scholarly journals A Universal Simulation Framework of Shipborne Inertial Sensors Based on the Ship Motion Model and Robot Operating System

2021 ◽  
Vol 9 (8) ◽  
pp. 900
Author(s):  
Qianfeng Jing ◽  
Haichao Wang ◽  
Bin Hu ◽  
Xiuwen Liu ◽  
Yong Yin
Keyword(s):  
Operating System ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Measurement Data ◽  
Ship Motion ◽  
Motion Model ◽  
Simulation Framework ◽  
Test Environment ◽  
Inertial Measurement ◽  
Robot Operating System

A complete virtual test environment is a powerful tool for Autonomous Surface Vessels (ASVs) research, and the simulation of ship motion and shipborne sensors is one of the prerequisites for constructing such an environment. This paper proposed a universal simulation framework of shipborne inertial sensors. A ship motion model considering environmental disturbances is proposed to simulate the six-degrees-of-freedom motion of ships. The discrete form of the inertial sensor stochastic error model is derived. The inertial measurement data are simulated by adding artificial errors to a simulated motion status. In addition, the ship motion simulation, inertial measurement simulation, and environment simulation nodes are implemented based on the computational graph architecture of the Robot Operating System (ROS). The benefit from the versatility of the ROS messages, the format of simulated inertial measurement is exactly the same as that of real sensors, which provides a research basis for the fusion perception algorithm based on visual–inertial and laser–inertial sensors in the research field of ASVs.

scholarly journals Automatic pairing of inertial sensors to lower limb segments – a plug-and-play approach

2016 ◽  
Vol 2 (1) ◽  
pp. 715-718 ◽  
Author(s):  
David Graurock ◽  
Thomas Schauer ◽  
Thomas Seel
Keyword(s):  
Sensor Networks ◽  
Lower Limb ◽  
Healthy Subjects ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Lower Limbs ◽  
Inertial Measurement Units ◽  
Inertial Measurement ◽  
Correct Pairing ◽  
Measurement Units

AbstractInertial sensor networks enable realtime gait analysis for a multitude of applications. The usability of inertial measurement units (IMUs), however, is limited by several restrictions, e.g. a fixed and known sensor placement. To enhance the usability of inertial sensor networks in every-day live, we propose a method that automatically determines which sensor is attached to which segment of the lower limbs. The presented method exhibits a low computational workload, and it uses only the raw IMU data of 3 s of walking. Analyzing data from over 500 trials with healthy subjects and Parkinson’s patients yields a correct-pairing success rate of 99.8% after 3 s and 100% after 5 s.

Wireless Input Technology Based on MEMS Inertial Measurement Unit - A Survey

2017 ◽  
Vol 870 ◽  
pp. 79-84
Author(s):  
Zhen Xian Fu ◽  
Guang Ying Zhang ◽  
Yu Rong Lin ◽  
Yang Liu
Keyword(s):  
Inertial Measurement Unit ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Low Cost ◽  
Propagation Model ◽  
Measurement Unit ◽  
Input Device ◽  
Operational Environment ◽  
Inertial Measurement ◽  
Mems Imu

Rapid progress in Micro-Electromechanical System (MEMS) technique is making inertial sensors increasingly miniaturized, enabling it to be widely applied in people’s everyday life. Recent years, research and development of wireless input device based on MEMS inertial measurement unit (IMU) is receiving more and more attention. In this paper, a survey is made of the recent research on inertial pens based on MEMS-IMU. First, the advantage of IMU-based input is discussed, with comparison with other types of input systems. Then, based on the operation of an inertial pen, which can be roughly divided into four stages: motion sensing, error containment, feature extraction and recognition, various approaches employed to address the challenges facing each stage are introduced. Finally, while discussing the future prospect of the IMU-based input systems, it is suggested that the methods of autonomous and portable calibration of inertial sensor errors be further explored. The low-cost feature of an inertial pen makes it desirable that its calibration be carried out independently, rapidly, and portably. Meanwhile, some unique features of the operational environment of an inertial pen make it possible to simplify its error propagation model and expedite its calibration, making the technique more practically viable.

