Principles of inertial sensing technology and its applications in IHCI


 Stuart Willis
 1 years ago
 Views:
Transcription
1 Principles of inertial sensing technology and its applications in IHCI Intelligent Human Computer Interaction SS 2011 Gabriele Bleser
2 Motivation I bet you all got in touch with inertial sensors already What can be done with inertial sensors? Think of common devices that you use Smartphones, digital picture frames, mobile PCs: Align image content Fall detection Sports & fitness products: Step count/length, velocity, travelled distance Activity classification, sleep analysis, etc. Game controller: Gesture recognition Motion sensing (control by physical interaction) Pointing Lecture IHCI SS
3 Motivation What do you know about inertial sensors? Accelerometers: Measure linear acceleration (body acceleration + gravitational acceleration) When non accelerating: indicate up down direction Gyroscopes: Measure angular velocity around an instantaneous axis (turning rate) Lecture IHCI SS
4 Motivation: trends in the game industry Yesterday: Classic controller (gamepad, joystick) Button presses, stick control Today: Controller with motion sensing capability (mostly inertial, magnetic and optical sensors) Gestures, motion physical interaction more intuitive Games involving physical interaction (fitness & health) Lecture IHCI SS
5 Motivation: game controllers Wii MotionPlus + Sensor Bar 3D accelerometer: Detect rapid motions Roll and pitch angles 3D gyroscope: 3D turning rate 3D orientation Distinguish body acceleration and acceleration due to gravity Distinguish position and orientation Optical sensor: Detect LED clusters of Sensor Bar pointer, roll angle, distance 3D position (if 3D rotation known) Reminder: insideout tracking Lecture IHCI SS
6 Wii MotionPlus + Sensor Bar Derive roll angle from angle of detected LED clusters Can pitch and yaw be derived from horizontal and vertical shift of the detected LED clusters with respect to principal point alone? Requires information from inertial sensors! Image plane Roll angle Lecture IHCI SS
7 Motivation: game controllers PlayStation Move + Eye Camera 3D accelerometer, 3D gyroscope, 3D compass in the controller: Drift free 3D orientation Compass: drift correction for yaw angle Temporary dead reckoning for position (during occlusion) LED orb + external camera: Detect orb 3D controller position (distance by size of orb in image) Z Reminder: outside in tracking Lecture IHCI SS
8 Outline Until here motivation and a lot of (new) terms: Gyroscope, turning rate Accelerometer, body acceleration vs. gravity Compass, heading direction 3D orientation: yaw, pitch, roll angles Drift (correction) Dead reckoning Now the technologies and principles behind Lecture IHCI SS
9 Outline 1. Inertial sensor basics 2. Inertial measurement units (IMUs) 3. Orientation estimation principles 4. Orientation and position estimation principles 5. Outlook: advanced applications Lecture IHCI SS
10 Inertial sensor basics Why do we call accelerometers and gyroscopes inertial sensors? Their functionalities are based on the principle of inertia, stating the resistance of an object to a change in its state of motion or rest/to be accelerated. Many different types and categories of inertial sensors available Here: micro machined electromechanical systems (MEMS) technology Small size, low weight, low power consumption, etc. But also reduced accuracy and bias stability Lecture IHCI SS
11 Accelerometers Principle (of mechanical type): A spring suspended mass in a housing will be displaced when subjected to a force The displacement is proportional to the specific force and can be measured The output is an electrical signal that by calibration can be related to the physical quantity Lecture IHCI SS
12 Accelerometers Measurement in 1D: Specific force, f, in direction of sensitive axis, n: Sensitive axis Accelerometers measure the difference between body acceleration and gravity acceleration compared to free fall Gravity Acceleration Assuming perfect calibration: What does an accelerometer measure when lying still with the sensitive axis leveled? 9.81 m/s 2 (assuming positive axis points up) What is measured in free fall with sensitive axis leveled? 0 m/s Lecture IHCI SS
13 Linear velocity: Reminder: translational motion Linear acceleration: Position: Holds in 3D with vectors Initial position Lecture IHCI SS
14 Gyroscopes Principle (vibrating mass type): A mass is actuated to vibrate in direction r act and a displacement is measured in perpendicular direction r cor An angular velocity, ω, perpendicular to the plane induces a Coriolis force, which results in a proportional displacement along r cor From this ω can be calculated Measurement in 1D: Angular velocity, ω, around the sensitive axis Lecture IHCI SS
15 Reminder: circular motion Coriolis acceleration: A person moving northward towards the outer edge of a rotating platform must increase the westward speed component (blue arrows) to maintain a northbound course. The acceleration required is the Coriolis acceleration Lecture IHCI SS
16 Angular velocity: Reminder: rotational motion (1D) Rotation: In 3D, a bit more involved (later) Initial orientation Lecture IHCI SS
17 Inertial measurement units (IMUs) Triads of gyroscopes and accelerometers to obtain 3D measurements + compass triad to obtain 3D earth magnetic field Calibrated to provide all measurements in one orthogonal righthanded body coordinate system (typically aligned to housing) in physical units, typically at 100 Hz Commercially available IMUs: Magnetometer Wireless Trivisio Colibri Wireless InertiaCube3 Xsens MTi Lecture IHCI SS
18 Inertial measurement units (IMUs) Typical coordinate system definitions: IMU coordinate system (s) Global reference system (g) Taken from Xsens MTi/MTx User Manual Lecture IHCI SS
19 Inertial measurement units (IMUs) Measurement models in 3D (idealized!): 3D gyroscope [rad/s]: 3D accelerometer [m/s 2 ]: IMU orientation with respect to global frame 3D compass [tesla or gauss]: under no magnetic disturbances, measures magnetic north Lecture IHCI SS
