Experimental comparison between Mahoney and Complementary sensor fusion algorithm for attitude determination by raw sensor data of Xsens IMU on buoy

The accurate measurement of platform orientation plays a critical role in a range of applications including marine, aerospace, robotics, navigation, human motion analysis, and machine interaction. We used Mahoney filter, Complementary filter and Xsens Kalman filter for achieving Euler angle of a dynamic platform by integration of gyroscope, accelerometer, and magnetometer measurements. The field test has been performed in Kish Island using an IMU sensor (Xsens MTi-G-700) that installed onboard a buoy so as to provide raw data of gyroscopes, accelerometers, magnetometer measurements about 25 minutes. These raw data were used to calculate the Euler angles by Mahoney filter and Complementary filter, while the Euler angles collected by XSense IMU sensor become the reference of the Euler angle estimations. We then compared Euler angles which calculated by Mahoney Filter and Complementary Filter with reference to the Euler angles recorded by the XSense IMU sensor. The standard deviations of the differences between the Mahoney Filter, Complementary Filter Euler angles and XSense IMU sensor Euler angles were about 0.5644, 0.3872, 0.4990 degrees and 0.6349, 0.2621, 2.3778 degrees for roll, pitch, and heading, respectively, so the numerical resultassert that Mahoney filter is precise for roll and heading angles determination and Complementary filter is precise only for pitch determination, it should be noted that heading angle determination by Complementary filter has more error than Mahoney filter

Multiple etiologies of axonal sensory motor polyneuropathy in a renal transplant recipient: a case report

<p>Abstract</p> <p>Introduction</p> <p>Neurological complications leading to morbidity and mortality are not frequent in renal transplant recipients. Here, we report a renal transplant recipient who presented with diminished strength in his limbs probably due to multiple etiologies of axonal sensorimotor polyneuropathy, which resolved with intravenous immunoglobulin.</p> <p>Case presentation</p> <p>A 49-year-old Iranian male renal transplant recipient with previous history of autosomal dominant polycystic kidney disease presented with diminished strength in his limbs one month after surgery. Our patient was on cyclosporine A, mycophenolate mofetil and prednisone. Although a detected hypophosphatemia was corrected with supplemental phosphate, the loss of strength was still slowly progressive and diffuse muscular atrophy was remarkable in his trunk, upper limb and pelvic girdle. Meanwhile, his cranial nerves were intact. Post-transplant diabetes mellitus was diagnosed and insulin therapy was initiated. In addition, as a high serum cyclosporine level was detected, the dose of cyclosporine was reduced. Our patient was also put on intravenous ganciclovir due to positive serum cytomegalovirus immunoglobulin M antibody. Despite the reduction of oral cyclosporine dose along with medical therapy for the cytomegalovirus infection and diabetes mellitus, his muscular weakness and atrophy did not improve. One week after administration of intravenous immunoglobulin, a significant improvement was noted in his muscular weakness.</p> <p>Conclusion</p> <p>A remarkable response to intravenous immunoglobulin is compatible with an immunological basis for the present condition (post-transplant polyneuropathy). In cases of post-transplant polyneuropathy with a high clinical suspicion of immunological origin, administration of intravenous immunoglobulin may be recommended.</p