Errors in micro-electro-mechanical systems inertial measurement and a review on present practices of error modelling

2017 ◽  
Vol 40 (9) ◽  
pp. 2843-2854 ◽  
Author(s):  
Renu Bhardwaj ◽  
Neelesh Kumar ◽  
Vipan Kumar
Keyword(s):  
Inertial Sensors ◽  
Inertial Sensor ◽  
Mechanical Systems ◽  
Stochastic Modelling ◽  
Future Research ◽  
Mems Devices ◽  
Specific System ◽  
Micro Electro Mechanical Systems ◽  
Inertial Measurement ◽  
Calibration Methods

Micro-electro-mechanical systems (MEMS) technology-based accelerometers and gyroscopes are small size, mass produced, low cost inertial sensors, which are now being used in aerospace, underwater vehicles, automotive, robotics, mobiles, gaming consoles, prosthetic devices and many other applications. MEMS inertial sensors are available in many grades in market and selecting the appropriate grade sensor is very important. Owing to interaction of different types of energies, different noises are generated in MEMS devices; these noises cause significant change in output and the first section of this paper illustrates that. In application, where MEMS inertial sensors are used, the accuracy, repeatability and reproducibility of inertia measurement is probed primarily by complex testing, using extensive range of physical stimuli. Noises in inertial measurement are generally dealt by designing a unit measurement model. Noises are treated as additive error in linear unit model and are modelled using various techniques so that errors can be compensated to improve the accuracy. This paper reviews the theory, framework and methodology used in the error model of a MEMS inertial sensor and stochastic modelling of measurement. Experimental results from the most commonly used Allan variance techniques are discussed. Error modelling methodology, consisting of testing and calibration methods, designing thermal model, stochastic modelling and parameter estimation techniques, is illustrated. Figures and tables under each section summarize features, merits, limitation and future research scope. This paper should serve as a single reference for researchers and engineers working on application specific system design and instrumentation using MEMS inertial sensors. Conclusion from the study should help in selecting the appropriate grade of sensor as well as the best error modelling as per the trade-off existing between accuracy and development cost of error modelling.

Requirements for inertial sensor systems for measuring robot positions

Robotica ◽  
1990 ◽  
Vol 8 (2) ◽  
pp. 145-150 ◽  
Author(s):  
H. Janocha ◽  
D. Schmidt
Keyword(s):  
Autonomous Navigation ◽  
Moving Objects ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Sensor Technology ◽  
Inertial Measurement ◽  
Measurement Systems ◽  
Land Water ◽  
Intense Research

SummaryInertial Measurement Systems (IMS) allow the position calculation of moving objects without requiring outside information. For years the inertial 3-D coordinate measuring technique has been subject to intense research in geodesy and autonomous navigation of land-, water-and airborne vehicles. Because of these areas of application inertially-based systems have been designed for long term measuring only. Here we discuss the requirements that are imposed on inertial sensors in order for them to be used for the calculation of positions of robots. The use of modern sensor technology, combined with strategies for error correction, can result in substantial advantages when calculating robot positions independently from load and environment.

A Comprehensive Overview of Inertial Sensor Calibration Techniques

2016 ◽  
Vol 139 (1) ◽  
Author(s):  
Shashi Poddar ◽  
Vipan Kumar ◽  
Amod Kumar
Keyword(s):  
High Precision ◽  
Kalman Filtering ◽  
Inertial Measurement Unit ◽  
Inertial Sensors ◽  
Inertial Sensor ◽  
Measurement Unit ◽  
Sensor Calibration ◽  
Comprehensive Overview ◽  
Inertial Measurement ◽  
Calibration Techniques

Inertial measurement unit (IMU) comprising of the accelerometer and gyroscope is prone to various deterministic errors like bias, scale factor, and nonorthogonality, which need to be calibrated carefully. In this paper, a survey has been carried out over different calibration techniques that try to estimate these error parameters. These calibration schemes are discussed under two broad categories, that is, calibration with high-end equipment and without any equipment. Traditional calibration techniques use high-precision equipment to generate references for calibrating inertial sensors and are generally laboratory-based setup. Inertial sensor calibration without the use of any costly equipment is further studied under two subcategories: ones based on multiposition method and others with Kalman filtering framework. Later, a brief review of vision-based inertial sensor calibration schemes is also provided in this work followed by a discussion which indicates different shortcomings and future scopes in the area of inertial sensor calibration.

scholarly journals Evaluation of inertial Sensors and optical measurement methods for head and shoulder angle motion analysis

2019 ◽  
Vol 5 (1) ◽  
pp. 377-379
Author(s):  
Oliver Mayr ◽  
Puian Tadayon ◽  
Thomas Felderhoff
Keyword(s):  
Motion Analysis ◽  
Inertial Sensors ◽  
Optical Measurement ◽  
Inertial Sensor ◽  
Measurement Data ◽  
Measurement Methods ◽  
Camera System ◽  
Advantages And Disadvantages ◽  
Recorded Data ◽  
Shoulder Angle

AbstractThis paper describes the advantages and disadvantages of inertial sensors and stationary camera-based measuring methods for the application of detecting head and shoulder angles. For this purpose three inertial sensor modules from Shimmer Sensing and a Kinect 2 camera system are used. The recorded data of both systems are converted into a comparable form. Based on an evaluation of the recorded measurement data, the inertial sensor and the camera-based methods are compared with regard to their suitability for detecting movements in the head and shoulder area.