20 Earth magnetic field declination.com Magnetic north Inclination angle Field strength Lecture IHCI SS
21 Accelerometers: acceleration/gravity ambiguity z y y z Ambiguity! Once we know the IMU s rotation, we can separate body acceleration and acceleration due to gravity Lecture IHCI SS
22 Orientation estimation principles Assume perfect measurements and negligible body acceleration: the measurement tells us, where down is: How do we know, whether acceleration is present? The measurement provides the last column of the IMU s rotation matrix roll and pitch angles. The yaw angle (rotation around global z axis) can t be determined Lecture IHCI SS
23 Orientation estimation principles Naive solution under negligible body acceleration: Accelerometer provides negative z axis of global frame in IMU frame yields last column of required IMU rotation matrix Magnetic north How can we use the magnetometer information? Yields y axis of global frame in IMU frame Lecture IHCI SS
24 Orientation estimation principles What about the gyroscopes? Naive solution using gyroscopes: integrate angular velocity measurements to obtain absolute rotation Easy in 1D: integration based on rectangular rule yields: In 3D: Angular velocity vector describing turning rate around instantaneous rotation axis Lecture IHCI SS
25 3D rotational kinematics In 3D: Integration of angular velocity based on rectangular rule: For the derivation of the differential equation and the matrix exponential as required for integration see, e.g., [Woodman 2007, Shuster 1993, ] Relative rotation in axis angle representation resulting from constant angular velocity, ω, over time, δt Rodrigues rotation formula Lecture IHCI SS
26 Orientation estimation principles Bad news: IMU measurements are not perfect! More realistic models including bias and noise terms: Zero mean white noise (typically modelled as Gaussian) Even worse are magnetic disturbances! What does this mean for naive solution based on accelerometers and magnetometers? Jitter and systematic error What does this mean for naive solution based on gyroscopes? Error accumulates over time (drift) Lecture IHCI SS
27 Orientation estimation principles Solution? Sensor fusion! Gyroscopes provide short term indication of rotation (depends on, e.g., bias stability and noise scale, independent of acceleration) Accelerometers provide drift correction for roll and pitch angle during periods of negligible body acceleration Magnetometers provide drift correction for heading direction during periods of no magnetic disturbance Typically, a statistical filter (e.g. extended Kalman filter) is used for fusion [Rehbinder and Hu 2001, Harada et al 2007, ] Bias terms can also be estimated Applications, e.g.: Head tracking for VR (HMD) 3D pointing devices Reminder: improved motion sensing of Wii MotionPlus and PlayStation Move Lecture IHCI SS
28 Orientation and position estimation principles Dead reckoning: Reminder: PlayStation Move What problems do you expect here? Additional references required, e.g. visual information Applications, e.g.: 6 DOF camera tracking for AR Inertial navigation systems (aircrafts, submarines, spacecrafts much better sensors!!!) Lecture IHCI SS
29 Outlook: advanced applications Body motion tracking Pedestrian tracking (NavShoe) X X IMU integrated in shoe to estimate travelled distance Body worn IMU network to capture human motions Lecture IHCI SS
30 References Inertial sensors: O. J. Woodman: An introduction to inertial navigation. Technical Report UCAM CLTR 696, University of Cambridge, Computer Laboratory, Aug D. Titterton and J. Weston: Strapdown Inertial Navigation Technology, American Institute of Aeronautics and Astronautics, 2004 Orientation estimation: T. Harada, T. Mori and T. Sato: Development of a Tiny Orientation Estimation Device to Operate under Motion and Magnetic Disturbance, The International Journal of Robotics Research, 2007, 26, H. Rehbinder and X. Hu: Drift free attitude estimation for accelerated rigid bodies, IEEE International Conference on Robotics and Automation (ICRA), 2001 Rotation representations and rotational kinematics Shuster, M. D.: A Survey of Attitude Representations, The Journal of the Astronautical Sciences, 1993, 41, Lecture IHCI SS
31 We are searching for students in this area! Contact: Gabriele Bleser (Dr. Ing.), Senior Researcher German Research Center for Artificial Intelligence (DFKI) Department Augmented Vision Trippstadter Straße 122, Kaiserslautern E Mail: Lecture IHCI SS
Sensor Fusion and its Applications in Portable Devices. Jay Esfandyari MEMS Product Marketing Manager STMicroelectronics
Sensor Fusion and its Applications in Portable Devices Jay Esfandyari MEMS Product Marketing Manager STMicroelectronics Outline What is Sensor Fusion? What Are the Components of Sensor Fusion? How Does
More informationBasic Principles of Inertial Navigation. Seminar on inertial navigation systems Tampere University of Technology
Basic Principles of Inertial Navigation Seminar on inertial navigation systems Tampere University of Technology 1 The five basic forms of navigation Pilotage, which essentially relies on recognizing landmarks
More informationPNI White Paper Written in collaboration with Miami University. Accurate Position Tracking Using Inertial Measurement Units
PNI White Paper Written in collaboration with Miami University Accurate Position Tracking Using Inertial Measurement Units David Vincent February This white paper presents an overview of inertial position
More informationIMU Components An IMU is typically composed of the following components:
APN064 IMU Errors and Their Effects Rev A Introduction An Inertial Navigation System (INS) uses the output from an Inertial Measurement Unit (IMU), and combines the information on acceleration and rotation
More informationIntroduction to Inertial Measurement Units!
