Design and Estimation of an AUV Portable Intelligent Rescue System Based on Attitude Recognition Algorithm

This research is based on the attitude sensing algorithm to design a portable intelligent rescue system for autonomous underwater vehicles (AUVs). To lower the possibility of losing the underwater vehicle and reduce the difficulty of rescuing, when an AUV intelligent rescue system (AIRS) detects the fault of AUVs and they could not be reclaimed, AIRS can pump carbon dioxide into the airbag immediately to make the vehicle resurface. AIRS consists of attitude sensing module, double-trigger inflator mechanism, and activity recognition algorithm. The sensing module is an eleven-DOF sensor that is made up of a six-axis inertial sensor, a three-axis magnetometer, a barometer, and a thermometer. Furthermore, the signal calibration and extended Kalman filter (SC-EKF) is proposed to be used subsequently to calibrate and fuse the data from the sensing module. Then, the attitude data are classified with the principle of feature extraction (FE) and backpropagation network (BPN) classifier. Finally, the designed double-trigger inflator can be triggered not only by electricity but also by water damage when the waterproof cabin is severely broken. With the AIRS technology, the safety of detecting and investigating the use AUVs can be increased since there is no need to send divers to engage in the rescue mission under water

Simple Fall Criteria for MEMS Sensors: Data Analysis and Sensor Concept

This paper presents a new and simple fall detection concept based on detailed experimental data of human falling and the activities of daily living (ADLs). Establishing appropriate fall algorithms compatible with MEMS sensors requires detailed data on falls and ADLs that indicate clearly the variations of the kinematics at the possible sensor node location on the human body, such as hip, head, and chest. Currently, there is a lack of data on the exact direction and magnitude of each acceleration component associated with these node locations. This is crucial for MEMS structures, which have inertia elements very close to the substrate and are capacitively biased, and hence, are very sensitive to the direction of motion whether it is toward or away from the substrate. This work presents detailed data of the acceleration components on various locations on the human body during various kinds of falls and ADLs. A two-degree-of-freedom model is used to help interpret the experimental data. An algorithm for fall detection based on MEMS switches is then established. A new sensing concept based on the algorithm is proposed. The concept is based on employing several inertia sensors, which are triggered simultaneously, as electrical switches connected in series, upon receiving a true fall signal. In the case of everyday life activities, some or no switches will be triggered resulting in an open circuit configuration, thereby preventing false positive. Lumped-parameter model is presented for the device and preliminary simulation results are presented illustrating the new device concept

Application of inertial sensors for performance and safety analysis in alpine skiing

In questa tesi è stato analizzato l'utilizzo di sensori inerziali nell'ambito dello sci alpino allo scopo di analisi di performance e sicurezza. Sono stati analizzati i dati ricavati dai sensori al fine di ottenere una classificazione dei livelli di sciata. Da questi si è passati ad analizzare la cadute nell'ambito sciistico, proponendo metodi di simulazione delle stess

A Study on Human Fall Detection Systems: Daily Activity Classification and Sensing Techniques

Fall detection for elderly is a major topic as far as assistive technologies are concerned. This is due to the high demand for the products and technologies related to fall detection with the ageing population around the globe. This paper gives a review of previous works on human fall detection devices and a preliminary results from a developing depth sensor based device. The three main approaches used in fall detection devices such as wearable based devices, ambient based devices and vision based devices are identified along with the sensors employed.  The frameworks and algorithms applied in each of the approaches and their uniqueness is also illustrated. After studying the performance and the shortcoming of the available systems a future solution using depth sensor is also proposed with preliminary results

Soft Continuum Robotic Airbag Integrated with Passive Walker for Fall Mitigation

This thesis describes the prototype and development of a soft continuum robotic airbag system that is attached to a passive mobility walker. The system can deploy in multiple configurations: to the front, left, or right of the walker depending on the direction of a detected fall. The continuum component of the project is made of nylon fabric with thin cables, allowing it to be compactly stored before deploying. The airbag is inflated in real time during a fall using a novel compression system. Results of experiments with the prototype in each configuration are presented. The system deploys consistently across falls, significantly reducing the g-force of impact

Preference and placement of vehicle crash sensors

Senzori za detekciju sudara su od bitne važnosti u aplikacijama za sigurnost vozila. Jedna od najvažnijih primjena tih mjernih sustava je u sustavima za vezanje vozača u vozilu. Uz to, senzori se uveliko koriste za ublažavanje udesa i u razvijenom sustavu upravljanja vozilom. Senzori za otkrivanje sudara su se u zadnjih nekoliko desetljeća značajno razvili. Ipak, postojeći zahtjevi i izazovi dovode do novih inovacija i poboljšanja njihovih funkcija. U ovom se radu daje pregled senzorskih tehnologija i postavljanja senzora za otkrivanje udesa s naglaskom na otkrivanje sudara prevrtanjem vozila. Daje se i prijedlog za izbor senzora za otkrivanje pojedinog sudara ovisno o radnim karakteristikama senzora. Potražnja za odgovarajućim senzorima u sigurnom sustavu vozila ostaje izazov i aktivno područje rada u nadolazećim godinama. Zato ovaj pregled treba koristiti kao putokaz istraživačima koji se žele baviti detekcijom sudara i izborom senzora.Crash detection sensors play a vital role in vehicular safety applications. One of the major applications of these sensing systems is the use in occupant restraint systems. Besides, sensors are extensively used in the accident mitigation and advanced vehicle control system. Crash sensors have advanced significantly in the last few decades. Yet, existing demands and challenges bring new innovations and improvements in their functions. This paper reviews the sensor technologies and placement of sensors for accident detections with an emphasis on the rollover crash detection. The paper also suggests sensor selection for particular crash detection depending on the performance of the sensors. The demand for the sensors for a responsive driving environment and safe vehicle system shall remain a challenging and active area for years to come. Thus, this review shall work as a guideline for the researchers who wish to study on the crash detection and sensor selection