F1_Tenth_Course_Report_Group_C

2018 ◽  
Author(s):  
Yi Chen ◽  
Sagar Manglani ◽  
Roberto Merco ◽  
Drew Bolduc
Keyword(s):  
Operating System ◽  
Autonomous Driving ◽  
Software Tools ◽  
Simulation Environment ◽  
Robot Operating System ◽  
Available Information

In this paper, we discuss several of major robot/vehicle platforms available and demonstrate the implementation of autonomous techniques on one such platform, the F1/10. Robot Operating System was chosen for its existing collection of software tools, libraries, and simulation environment. We build on the available information for the F1/10 vehicle and illustrate key tools that will help achieve properly functioning hardware. We provide methods to build algorithms and give examples of deploying these algorithms to complete autonomous driving tasks and build 2D maps using SLAM. Finally, we discuss the results of our findings and how they can be improved.

scholarly journals Reference in-vitro dataset for inertial-sensor-to-bone alignment applied to the tibiofemoral joint

2021 ◽  
Vol 8 (1) ◽  
Author(s):  
Ive Weygers ◽  
Manon Kok ◽  
Thomas Seel ◽  
Darshan Shah ◽  
Orçun Taylan ◽  
...  
Keyword(s):  
Inertial Sensors ◽  
Inertial Sensor ◽  
Ground Truth ◽  
Transformation Matrices ◽  
True Model ◽  
Advance Research ◽  
Manual Palpation ◽  
Visualization Tools ◽  
Inertial Measurements

AbstractSkin-attached inertial sensors are increasingly used for kinematic analysis. However, their ability to measure outside-lab can only be exploited after correctly aligning the sensor axes with the underlying anatomical axes. Emerging model-based inertial-sensor-to-bone alignment methods relate inertial measurements with a model of the joint to overcome calibration movements and sensor placement assumptions. It is unclear how good such alignment methods can identify the anatomical axes. Any misalignment results in kinematic cross-talk errors, which makes model validation and the interpretation of the resulting kinematics measurements challenging. This study provides an anatomically correct ground-truth reference dataset from dynamic motions on a cadaver. In contrast with existing references, this enables a true model evaluation that overcomes influences from soft-tissue artifacts, orientation and manual palpation errors. This dataset comprises extensive dynamic movements that are recorded with multimodal measurements including trajectories of optical and virtual (via computed tomography) anatomical markers, reference kinematics, inertial measurements, transformation matrices and visualization tools. The dataset can be used either as a ground-truth reference or to advance research in inertial-sensor-to-bone-alignment.

scholarly journals Inertial Measurement Unit Sensors in Assistive Technologies for Visually Impaired People, a Review

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4767
Author(s):  
Karla Miriam Reyes Leiva ◽  
Milagros Jaén-Vargas ◽  
Benito Codina ◽  
José Javier Serrano Olmedo
Keyword(s):  
Inertial Measurement Unit ◽  
Visually Impaired ◽  
Inertial Sensors ◽  
Assistive Technologies ◽  
Biomechanical Analysis ◽  
Measurement Unit ◽  
Inertial Measurement ◽  
Visually Impaired People ◽  
Impaired People ◽  
Application Fields

A diverse array of assistive technologies have been developed to help Visually Impaired People (VIP) face many basic daily autonomy challenges. Inertial measurement unit sensors, on the other hand, have been used for navigation, guidance, and localization but especially for full body motion tracking due to their low cost and miniaturization, which have allowed the estimation of kinematic parameters and biomechanical analysis for different field of applications. The aim of this work was to present a comprehensive approach of assistive technologies for VIP that include inertial sensors as input, producing results on the comprehension of technical characteristics of the inertial sensors, the methodologies applied, and their specific role in each developed system. The results show that there are just a few inertial sensor-based systems. However, these sensors provide essential information when combined with optical sensors and radio signals for navigation and special application fields. The discussion includes new avenues of research, missing elements, and usability analysis, since a limitation evidenced in the selected articles is the lack of user-centered designs. Finally, regarding application fields, it has been highlighted that a gap exists in the literature regarding aids for rehabilitation and biomechanical analysis of VIP. Most of the findings are focused on navigation and obstacle detection, and this should be considered for future applications.

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