!! Introduction to Inertial Measurement Units! Gordon Wetzstein! Stanford University! EE 267 Virtual Reality! Lecture 9! stanford.edu/class/ee267/! April 25, 2016! Lecture Overview!! overview of inertial
More informationInertial Measurement Units Andreas Bork
Inertial Measurement Units 01.12.2014 Andreas Bork Table of content 1) Introduction 2) Definition of IMU 3) Architecture 1) Gyroscope 2) Accelerometer 4) Integration of data 5) Problems of IMUs 6) Solutions
More informationAn inertial haptic interface for robotic applications
An inertial haptic interface for robotic applications Students: Andrea Cirillo Pasquale Cirillo Advisor: Ing. Salvatore Pirozzi Altera Innovate Italy Design Contest 2012 Objective Build a Low Cost Interface
More informationOnboard electronics of UAVs
AARMS Vol. 5, No. 2 (2006) 237 243 TECHNOLOGY Onboard electronics of UAVs ANTAL TURÓCZI, IMRE MAKKAY Department of Electronic Warfare, Miklós Zrínyi National Defence University, Budapest, Hungary Recent
More informationTracking devices. Important features. 6 Degrees of freedom. Mechanical devices. Types. Virtual Reality Technology and Programming
Tracking devices Virtual Reality Technology and Programming TNM053: Lecture 4: Tracking and I/O devices Referred to headtracking many times Needed to get good stereo effect with parallax Essential for
More informationKINEMATICS OF PARTICLES RELATIVE MOTION WITH RESPECT TO TRANSLATING AXES
KINEMTICS OF PRTICLES RELTIVE MOTION WITH RESPECT TO TRNSLTING XES In the previous articles, we have described particle motion using coordinates with respect to fixed reference axes. The displacements,
More informationMotion Sensors Introduction
InvenSense Inc. 1197 Borregas Ave., Sunnyvale, CA 94089 U.S.A. Tel: +1 (408) 9887339 Fax: +1 (408) 9888104 Website: www.invensense.com Document Number: Revision: Motion Sensors Introduction A printed
More informationChapter 10 Rotational Motion. Copyright 2009 Pearson Education, Inc.
Chapter 10 Rotational Motion Angular Quantities Units of Chapter 10 Vector Nature of Angular Quantities Constant Angular Acceleration Torque Rotational Dynamics; Torque and Rotational Inertia Solving Problems
More informationImplementing a Sensor Fusion Algorithm for 3D Orientation Detection with Inertial/Magnetic Sensors
Implementing a Sensor Fusion Algorithm for 3D Orientation Detection with Inertial/Magnetic Sensors Fatemeh Abyarjoo 1, Armando Barreto 1, Jonathan Cofino 1, Francisco R. Ortega 2 1 Electrical and Computer
More informationDevelopment of a Low Cost Inertial Measurement Unit for UAV Applications with Kalman Filter based Attitude Determination
Development of a Low Cost Inertial Measurement Unit for UAV Applications with Kalman Filter based Attitude Determination Claudia PérezD Arpino, Member, IEEE, Damian Vigouroux, Wilfredis MedinaMeléndez,
More informationMechanics lecture 7 Moment of a force, torque, equilibrium of a body
G.1 EE1.el3 (EEE1023): Electronics III Mechanics lecture 7 Moment of a force, torque, equilibrium of a body Dr Philip Jackson http://www.ee.surrey.ac.uk/teaching/courses/ee1.el3/ G.2 Moments, torque and
More informationInformation regarding the Lockheed F104 Starfighter F104 LN3. An article published in the Zipper Magazine #48. December2001. Theo N.M.M.
