2,606 research outputs found

    Micromagnetometer calibration for accurate orientation estimation

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    Micromagnetometers, together with inertial sensors, are widely used for attitude estimation for a wide variety of applications. However, appropriate sensor calibration, which is essential to the accuracy of attitude reconstruction, must be performed in advance. Thus far, many different magnetometer calibration methods have been proposed to compensate for errors such as scale, offset, and nonorthogonality. They have also been used for obviate magnetic errors due to soft and hard iron. However, in order to combine the magnetometer with inertial sensor for attitude reconstruction, alignment difference between the magnetometer and the axes of the inertial sensor must be determined as well. This paper proposes a practical means of sensor error correction by simultaneous consideration of sensor errors, magnetic errors, and alignment difference. We take the summation of the offset and hard iron error as the combined bias and then amalgamate the alignment difference and all the other errors as a transformation matrix. A two-step approach is presented to determine the combined bias and transformation matrix separately. In the first step, the combined bias is determined by finding an optimal ellipsoid that can best fit the sensor readings. In the second step, the intrinsic relationships of the raw sensor readings are explored to estimate the transformation matrix as a homogeneous linear least-squares problem. Singular value decomposition is then applied to estimate both the transformation matrix and magnetic vector. The proposed method is then applied to calibrate our sensor node. Although there is no ground truth for the combined bias and transformation matrix for our node, the consistency of calibration results among different trials and less than 3° root mean square error for orientation estimation have been achieved, which illustrates the effectiveness of the proposed sensor calibration method for practical applications

    Human motion tracking based on complementary Kalman filter

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    Miniaturized Inertial Measurement Unit (IMU) has been widely used in many motion capturing applications. In order to overcome stability and noise problems of IMU, a lot of efforts have been made to develop appropriate data fusion method to obtain reliable orientation estimation from IMU data. This article presents a method which models the errors of orientation, gyroscope bias and magnetic disturbance, and compensate the errors of state variables with complementary Kalman filter in a body motion capture system. Experimental results have shown that the proposed method significantly reduces the accumulative orientation estimation errors

    A general model of non-linear neural networks based on exact penalty function

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    2003-2004 > Academic research: refereed > Publication in refereed journalVersion of RecordPublishe

    High-energy scale revival and giant kink in the dispersion of a cuprate superconductor

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    In the present photoemission study of a cuprate superconductor Bi1.74Pb0.38Sr1.88CuO6+delta, we discovered a large scale dispersion of the lowest band, which unexpectedly follows the band structure calculation very well. The incoherent nature of the spectra suggests that the hopping-dominated dispersion occurs possibly with the assistance of local spin correlations. A giant kink in the dispersion is observed, and the complete self-energy containing all interaction information is extracted for a doped cuprate in the low energy region. These results recovered significant missing pieces in our current understanding of the electronic structure of cuprates.Comment: 4 pages, 3 figures, submitted to Phys. Rev. Lett. on May 21, 200

    Enhanced performance in polymer photovoltaic cells with chloroform treated indium tin oxide anode modification

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    Enhanced performance of a poly(3-hexylthiophene):(6,6)-phenyl C61 butyric acid methyl ester bulk heterojunction polymer photovoltaic cell is reported by modifying the indium tin oxide (ITO) anode with chloroform solution. Instead of the traditional UV-ozone treatment, the optimized chloroform modification on ITO anode can result in an enhancement in the power conversion efficiency of an identical device, originating from an increase in the photocurrent with negligible change in the open-circuit voltage. The performance enhancement is attributed to the work function modification of the ITO substrate through the surface incorporation of the chlorine, and thus improved charge collection efficiency. © 2011 American Institute of Physics

    Surface plasmon-enhanced electroluminescence in organic light-emitting diodes incorporating Au nanoparticles

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    Surface plasmon-enhanced electroluminescence (EL) in an organic light-emitting diode is demonstrated by incorporating the synthesized Au nanoparticles (NPs) in the hole injection layer of poly(3,4-ethylene dioxythiophene):polystyrene sulfonic acid. An increase of ∼25% in the EL intensity and efficiency are achieved for devices with Au NPs, whereas the spectral and electrical properties remain almost identical to the control device. Time-resolved photoluminescence spectroscopy reveals that the EL enhancement is ascribed to the increase in spontaneous emission rate due to the plasmonic near-field effect induced by Au NPs. © 2012 American Institute of Physics
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