Two-step calibration methods for miniature inertial and magnetic sensor units

Low-cost inertial/magnetic sensor units have been extensively used to determine sensor attitude information for a wide variety of applications, ranging from virtual reality, underwater vehicles, handheld navigation systems, to biomotion analysis and biomedical applications. In order to achieve precise attitude reconstruction, appropriate sensor calibration procedures must be performed in advance to process sensor readings properly. In this paper, we are aiming to calibrate different error parameters, such as sensor sensitivity/scale factor error, offset/bias error, nonorthogonality error, mounting error, and also soft iron and hard iron errors for magnetometers. Instead of estimating all of these parameters individually, these errors are combined together as the combined bias and transformation matrix. Two-step approaches are proposed to determine the combined bias and transformation matrix separately. For the accelerometer and magnetometer, the combined bias is determined by finding an optimal ellipsoid that can best fit the sensor readings, and the transformation matrix is then derived through a two-step iterative algorithm by exploring the intrinsic relationship among sensor readings. For the gyroscope, the combined bias can be easily determined by placing the sensor node stationary. For the transformation matrix estimation, the intrinsic relationship among gyroscope readings is explored again, and an unscented Kalman filter is employed to determine such matrix. The calibration methods are then applied to our sensor nodes, and the good performance of the orientation estimation has illustrated the effectiveness of the proposed sensor calibration methods

Pseudospin-1 Physics of Photonic Crystals.

We review some recent progress in the exploration of pseudospin-1 physics using dielectric photonic crystals (PCs). We show some physical implications of the PCs exhibiting an accidental degeneracy induced conical dispersion at the Γ point, such as the realization of zero refractive index medium and the zero Berry phase of a loop around the nodal point. The photonic states of such PCs near the Dirac-like point can be described by an effective spin-orbit Hamiltonian of pseudospin-1. The wave propagation in the positive, negative, and zero index media can be unified within a framework of pseudospin-1 description. A scale change in PCs results in a rigid band shift of the Dirac-like cone, allowing for the manipulation of waves in pseudospin-1 systems in much the same way as applying a gate voltage in pseudospin-1/2 graphene. The transport of waves in pseudospin-1 systems exhibits many interesting phenomena, including super Klein tunneling, robust supercollimation, and unconventional Anderson localization. The transport properties of pseudospin-1 systems are distinct from their counterparts in pseudospin-1/2 systems, which will also be presented for comparison

Micromagnetometer calibration for accurate orientation estimation

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

Use of an inertial/magnetic sensor module for pedestrian tracking during normal walking

The ability to track pedestrians without any infrastructure support is required by numerous applications in the healthcare, augmented reality, and entertainment industries. In this paper, we present a simple self-contained pedestrian tracking method using a foot-mounted inertial and magnetic sensor module. Traditional methods normally incorporate double integration of the measured acceleration, but such methods are susceptible to the acceleration noise and integration drift. To avoid this issue, alternative approaches which make use of walking dynamics to aggregate individual stride have been explored. The key for stride aggregating is to accurately and reliably detect stride boundary and estimate the associated heading direction for each stride, but it is still not well solved yet due to sensor noise and external disturbance. In this paper, we propose to make use of the inertial sensor and magnetometer measurements for stride detection and heading direction determination. In our method, a simple and reliable stride detection method, which is resilient to random bouncing motions and sensor noise, is designed based on gyroscope and accelerometer measurements. Heading direction is then determined from the foot's orientation which fuses all the three types of sensor information together. The proposed pedestrian tracking method has been evaluated using experiments, including both short distance walking with different patterns and long distance walking performed indoors and outdoors. The good experimental results have illustrated the effectiveness of the proposed pedestrian tracking method

Boundary recovery for 3D Delaunay triangulation

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Continuous monitoring of residual torque of loose bolt in a bolted joint

6th Asia Pacific Workshop on Structural Health Monitoring, APWSHM, Hobart, Tasmania, Australia, 7-9 December 20162016-2017 > Academic research: refereed > Publication in refereed journal201804_a bcmaVersion of RecordPublishe

All-optical NRZ-to-RZ format conversion at 10 Gbit/s with 1-to-4 wavelength multicasting exploiting cross-phase modulation & four-wave-mixing in single dispersion-flattened highly nonlinear photonic crystal fiber

© 2015 Taylor & Francis.All-optical NRZ-to-RZ format conversion with a function of wavelength multicasting is proposed in this paper, which is realized by exploiting cross-phase modulation (XPM) and four-wave-mixing (FWM) in a dispersion-flattened highly nonlinear photonic crystal fiber (DF-HNL-PCF). The designed format converter is experimentally demonstrated, for which the 1-to-4 wavelength multicasting is achieved simultaneously by filtering out two FWM idler waves and both blue-chirped and red-chirped components of the broadened NRZ spectrum induced by XPM. Moreover, the wavelength tunability and dynamic characteristics of the proposed NRZ-to-RZ format converter are also exploited using the different central wavelengths of an optical clock signal and varying the input optical power at a DF-HNL-PCF in our experiment. It is shown that the designed format converter can possess a wide range of operational wavelength over 17 nm, an optimal extinction ratio of 11.6 dB, and a Q-factor of 7.1, respectively. Since the proposed scheme uses an optical fiber-based configuration and is easy for implementation, it can be very useful for future applications in advanced fiber-optic communication networks

Management of Extracranial Carotid Artery Aneurysms:17 Years» Experience

AbstractObjectives:a retrospective review of seventeen-year (1980–1996) experience of the management of extracranial carotid artery aneurysms.Patients and methods:sixty-six aneurysms of extracranial carotid artery were seen in 63 patients. The diagnosis was confirmed by angiography in 51 patients and duplex ultrasonography in twelve. Twenty-eight (42%) patients had an atherosclerotic aneurysm, twenty-two (33%) had false aneurysms secondary to trauma, nine were congenital and seven were mycotic. All underwent aneurysm resection with saphenous-vein-graft interposition as the most common means of reconstruction.Results:one death occurred due to septicaemia in a diabetic patient with a mycotic aneurysm, giving an operative mortality of 1.5%. One patient had an immediate hemiparesis after carotid artery ligation, and three had a hemiparesis within 48 hours of operation (6.1%). After a change in technique to avoid a residual carotid stump, no further neurological problems were encountered in the following 28 patients.Conclusion:extracranial carotid aneurysms may be successfully managed with resection and reconstruction with autogenous saphenous vein. End-to-side anastomosis avoids a blind-ending stump which may be the source of emboli

Human motion tracking based on complementary Kalman filter

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

Characterization of damage in shielding structures of space vehicles under hypervelocity impact

6th Asia Pacific Workshop on Structural Health Monitoring, APWSHM, Hobart, Tasmania, Australia, 7-9 December 2016Version of RecordPublishe