Information regarding the Lockheed F104 Starfighter F104 LN3 An article published in the Zipper Magazine #48 December2001 Author: Country: Website: Email: Theo N.M.M. Stoelinga The Netherlands http://www.xs4all.nl/~chair
More informationRobot Perception Continued
Robot Perception Continued 1 Visual Perception Visual Odometry Reconstruction Recognition CS 685 11 Range Sensing strategies Active range sensors Ultrasound Laser range sensor Slides adopted from Siegwart
More informationTechnical Report. An introduction to inertial navigation. Oliver J. Woodman. Number 696. August 2007. Computer Laboratory
Technical Report UCAMCLTR696 ISSN 14762986 Number 696 Computer Laboratory An introduction to inertial navigation Oliver J. Woodman August 27 15 JJ Thomson Avenue Cambridge CB3 FD United Kingdom phone
More informationSmart Physics with Smartphones
Smart Physics with Smartphones Bilal Aftab Usman and Muhammad Sabieh Anwar Center for Experimental Physics Education, Syed Babar Ali School of Science and Engineering, LUMS Version 1; April 4, 2016 The
More informationTightly Coupled UWB/IMU Pose Estimation
Tightly Coupled UWB/IMU Pose Estimation Jeroen D. Hol, Fred Dijkstra, Henk Luinge and Thomas B. Schön Xsens Technologies B.V., Enschede, The Netherlands Division of Automatic Control, Linköping University,
More informationEngineers from Geodetics select KVH for versatile highperformance inertial sensors. White Paper. kvh.com
White Paper Overcoming GNSS Vulnerability by Applying Inertial Data Integration in MultiSensor Systems for High Accuracy Navigation, Pointing, and Timing Solutions Engineers from Geodetics select KVH
More informationLecture L222D Rigid Body Dynamics: Work and Energy
J. Peraire, S. Widnall 6.07 Dynamics Fall 008 Version.0 Lecture L  D Rigid Body Dynamics: Work and Energy In this lecture, we will revisit the principle of work and energy introduced in lecture L3 for
More informationSensors and Cellphones
Sensors and Cellphones What is a sensor? A converter that measures a physical quantity and converts it into a signal which can be read by an observer or by an instrument What are some sensors we use every
More informationSensors. Marco Ronchetti Università degli Studi di Trento
1 Sensors Marco Ronchetti Università degli Studi di Trento Sensor categories Motion sensors measure acceleration forces and rotational forces along three axes. This category includes accelerometers, gravity
More informationEffective Use of Android Sensors Based on Visualization of Sensor Information
, pp.299308 http://dx.doi.org/10.14257/ijmue.2015.10.9.31 Effective Use of Android Sensors Based on Visualization of Sensor Information Young Jae Lee Faculty of Smartmedia, Jeonju University, 303 Cheonjamro,
More informationCenter of Gravity. We touched on this briefly in chapter 7! x 2
Center of Gravity We touched on this briefly in chapter 7! x 1 x 2 cm m 1 m 2 This was for what is known as discrete objects. Discrete refers to the fact that the two objects separated and individual.
More informationCONTRIBUTIONS TO THE AUTOMATIC CONTROL OF AERIAL VEHICLES
1 / 23 CONTRIBUTIONS TO THE AUTOMATIC CONTROL OF AERIAL VEHICLES MINH DUC HUA 1 1 INRIA Sophia Antipolis, AROBAS team I3SCNRS Sophia Antipolis, CONDOR team Project ANR SCUAV Supervisors: Pascal MORIN,
More informationIMPORTANT NOTE ABOUT WEBASSIGN:
Week 8 homework IMPORTANT NOTE ABOUT WEBASSIGN: In the WebAssign versions of these problems, various details have been changed, so that the answers will come out differently. The method to find the solution
More informationLecture L18  Exploring the Neighborhood: the Restricted ThreeBody Problem
S. Widnall 16.07 Dynamics Fall 008 Version 1.0 Lecture L18  Exploring the Neighborhood: the Restricted ThreeBody Problem The ThreeBody Problem In Lecture 1517, we presented the solution to the twobody
More informationThe Design and Implementation of a Quadrotor Flight Controller Using the QUEST Algorithm
The Design and Implementation of a Quadrotor Flight Controller Using the QUEST Algorithm Jacob Oursland Department of Mathematics and Computer Science South Dakota School of Mines and Technology Rapid
More informationUnit 4 Practice Test: Rotational Motion
Unit 4 Practice Test: Rotational Motion Multiple Guess Identify the letter of the choice that best completes the statement or answers the question. 1. How would an angle in radians be converted to an angle
More informationInteraction devices and sensors. EPFL Immersive Interaction Group Dr. Nan WANG Dr. Ronan BOULIC nan.wang@epfl.ch
Interaction devices and sensors EPFL Immersive Interaction Group Dr. Nan WANG Dr. Ronan BOULIC nan.wang@epfl.ch Outline 3D interaction tasks Action capture system Large range Short range Tracking system
More informationMEMs Inertial Measurement Unit Calibration
MEMs Inertial Measurement Unit Calibration 1. Introduction Inertial Measurement Units (IMUs) are everywhere these days; most particularly in smart phones and other mobile or handheld devices. These IMUs
More informationChapter 10: Linear Kinematics of Human Movement
Chapter 10: Linear Kinematics of Human Movement Basic Biomechanics, 4 th edition Susan J. Hall Presentation Created by TK Koesterer, Ph.D., ATC Humboldt State University Objectives Discuss the interrelationship
More informationCentripetal Force. This result is independent of the size of r. A full circle has 2π rad, and 360 deg = 2π rad.
