Telemetry synchronizer

A telemetry data synchronizer is reported for achieving phase lock and synchronization of an input signal having a pseudorandom sequence

Flight test results of the strapdown hexad inertial reference unit (SIRU). Volume 2: Test report

Results of flight tests of the Strapdown Inertial Reference Unit (SIRU) navigation system are presented. The fault tolerant SIRU navigation system features a redundant inertial sensor unit and dual computers. System software provides for detection and isolation of inertial sensor failures and continued operation in the event of failures. Flight test results include assessments of the system's navigational performance and fault tolerance. Performance shortcomings are analyzed

Application and Evaluation of Lighthouse Technology for Precision Motion Capture

This thesis presents the development towards a system that can capture and quantify motion for applications in biomechanical and medical fields demanding precision motion tracking using the lighthouse technology. Commercially known as SteamVR tracking, the lighthouse technology is a motion tracking system developed for virtual reality applications that makes use of patterned infrared light sources to highlight trackers (objects embedded with photodiodes) to obtain their pose or spatial position and orientation. Current motion capture systems such as the camera-based motion capture are expensive and not readily available outside of research labs. This thesis provides a case for low-cost motion capture systems. The technology is applied to quantify motion to draw inferences about biomechanics capture and analysis, quantification of gait, and prosthetic alignment. Possible shortcomings for data acquisition using this system for the stated applications have been addressed. The repeatability of the system has been established by determining the standard deviation error for multiple trials based on a motion trajectory using a seven degree-of-freedom robot arm. The accuracy testing for the system is based on cross-validation between the lighthouse technology data and transformations derived using joint angles by developing a forward kinematics model for the robot’s end-effector pose. The underlying principle for motion capture using this system is that multiple trackers placed on limb segments allow to record the position and orientation of the segments in relation to a set global frame. Joint angles between the segments can then be calculated from the recorded positions and orientations of each tracker using inverse kinematics. In this work, inverse kinematics for rigid bodies was based on calculating homogeneous transforms to the individual trackers in the model’s reference frame to find the respective Euler angles as well as using the analytical approach to solve for joint variables in terms of known geometric parameters. This work was carried out on a phantom prosthetic limb. A custom application-specific motion tracker was also developed using a hardware development kit which would be further optimized for subsequent studies involving biomechanics motion capture

SIRU development. Volume 1: System development

A complete description of the development and initial evaluation of the Strapdown Inertial Reference Unit (SIRU) system is reported. System development documents the system mechanization with the analytic formulation for fault detection and isolation processing structure; the hardware redundancy design and the individual modularity features; the computational structure and facilities; and the initial subsystem evaluation results

Adaptive Latency Insensitive Protocols andElastic Circuits with Early Evaluation: A Comparative Analysis

AbstractLatency Insensitive Protocols (LIP) and Elastic Circuits (EC) solve the same problem of rendering a design tolerant to additional latencies caused by wires or computational elements. They are performance-limited by a firing semantics that enforces coherency through a lazy evaluation rule: Computation is enabled if all inputs to a block are simultaneously available. Adaptive LIP's (ALIP) and EC with early evaluation (ECEE) increase the performance by relaxing the evaluation rule: Computation is enabled as soon as the subset of inputs needed at a given time is available. Their difference in terms of implementation and behavior in selected cases justifies the need for the comparative analysis reported in this paper. Results have been obtained through simple examples, a single representative case-study already used in the context of both LIP's and EC and through extensive simulations over a suite of benchmarks

Engineering evaluations and studies. Volume 3: Exhibit C

High rate multiplexes asymmetry and jitter, data-dependent amplitude variations, and transition density are discussed