Search results for "Inertial measurement unit"
showing 10 items of 34 documents
Integrated GNSS/IMU Hub Motion Estimator for Offshore Wind Turbine Blade Installation
2019
Abstract Offshore wind turbines (OWTs) have become increasingly popular for their ability to harvest clean offshore wind energy. Bottom-fixed foundations are the most used foundation type. Because of its large diameter, the foundation is sensitive to wave loads. For typical manually assisted blade-mating operations, the decision to perform the mating operation is based on the relative distance and velocity between the blade root center and the hub, and in accordance with the weather window. Hence, monitoring the hub real-time position and velocity is necessary, whether the blade installation is conducted manually or automatically. In this study, we design a hub motion estimation algorithm f…
Real time UAV altitude, attitude and motion estimation from hybrid stereovision
2012
International audience; Knowledge of altitude, attitude and motion is essential for an Unmanned Aerial Vehicle during crit- ical maneuvers such as landing and take-off. In this paper we present a hybrid stereoscopic rig composed of a fisheye and a perspective camera for vision-based navigation. In contrast to classical stereoscopic systems based on feature matching, we propose methods which avoid matching between hybrid views. A plane-sweeping approach is proposed for estimating altitude and de- tecting the ground plane. Rotation and translation are then estimated by decoupling: the fisheye camera con- tributes to evaluating attitude, while the perspective camera contributes to estimating t…
An algebraic approach for human posture estimation in the sagittal plane using accelerometer noisy signal
2012
International audience; Our aim is to develop an algebraic approach to estimate human posture in the sagittal plane using Inertial Measurement Unit (IMU) providing accelerations and angular velocities. To do it so, we address the issue of the estimation of the amplitude, frequency and phase of a biased and noisy sum of three sinusoidal waveform signals on a moving time horizon. Since the length of the time window is small, the estimation must be done within a fraction of the signal's period. The problem is solved via algebraic techniques (see [38] for the theoretical part concerning this problem). The efficiency of our approach is illustrated by computer simulations.
Assessment of Functional Activities in Individuals with Parkinson’s Disease Using a Simple and Reliable Smartphone-Based Procedure
2020
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Jump Height from Inertial Recordings : A Tutorial for a Sports Scientist
2019
Jump performance provides meaningful information both for sporting and clinical needs. Current state-of-the-art in jump performance assessment is laboratory-bound, however, out-of-the-laboratory methods are desirable. Therefore, the purposes of the present investigation were 1) to explore whether utilising a novel analytical approach minimises the bias between inertial recording unit (IMU)-based and jump mat-based jump height estimates, and 2) to provide a thorough tutorial for a sport scientist (see appendix) to facilitate standardisation of jump height estimation. Forty one women, men and boys aged 6 to 77 years-of-age completed three maximal counter movement jumps without arm swing, whic…
The gait is less stable in children with cerebral palsy in normal and dual-task gait compared to typically developed peers
2021
There is limited evidence about gait stability and its alteration by concurrent motor and cognitive tasks in children with cerebral palsy (CP). We examined gait stability and how it is altered by constrained cognitive or motor task in CP and their typically developed (TD) controls. Gait kinematics were recorded using inertial-measurement units (IMU) from 18 patients with hemiplegia (13.5 +/- 2.4 years), 12 with diplegia (13.0 +/- 2.1 years), and 31 TD controls (13.5 +/- 2.2 years) during unconstrained gait, and motor (carrying a tray) and cognitive (word naming) task constrained gait at preferred speed (similar to 400 steps/task). Step duration, its standard deviation and refined-compound-m…
P 042 - Gait complexity quantified using inertial measurement units in children with cerebral palsy
2018
Abstract Children with cerebral palsy (CP) have gait impairments, and their gait is affected by concurrent tasks. We used inertial measurement units (IMU) to quantify CP-related gait complexity alterations, and identify effects of dual tasks on gait variability from 12 children with CP and 23 typically developed (TD) controls. The data were collected for normal and dual-tasks (motor; carrying a tray, cognitive; word naming) during walking. Step duration and adjusted multiscale entropy (MSE) index were computed. In overall, children with CP had shorter step duration and greater gait complexity than TD. Gait complexity was higher in vertical direction during the cognitive than normal and moto…
A Trajectory-Driven 3D Channel Model for Human Activity Recognition
2021
This paper concerns the design, analysis, and simulation of a 3D non-stationary channel model fed with inertial measurement unit (IMU) data. The work in this paper provides a framework for simulating the micro-Doppler signatures of indoor channels for human activity recognition by using radiofrequency-based sensing technologies. The major human body segments, such as wrists, ankles, torso, and head, are modelled as a cluster of moving point scatterers. We provide expressions for the time variant (TV) speed and TV angles of motion based on 3D trajectories of the moving person. Moreover, we present mathematical expressions for the TV Doppler shifts and TV path gains associated with each movin…
The Effect of Paddle Stroke Variables Measured by Trainesense SmartPaddle® on the Velocity of the Kayak
2022
(1) Background: This study aimed to compare key variables of paddle stroke measured by a commercial Trainesense SmartPaddle® against the strain-gauge shaft and investigate how these variables are associated with the velocity of the boat among national-level canoe polo players. (2) Methods: This study involved 14 Finnish national-level canoe polo players. The measurement protocol consisted of three different paddling velocities, which were performed in indoor swimming pools. The velocity of the boat was calculated based on the performance time measured with the laser photocell gate. Canoe polo equipment was used in the study and a SmartPaddle sensor was attached to the paddle blade. A strain…
Asynchronous sensor fusion of GPS, IMU and CAN-based odometry for heavy-duty vehicles
2021
[EN] In heavy-duty vehicles, multiple signals are available to estimate the vehicle's kinematics, such as Inertial Measurement Unit (IMU), Global Positioning System (GPS) and linear and angular speed readings from wheel tachometers on the internal Controller Area Network (CAN). These signals have different noise variance, bandwidth and sampling rate (being the latter, possibly, irregular). In this paper we present a non-linear sensor fusion algorithm allowing asynchronous sampling and non-causal smoothing. It is applied to achieve accuracy improvements when incorporating odometry measurements from CAN bus to standard GPS+IMU kinematic estimation, as well as the robustness against missing da…