Centripetal Force 1 Introduction In classical mechanics, the dynamics of a point particle are described by Newton s 2nd law, F = m a, where F is the net force, m is the mass, and a is the acceleration.
More informationAccelerometer and Magnetometer Based Gyroscope Emulation on Smart Sensor for a Virtual Reality Application
Accelerometer and Magnetometer Based Gyroscope Emulation on Smart Sensor for a Virtual Reality Application Baptiste Delporte, Laurent Perroton, Thierry Grandpierre, Jacques Trichet To cite this version:
More informationPHYS 1014M, Fall 2005 Exam #3. MULTIPLE CHOICE. Choose the one alternative that best completes the statement or answers the question.
PHYS 1014M, Fall 2005 Exam #3 Name MULTIPLE CHOICE. Choose the one alternative that best completes the statement or answers the question. 1) A bicycle wheel rotates uniformly through 2.0 revolutions in
More informationForce on Moving Charges in a Magnetic Field
[ Assignment View ] [ Eðlisfræði 2, vor 2007 27. Magnetic Field and Magnetic Forces Assignment is due at 2:00am on Wednesday, February 28, 2007 Credit for problems submitted late will decrease to 0% after
More informationState Newton's second law of motion for a particle, defining carefully each term used.
5 Question 1. [Marks 20] An unmarked police car P is, travelling at the legal speed limit, v P, on a straight section of highway. At time t = 0, the police car is overtaken by a car C, which is speeding
More informationSIMA Raw Data Simulation Software for the Development and Validation of Algorithms for GNSS and MEMS based MultiSensor Navigation Platforms
SIMA Raw Data Simulation Software for the Development and Validation of Algorithms for GNSS and MEMS Reiner JÄGER, Julia DIEKERT, Andreas HOSCISLAWSKI and Jan ZWIENER, Germany Key words: Lowcost GNSS,
More informationPhysics 11 Assignment KEY Dynamics Chapters 4 & 5
Physics Assignment KEY Dynamics Chapters 4 & 5 ote: for all dynamics problemsolving questions, draw appropriate free body diagrams and use the aforementioned problemsolving method.. Define the following
More informationTime Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication
Time Domain and Frequency Domain Techniques For Multi Shaker Time Waveform Replication Thomas Reilly Data Physics Corporation 1741 Technology Drive, Suite 260 San Jose, CA 95110 (408) 2168440 This paper
More informationFast field survey with a smartphone
Fast field survey with a smartphone A. Masiero F. Fissore, F. Pirotti, A. Guarnieri, A. Vettore CIRGEO Interdept. Research Center of Geomatics University of Padova Italy cirgeo@unipd.it 1 Mobile Mapping
More informationUsing Xsens MTi and MTiG in autonomous and remotely operated vehicles
Using Xsens MTi and MTiG in autonomous and remotely operated vehicles Document MT0314P, Revision A, 01 Mar 2012 Xsens Technologies B.V. phone +31 88 97367 00 fax +31 88 97367 01 email info@xsens.com internet
More informationLecture L303D Rigid Body Dynamics: Tops and Gyroscopes
J. Peraire, S. Widnall 16.07 Dynamics Fall 2008 Version 2.0 Lecture L303D Rigid Body Dynamics: Tops and Gyroscopes 3D Rigid Body Dynamics: Euler Equations in Euler Angles In lecture 29, we introduced
More informationRotation: Moment of Inertia and Torque
Rotation: Moment of Inertia and Torque Every time we push a door open or tighten a bolt using a wrench, we apply a force that results in a rotational motion about a fixed axis. Through experience we learn
More informationCS525V: Building Effective Virtual Worlds. Input Devices. Robert W. Lindeman. Worcester Polytechnic Institute Department of Computer Science
CS525V: Building Effective Virtual Worlds Input Devices Robert W. Lindeman Worcester Polytechnic Institute Department of Computer Science gogo@wpi.edu Motivation The mouse and keyboard are good for general
More informationState Newton's second law of motion for a particle, defining carefully each term used.
5 Question 1. [Marks 28] An unmarked police car P is, travelling at the legal speed limit, v P, on a straight section of highway. At time t = 0, the police car is overtaken by a car C, which is speeding
More informationChapter 5 Newton s Laws of Motion
Chapter 5 Newton s Laws of Motion Force and Mass Units of Chapter 5 Newton s First Law of Motion Newton s Second Law of Motion Newton s Third Law of Motion The Vector Nature of Forces: Forces in Two Dimensions
More informationForce/position control of a robotic system for transcranial magnetic stimulation
Force/position control of a robotic system for transcranial magnetic stimulation W.N. Wan Zakaria School of Mechanical and System Engineering Newcastle University Abstract To develop a force control scheme
More informationLecture L293D Rigid Body Dynamics
J. Peraire, S. Widnall 16.07 Dynamics Fall 2009 Version 2.0 Lecture L293D Rigid Body Dynamics 3D Rigid Body Dynamics: Euler Angles The difficulty of describing the positions of the bodyfixed axis of
More informationPhysics 126 Practice Exam #3 Professor Siegel
Physics 126 Practice Exam #3 Professor Siegel Name: Lab Day: 1. Which one of the following statements concerning the magnetic force on a charged particle in a magnetic field is true? A) The magnetic force
More informationOrbital Mechanics. Angular Momentum
Orbital Mechanics The objects that orbit earth have only a few forces acting on them, the largest being the gravitational pull from the earth. The trajectories that satellites or rockets follow are largely
More informationIf you want to use an inertial measurement system...
