALYSIS OF A PRACTICAL QUAD COPTER ROBOT USING LINEAR QUADRATIC REGULATOR CONTROLLER

2016 ERJ. Engineering Research Journal  
This paper aims to evaluate a practical implementation of an efficient control system for a quad copter robot under Linear Quadratic Regulator.  ...  Experimental results with different values of Euler angles demonstrated that the Linear Quadratic Regulator controller provide a robust, versatile and easy implementable controller system. ‫  ...  However, these configurations require complicated machinery to control the direction of motion. With new versions of a quad copter, the operation is based on four rotors.  ... 
doi:10.21608/erjm.2016.66377 fatcat:ueyrkrszpzf5vkbe7ujx5mso6i

Method to Estimate the Position and Orientation of a Triaxial Accelerometer Mounted to an Industrial Manipulator

Patrik Axelsson, Mikael Norrlöf
2012 IFAC Proceedings Volumes  
A novel method to find the orientation and position of a triaxial accelerometer mounted on a six degrees-of-freedom industrial robot is proposed and evaluated on experimental data.  ...  The method consists of two consecutive steps, where the first is to estimate the orientation of the accelerometer from static experiments.  ...  In the position estimation experiments data are collected during 4 s in each one of the three configurations, but it is only the constant angular velocity part of the data that is used.  ... 
doi:10.3182/20120905-3-hr-2030.00066 fatcat:43fid33mozbfrnggjkuy6hjmvu

A Novel Optimal Configuration form Redundant MEMS Inertial Sensors Based on the Orthogonal Rotation Method

Jianhua Cheng, Jinlu Dong, Rene Jr. Landry, Daidai Chen
2014 Sensors  
A feasible installation method is given for the real engineering realization of this proposed configuration.  ...  Then the orthogonal rotation configuration is formed through a two-rotation of a set of orthogonal inertial sensors around a space vector.  ...  Acknowledgments The authors would like to thank all the editors and anonymous reviewers for improving this article.  ... 
doi:10.3390/s140813661 pmid:25076218 pmcid:PMC4179055 fatcat:3dm5b2lsdfa7ng2df7zzz23ze4

Inertial Sensed Ego-motion for 3D Vision

Jorge Lobo, Jorge Dias
2003 Journal of Robotic Systems  
They also provide an image independent location of the image focus of expansion and center of rotation useful during visual based navigation tasks.  ...  Taking the ground plane as a reference plane for the acquired maps, the fusion of multiple maps reduces to a 2D translation and rotation problem.  ...  can be determined using Horn's method. 29 Since we are only observing a 3D direction in space, we can only determine the rotation between the two frames of reference.  ... 
doi:10.1002/rob.10122 fatcat:ysxonia4bbcm3pgirktzcnecpm

iCub Whole-Body Control through Force Regulation on Rigid Non-Coplanar Contacts

Francesco Nori, Silvio Traversaro, Jorhabib Eljaik, Francesco Romano, Andrea Del Prete, Daniele Pucci
2015 Frontiers in Robotics and AI  
et al.. iCub whole-body control through force regulation on rigid non-coplanar contacts.  ...  This paper details the implementation of state-of-the-art whole-body control algorithms on the humanoid robot iCub.  ...  Facility) for the implementation of torque control on the iCub humanoid, Julien Jenvrin (Istituto Italiano di Tecnologia, iCub Facility) for the technical hardware support, and Giorgio Metta for the coordination  ... 
doi:10.3389/frobt.2015.00006 fatcat:5rbqlm24b5cupnna5fwtyux2qa

Best Axes Composition: Multiple Gyroscopes IMU Sensor Fusion to Reduce Systematic Error [article]

Marsel Faizullin, Gonzalo Ferrer
2021 arXiv   pre-print
Our approach takes into account the inherent and non-negligible systematic error in the gyroscope model and provides a solution based on the error observed during previous instants of time.  ...  As a result, it only takes as few as 2 IMUs to significantly improve accuracy, while other MIMU approaches need a higher number of sensors to achieve the same results.  ...  accelerometer data, direct estimation of angular acceleration, etc.  ... 
arXiv:2107.02632v2 fatcat:52pn3iq22ngghmstfvmgqehrlq

A Review of the Capacitive MEMS for Seismology

Antonino D'Alessandro, Salvatore Scudero, Giovanni Vitale
2019 Sensors  
the use of MEMS sensors, such as rotational seismology and gravity measurements.  ...  MEMS (Micro Electro-Mechanical Systems) sensors enable a vast range of applications: among others, the use of MEMS accelerometers for seismology related applications has been emerging considerably in the  ...  Acknowledgments: The authors thank the editor and three anonymous reviewers for their comments on the early version of this manuscript.  ... 
doi:10.3390/s19143093 fatcat:s7xz3ttlv5c75bobr322mcz3tm

A vision based ensemble approach to velocity estimation for miniature rotorcraft

Jonathan Andersh, Anoop Cherian, Bérénice Mettler, Nikolaos Papanikolopoulos
2015 Autonomous Robots  
them into a meta-algorithm for 3D motion estimation.  ...  Successful operation of a miniature rotorcraft relies on capabilities including automated guidance, trajectory following, and teleoperation; all of which require accurate estimates of the vehicle's body  ...  Acknowledgements This material is based in part upon work supported by the National Science Foundation through grants #IIP-0934327, #IIS-1017344, #CNS-1061489, #CNS-1138020, #IIP-1332133, #IIS-1427014,  ... 
doi:10.1007/s10514-015-9430-7 fatcat:xjmux2lnangubpypfmpedrsboi
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