Development of an analytical model for rotational vector of a sphere using MEMS inertial sensors

Microelectromechanical Systems (MEMS) based inertial sensors are finding greater applications in sensing position, orientation and motion in automotives, aerospace and consumer electronics [1]-[2]. One particular MEMS inertial sensor is an inertial measurement unit (IMU), which is an integrated chip consisting of a tri-axis gyroscope and tri-axis accelerometer. A gyroscope can sense rate of rotation in a particular axis while an accelerometer can measure the acceleration in an axis. IMUs are used to find the complete motion data which can be processed with appropriate algorithm to find orientation or navigation [3]. The focus of this research is to use a MEMS IMU to find the rotational velocity of a sphere and its axis of rotation. This research aims to build a model using detected motion data from the IMU then use it to calculate the rotation vector (speed and orientation) of an object, so that a great quantity of applications could be achieved. One of these applications we are researching is to detect the rotation of a sphere. Rotation about an arbitrary axis had been researched, however, to calculate the rotation axis from the detected IMU motion data is challenging and has not been addressed in the literature. To solve the problem, we used linear algebra as the tool to calculate the rotation matrix by dividing a 3-D rotation into several pieces of 2-D rotation [4]. The rotation motions were represented as a matrix, which could simplify the process of calculation. Simultaneous orthogonal rotation angle (SORA) concept was also important in this research because it is well-suited to calculate real-time rotation vectors [5]. As 3-D rotations in general are not commutative, the results of an improper sequential addition of the 3 rotation motions in 3-D would lead to a wrong orientation. However, only if the rotation angle is infinitely small, then the error could negligible because they are nearly commutative. Therefore, we divided the rotation angles into infinitesimally small rotations then we integrated the three rotations together. In the experiments, an IMU was placed on a spherical object and mounted on top of a rotating table. The information from IMU was sampled at 375Hz and was collected by a coupled microprocessor. The IMU data provided raw information about dynamic motion in all three axes. Using the IMU data and SORA algorithm the rotational axis and velocity of a moving rotational sphere was found. The outcome of this research achieved to detect rotation axis based on IMU sensors, which was impossible in the past. Key words: MEMS, IMU, SORA, Gyroscop

Accurate position tracking with a single UWB anchor

Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and commercial applications. Ultra-wideband (UWB) technology provides another venue to accurately locate devices both indoors and outdoors. In this paper, we study a localization solution with a single UWB anchor, instead of the traditional multi-anchor setup. Besides the challenge of a single UWB ranging source, the only other sensor we require is a low-cost 9 DoF inertial measurement unit (IMU). Under such a configuration, we propose continuous monitoring of UWB range changes to estimate the robot speed when moving on a line. Combining speed estimation with orientation estimation from the IMU sensor, the system becomes temporally observable. We use an Extended Kalman Filter (EKF) to estimate the pose of a robot. With our solution, we can effectively correct the accumulated error and maintain accurate tracking of a moving robot.Comment: Accepted by ICRA202

RANCANG BANGUN SENSOR KOMPAS SEBAGAI PENDETEKSI SUDUT ORIENTASI ROBOT BERODA

The navigation system on the robot is a very important part of the wheeled robot so that the robot can maneuver precisely from one point to another according to the track with minimal errors. To reduce the occurrence of these errors, in this study, a compass sensor is used to bring the robot closer when it moves. This study aims to design an angle detection system on a wheeled robot that uses an electronic compass sensor. This electronic compass sensor needs to be tested for its performance to detect the direction angle to be set from 0º to 360º. The measurement results based on this compass sensor will be compared with the rotation angle detected using the encoder. From the results of this test, it will be known the ability of the sensor to detect the orientation of the wheeled robot while movin

Development of an acquisition system for high deformation barriers using low-cost IMU sensors and Image Analysis

Meso and full-scale impact tests have historically been used to assess the capacity of high-deformation barriers used against natural hazards and to validate numerical models. However, the data acquired from such experiments is typically limited to peak barrier elongation and occasionally force-time-displacement curves acting on specific structural elements. In rare occasions, complex and expensive procedures such as 4D photogrammetry are employed. Herein, a procedure is developed to obtain a barrier deformation data in three dimensions using low-cost MEMS sensors and consumer-grade cameras. The procedure is validated against LIDAR data for both quasi-static and dynamic conditions

Finding Your Way Back: Comparing Path Odometry Algorithms for Assisted Return.

We present a comparative analysis of inertial-based odometry algorithms for the purpose of assisted return. An assisted return system facilitates backtracking of a path previously taken, and can be particularly useful for blind pedestrians. We present a new algorithm for path matching, and test it in simulated assisted return tasks with data from WeAllWalk, the only existing data set with inertial data recorded from blind walkers. We consider two odometry systems, one based on deep learning (RoNIN), and the second based on robust turn detection and step counting. Our results show that the best path matching results are obtained using the turns/steps odometry system

ROCKET LOAD TEST BASED ON INERTIAL MEASUREMENT UNIT SENSOR IN SUPPORTING NATIONAL AIR DEFENSE

The development of rocketry and rocket payload technology is very rapid in the industrial era 4.0. Rockets are usually used as dynamic sensors or carriers for specific missions for sensing and retrieving data from space for meteorological, military, etc. This article aims to design, realize and test a Rocket Payload Monitoring System Based on an Inertial Measurement Unit (IMU) Sensor to monitor the condition of the payload movement behavior. Rocket Payload is a substance carried in a Payload Test Rocket (RUM) in the form of a cylindrical payload. This research focuses on designing a Graphical User Interface (GUI) application to display data in real-time. The type of research used is Research and Development (R&D) with a prototyping development model. The results obtained in the form of Rocket Payload Design and GUI design can be concluded that the GUI application can visualize all sensor and camera data in real-time