If you want to use an inertial measurement system...... which technical data you should analyse and compare before making your decision by Dr.Ing. Edgar v. Hinueber, CEO imar Navigation GmbH Keywords:
More information3D Tranformations. CS 4620 Lecture 6. Cornell CS4620 Fall 2013 Lecture 6. 2013 Steve Marschner (with previous instructors James/Bala)
3D Tranformations CS 4620 Lecture 6 1 Translation 2 Translation 2 Translation 2 Translation 2 Scaling 3 Scaling 3 Scaling 3 Scaling 3 Rotation about z axis 4 Rotation about z axis 4 Rotation about x axis
More informationACTUATOR DESIGN FOR ARC WELDING ROBOT
ACTUATOR DESIGN FOR ARC WELDING ROBOT 1 Anurag Verma, 2 M. M. Gor* 1 G.H Patel College of Engineering & Technology, V.V.Nagar388120, Gujarat, India 2 Parul Institute of Engineering & Technology, Limda391760,
More informationSensor Fusion Mobile Platform Challenges and Future Directions Jim Steele VP of Engineering, Sensor Platforms, Inc.
Sensor Fusion Mobile Platform Challenges and Future Directions Jim Steele VP of Engineering, Sensor Platforms, Inc. Copyright Khronos Group 2012 Page 104 Copyright Khronos Group 2012 Page 105 How Many
More informationWE would like to build three dimensional (3D) geometric. Can Smart Devices Assist In Geometric Model Building?
Can Smart Devices Assist In Geometric Model Building? Richard Milliken, Jim Cordwell, Stephen Anderson, Ralph R. Martin and David Marshall Abstract The creation of precise three dimensional geometric models
More informationE X P E R I M E N T 8
E X P E R I M E N T 8 Torque, Equilibrium & Center of Gravity Produced by the Physics Staff at Collin College Copyright Collin College Physics Department. All Rights Reserved. University Physics, Exp 8:
More informationMagnetism. d. gives the direction of the force on a charge moving in a magnetic field. b. results in negative charges moving. clockwise.
Magnetism 1. An electron which moves with a speed of 3.0 10 4 m/s parallel to a uniform magnetic field of 0.40 T experiences a force of what magnitude? (e = 1.6 10 19 C) a. 4.8 10 14 N c. 2.2 10 24 N b.
More informationMotion Sensing with mcube igyro Delivering New Experiences for Motion Gaming and Augmented Reality for Android Mobile Devices
Motion Sensing with mcube igyro Delivering New Experiences for Motion Gaming and Augmented Reality for Android Mobile Devices MAY 2014 Every highend smartphone and tablet today contains three sensing
More informationApplications of Magnetic Sensors for Low Cost Compass Systems
Applications of Magnetic Sensors for Low Cost Compass Systems Michael J. Caruso Honeywell, SSEC Abstract A method for heading determination is described here that will include the effects of pitch and
More informationSpacecraft Dynamics and Control. An Introduction
Brochure More information from http://www.researchandmarkets.com/reports/2328050/ Spacecraft Dynamics and Control. An Introduction Description: Provides the basics of spacecraft orbital dynamics plus attitude
More informationVibrations can have an adverse effect on the accuracy of the end effector of a
EGR 315 Design Project  1  Executive Summary Vibrations can have an adverse effect on the accuracy of the end effector of a multiplelink robot. The ability of the machine to move to precise points scattered
More informationAP Physics C: Mechanics: Syllabus 1
AP Physics C: Mechanics: Syllabus 1 Scoring Components Page(s) SC1 The course covers instruction in kinematics. 3, 5 SC2 The course covers instruction in Newton s laws of 3 4 motion. SC3 The course covers
More informationA Kalman Filter Based Attitude Heading Reference System Using a Low Cost Inertial Measurement Unit
Virginia Commonwealth University VCU Scholars Compass Theses and Dissertations Graduate School 213 A Kalman Filter Based Attitude Heading Reference System Using a Low Cost Inertial Measurement Unit Matthew
More informationE0245: ASP. Lecture 16+17: Physical Sensors. Dipanjan Gope
E0245: ASP Lecture 16+17: Physical Sensors Module 2: Android Sensor Applications Location Sensors  Theory of location sensing  Package android.location Physical Sensors  Sensor Manager  Accelerometer
More informationVisual Servoing using Fuzzy Controllers on an Unmanned Aerial Vehicle
Visual Servoing using Fuzzy Controllers on an Unmanned Aerial Vehicle Miguel A. OlivaresMéndez mig olivares@hotmail.com Pascual Campoy Cervera pascual.campoy@upm.es Iván Mondragón ivanmond@yahoo.com Carol
More informationHomework 4. problems: 5.61, 5.67, 6.63, 13.21