MICRO & NANO TECHNOLOGIES – APPLICATIONS, DESIGN AND INTEGRATION

The science of micro-nano technologies represents a multidisciplinary research domain, which provokes active participation of specialist from multiple domains (physics, chemistry, biology, mathematics, electronics, medicine, a.o.). Nanotechnology is an applied science domain focusing the design, synthesis and characterization of materials and devices starting from individual atoms and molecules level up to supramolecular level of strains of molecules with 100 molecular diameters. Operations at this dimensions implies the understanding of new scientific principles and new materials properties, which take place at micro and nano scale and are used in the development of materials, devices and systems with new and improved functions and performances. The properties and basic functions of structures and material systems at nano scale may be changed based on the organization of the living mater on molecular “weak” interactions (hydrogen binds, electrostatic dipole, Van der Waals forces, surface forces, electrofluidic forces, a.o.)

Airbag system for hip-fracture protection due to falls: mechanical system design and development.

Chan Cheung Shing.Thesis (M.Phil.)--Chinese University of Hong Kong, 2007.Includes bibliographical references (leaves 88-90).Abstracts in English and Chinese.Abstract --- p.iiAcknowledgements --- p.ivTable of Contents --- p.vList of Figures --- p.viiiList of Tables --- p.xiiAbbreviations and Notations --- p.xiiiChapter Chapter 1 --- Introduction --- p.1Chapter 1.1 --- Background and Objective --- p.1Chapter 1.2 --- Contribution --- p.4Chapter 1.3 --- Thesis Outline --- p.5Chapter Chapter 2 --- System Architecture --- p.6Chapter 2.1 --- Conceptual Design --- p.6Chapter 2.2 --- Sensing Device and Fall-Detection Algorithm --- p.7Chapter 2.3 --- Mechanical Part --- p.10Chapter Chapter 3 --- Mechanical Design --- p.11Chapter 3.1 --- Similar Products --- p.11Chapter 3.1.1 --- Airbag Restraining Systems in Automobiles --- p.11Chapter 3.1.2 --- Airbag Jackets for Motorcycle and House Riders --- p.12Chapter 3.2 --- Mechanism adopted --- p.12Chapter 3.2.1 --- Time Requirement of Inflator --- p.12Chapter 3.2.2 --- Mechanism and Design --- p.13Chapter 3.2.3 --- Actuator --- p.14Chapter 3.2.4 --- Punch --- p.15Chapter 3.2.5 --- Airbags --- p.18Chapter 3.2.6 --- Other Mechanisms Tried --- p.19Chapter 3.3 --- Prototype --- p.21Chapter 3.3.1 --- Implementation --- p.21Chapter 3.3.2 --- Demonstration --- p.23Chapter Chapter 4 --- Inflation Estimation --- p.25Chapter 4.1 --- Theory and Model --- p.25Chapter 4.2 --- Validation of Model --- p.28Chapter 4.2.1 --- Testing Equipment --- p.28Chapter 4.2.2 --- Preprocessing of Pressure Sensor Outputs --- p.28Chapter 4.2.3 --- Validation for Basic Equations --- p.29Chapter 4.2.4 --- Adjustment of Discharge Coefficients --- p.36Chapter 4.2.5 --- Validation for Discharging to a Fixed Volume --- p.40Chapter 4.2.6 --- Estimation of the Size of Airbag's Leakage Hole --- p.45Chapter 4.2.7 --- Validation for Discharging to an Airbag --- p.47Chapter 4.2.8 --- Time Delay due to Addition of a Pipe --- p.52Chapter 4.3 --- Summary of Experiments --- p.53Chapter 4.4 --- Limitation of Model --- p.54Chapter 4.5 --- Prediction of Inflation Time and Airbag Pressure --- p.55Chapter 4.5.1 --- Effects of Orifice Size and Vent Size on Airbag Pressure and Volume --- p.55Chapter Chapter 5 --- Force Attenuation Estimation --- p.58Chapter 5.1 --- Theory and Model --- p.58Chapter 5.1.1 --- Kelvin-Voigt Model --- p.59Chapter 5.1.2 --- Standard Linear Solid Support Model --- p.59Chapter 5.2 --- Simple Testing for Validation --- p.61Chapter 5.3 --- Summary of Experiment --- p.64Chapter 5.4 --- Estimation --- p.64Chapter 5.4.1 --- Force Attenuation Ability of Prototype --- p.64Chapter 5.4.2 --- Minimum Airbag Volume and Pressure Required to Reduce the Force --- p.65Chapter Chapter 6 --- Future Work --- p.66Chapter 6.1 --- Impact Test for Airbag System --- p.66Chapter 6.2 --- The Effective Mass of the Target User --- p.67Chapter 6.3 --- The Motion Data Collection --- p.68Chapter 6.4 --- Modification in the Inflator --- p.69Chapter Chapter 7 --- Conclusion --- p.70Appendix A Review of Basic Thermodynamics and Fluid Dynamics --- p.72Chapter A.1 --- Thermodynamics --- p.72Chapter A.2 --- Fluid Mechanics: Incompressible and Compressible Flow --- p.75Appendix B Derivation of Equations --- p.77Chapter B.1 --- Mass Flow Rate Equations --- p.77Chapter B.2 --- Relationship between Rate of Changes of Airbag Pressure and Volume --- p.80Chapter B.3 --- Pressure Change of Compressed Gas Cylinder --- p.82Chapter B.4 --- Dominating Factors in the Mass Flow Rate Equation --- p.83Appendix C Dimensions of Inflator --- p.85Appendix D Experimental Data --- p.8