Homework 4 problems: 5.6, 5.67, 6.6,. Problem 5.6 An object of mass M is held in place by an applied force F. and a pulley system as shown in the figure. he pulleys are massless and frictionless. Find
More informationAP Physics: Rotational Dynamics 2
Name: Assignment Due Date: March 30, 2012 AP Physics: Rotational Dynamics 2 Problem A solid cylinder with mass M, radius R, and rotational inertia 1 2 MR2 rolls without slipping down the inclined plane
More informationColumbia University Department of Physics QUALIFYING EXAMINATION
Columbia University Department of Physics QUALIFYING EXAMINATION Monday, January 13, 2014 1:00PM to 3:00PM Classical Physics Section 1. Classical Mechanics Two hours are permitted for the completion of
More informationRotational inertia (moment of inertia)
Rotational inertia (moment of inertia) Define rotational inertia (moment of inertia) to be I = Σ m i r i 2 or r i : the perpendicular distance between m i and the given rotation axis m 1 m 2 x 1 x 2 Moment
More informationHomework #8 20311721 Physics 2 for Students of Mechanical Engineering. Part A
Homework #8 20311721 Physics 2 for Students of Mechanical Engineering Part A 1. Four particles follow the paths shown in Fig. 3233 below as they pass through the magnetic field there. What can one conclude
More informationSIX DEGREEOFFREEDOM MODELING OF AN UNINHABITED AERIAL VEHICLE. A thesis presented to. the faculty of
SIX DEGREEOFFREEDOM MODELING OF AN UNINHABITED AERIAL VEHICLE A thesis presented to the faculty of the Russ College of Engineering and Technology of Ohio University In partial fulfillment of the requirement
More informationSOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS  VELOCITY AND ACCELERATION DIAGRAMS
SOLID MECHANICS TUTORIAL MECHANISMS KINEMATICS  VELOCITY AND ACCELERATION DIAGRAMS This work covers elements of the syllabus for the Engineering Council exams C105 Mechanical and Structural Engineering
More informationCalibration Procedure for an Inertial Measurement Unit Using a 6DegreeofFreedom Hexapod
Calibration Procedure for an Inertial Measurement Unit Using a 6DegreeofFreedom Hexapod Øyvind Magnussen, Morten Ottestad and Geir Hovland Abstract In this paper a calibration procedure for an Inertial
More informationMagnetism. ***WARNING: Keep magnets away from computers and any computer disks!***
Magnetism This lab is a series of experiments investigating the properties of the magnetic field. First we will investigate the polarity of magnets and the shape of their field. Then we will explore the
More information9 Degrees of Freedom Inertial Measurement Unit with AHRS [RKI1430]
9 Degrees of Freedom Inertial Measurement Unit with AHRS [RKI1430] Users Manual Robokits India info@robokits.co.in http://www.robokitsworld.com Page 1 This 9 Degrees of Freedom (DOF) Inertial Measurement
More informationPerformance Test Results of an Integrated GPS/MEMS Inertial Navigation Package
Performance Test Results of an Integrated GPS/MEMS Inertial Navigation Package Alison K. Brown and Yan Lu, NAVSYS Corporation BIOGRAPHY Alison Brown is the President and Chief Executive Officer of NAVSYS
More informationLecture L6  Intrinsic Coordinates
S. Widnall, J. Peraire 16.07 Dynamics Fall 2009 Version 2.0 Lecture L6  Intrinsic Coordinates In lecture L4, we introduced the position, velocity and acceleration vectors and referred them to a fixed
More informationHP TouchPad Sensor Setup for Android
HP TouchPad Sensor Setup for Android Coordinate System The Android device framework uses a 3axis coordinate system to express data values. For the following HP TouchPad sensors, the coordinate system
More informationAcceleration due to Gravity
Acceleration due to Gravity 1 Object To determine the acceleration due to gravity by different methods. 2 Apparatus Balance, ball bearing, clamps, electric timers, meter stick, paper strips, precision
More informationLab 9 Magnetic Interactions
Lab 9 Magnetic nteractions Physics 6 Lab What You Need To Know: The Physics Electricity and magnetism are intrinsically linked and not separate phenomena. Most of the electrical devices you will encounter
More informationSalem Community College Course Syllabus. Course Title: Physics I. Course Code: PHY 101. Lecture Hours: 2 Laboratory Hours: 4 Credits: 4
Salem Community College Course Syllabus Course Title: Physics I Course Code: PHY 101 Lecture Hours: 2 Laboratory Hours: 4 Credits: 4 Course Description: The basic principles of classical physics are explored
More informationOUTCOME 2 KINEMATICS AND DYNAMICS TUTORIAL 2 PLANE MECHANISMS. You should judge your progress by completing the self assessment exercises.
Unit 60: Dynamics of Machines Unit code: H/601/1411 QCF Level:4 Credit value:15 OUTCOME 2 KINEMATICS AND DYNAMICS TUTORIAL 2 PLANE MECHANISMS 2 Be able to determine the kinetic and dynamic parameters of
More informationSimple Harmonic Motion
Simple Harmonic Motion 1 Object To determine the period of motion of objects that are executing simple harmonic motion and to check the theoretical prediction of such periods. 2 Apparatus Assorted weights
More informationThe Electronic Level Device of Many Uses
IQ901 IQ90319 The Electronic Level Device of Many Uses author GEORGE J. SCHUETZ Director of Precision Gages Mahr Federal Inc. Providence, Rhode Island abstract The electronic level is a very precise
More informationAn Accelerometer Based Hand Gesture Recognition Digital Pen Asmita Bodhale 1 Swati Musale 2 Prof. Prakash Sontakke 3
An Accelerometer Based Hand Gesture Recognition Digital Pen Asmita Bodhale 1 Swati Musale 2 Prof. Prakash Sontakke 3 Dept. of ECE, Pimpri Chinchwad Dept. of ECE, Pimpri Chinchwad Dept. of ECE, Pimpri Chinchwad
More informationRobot Sensors. Outline. The Robot Structure. Robots and Sensors. Henrik I Christensen
Robot Sensors Henrik I Christensen Robotics & Intelligent Machines @ GT Georgia Institute of Technology, Atlanta, GA 303320760 hic@cc.gatech.edu Henrik I Christensen (RIM@GT) Sensors 1 / 38 Outline 1
More informationThe purposes of this experiment are to test Faraday's Law qualitatively and to test Lenz's Law.
260 171 I. THEORY EXPERIMENT 17 QUALITATIVE STUDY OF INDUCED EMF Along the extended central axis of a bar magnet, the magnetic field vector B r, on the side nearer the North pole, points away from this
More informationIntroduction to Robotics Analysis, Systems, Applications
Introduction to Robotics Analysis, Systems, Applications Saeed B. Niku Mechanical Engineering Department California Polytechnic State University San Luis Obispo Technische Urw/carsMt Darmstadt FACHBEREfCH
More informationChapter 4 Dynamics: Newton s Laws of Motion. Copyright 2009 Pearson Education, Inc.
Chapter 4 Dynamics: Newton s Laws of Motion Force Units of Chapter 4 Newton s First Law of Motion Mass Newton s Second Law of Motion Newton s Third Law of Motion Weight the Force of Gravity; and the Normal
More informationLecture 07: Work and Kinetic Energy. Physics 2210 Fall Semester 2014
Lecture 07: Work and Kinetic Energy Physics 2210 Fall Semester 2014 Announcements Schedule next few weeks: 9/08 Unit 3 9/10 Unit 4 9/15 Unit 5 (guest lecturer) 9/17 Unit 6 (guest lecturer) 9/22 Unit 7,
More informationThe Use of an Inertial Measurement Unit to assist in Dynamic Stability during Mobile Robot Exploration
The Use of an Inertial Measurement Unit to assist in Dynamic Stability during Mobile Robot Exploration Arjun Nagendran School of Computer Science The University of Manchester Manchester, UK nagendra@cs.man.ac.uk
More informationEngineering Mechanics I. Phongsaen PITAKWATCHARA
2103213 Engineering Mechanics I Phongsaen.P@chula.ac.th May 13, 2011 Contents Preface xiv 1 Introduction to Statics 1 1.1 Basic Concepts............................ 2 1.2 Scalars and Vectors..........................
More informationPhysics 1653 Exam 3  Review Questions
Physics 1653 Exam 3  Review Questions 3.0 Two uncharged conducting spheres, A and B, are suspended from insulating threads so that they touch each other. While a negatively charged rod is held near, but
More informationAll About Motion  Displacement, Velocity and Acceleration
All About Motion  Displacement, Velocity and Acceleration Program Synopsis 2008 20 minutes Teacher Notes: Ian Walter Dip App Chem; GDipEd Admin; TTTC This program explores vector and scalar quantities
More informationSTMicroelectronics is pleased to present the. SENSational. Attend a FREE OneDay Technical Seminar Near YOU!
SENSational STMicroelectronics is pleased to present the SENSational Seminar Attend a FREE OneDay Technical Seminar Near YOU! Seminar Sensors and the Internet of Things are changing the way we interact
More informationA MOTION ACTIVITY MONITOR MONITOR POHYBOVÉ AKTIVITY
A MOTION ACTIVITY MONITOR MONITOR POHYBOVÉ AKTIVITY Josef Marek, Ladislav Štěpánek 1 Summary: The paper deals with motion and vital activity monitoring of person in the case of dangerous environment (rescue
More informationHybrid Tracking System for Outdoor Augmented Reality
Hyrid Tracking System for Outdoor Augmented Reality Stelian Persa and Pieter Jonker Pattern Recognition Group, Technical University Delft Lorentzweg 1,Delft, 2628 CJ The Netherlands {stelian,pieter}@ph.tn.tudelft.nl
More information