Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 202 for “"IMU"”.
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A study of IMU alignment transfer
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 1989.
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Development on wireless IMU sensors for biomechanical assessments
… sensors known as Inertial Measurement Units (IMUs) at specific locations on the body to measure the motion of interest. These sensors measure acceleration and angular momentum, which can be used to assess human kinematics. Today it is also common for these devices to incorporate wireless …
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Self-supervised Learning for IMU-based Human Activity Recognition
In recent years, human activity recognition has drawn considerable attention due to its application in a variety of areas such as smart homes and health. The pervasiveness of wearable devices and smartphones has provided many research opportunities for human activity recognition using inertial …
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Patient Movement Monitoring Based on IMU and Deep Learning
… specifically Inertial Measurement Units (IMUs), as a diagnostic tool for osteoarthritic (OA) and total knee replacement patients (TKR) through a detailed biomechanical assessment and development of machine learning algorithms. Specifically, the first study developed a relevant dataset …
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Kinematic State Estimation using Multiple DGPS/MEMS-IMU Sensors
… MOCAP systems. The developed DGPS/MEMS-IMU multi-receiver fusion MOCAP system was assessed to have global trajectory accuracy of _0:0394m, relative limb position accuracy of _0:006497m. To conclude the research, several recommendations are made to improve the developed MOCAP system and …
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Kalman filtering of IMU sensor for robot balance control
… measurements from an inertial measurement unit (IMU) to provide information on the orientation of a robot for balance control. A test bed was created to characterize the random noise and errors inherent to orientation sensing in the MicroStrain 3DM-GX1 IMU for static cases as well as after …
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Uncertainty Quantification of Tightly Integrated LiDAR/IMU Localization Algorithms
… ranging (LiDAR) and inertial measuring units (IMU). This dissertation describes the following four contributions. First, we focus on sensor augmentation for landmark-based localization. We develop new IMU/LiDAR integration methods that guarantee a bound on the integrity risk, which is the …
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Single-Vector Aiding of an IMU for CubeSat Attitude Determination
… magnetic field (EMF) vector aiding a low-cost IMU. CubeSats provide relatively cost-effective methods of performing scientific research in orbital environments. However, to adequately perform this research, knowledge of the CubeSat’s orientation in 3D space (attitude) is often required. To that …
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Notkun tregðuskynjara (e. IMU) til að finna staðsetningu handbolta á flugi
Verkefnið snýst um að nota tregðuskynjara (e. IMU) til þess að fá upplýsingar um hröðun bolta á flugi og að sjá kosti og galla þess að notast við IMUa í þeim tilgangi. Skoðað er hvort það sé vænlegt að nota sjálfbirgt tregðukerfi (e. Inertial Navigation System without Aid) til þess að sjá …
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The effect of carouseling on MEMS IMU performance for gyrocompassing applications
The concept of carouseling an IMU is simulated in order to improve the accuracy of MEMS IMUs. Carouseling consists of slewing the IMU through a pre-determined trajectory that is selected based on inherent properties that lead to improved performance. MEMS devices typically have far more uncertainty …
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Smartphone precise positioning in urban environments using internal GNSS and IMU sensors
… with smartphone Inertial Measurement Unit (IMU) integration is proposed. Additionally, this research explores the utilization of the available Galileo HAS corrections for smartphone navigation. Validated through a series of vehicle experiments conducted in realistic driving environments, the …
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Accurate On-Body Distance Estimation using BLE RSSI and IMU Sensor Fusion
… fuses BLE RSSI with Inertial Measurement Unit (IMU) orientation data to overcome these limitations. We developed a custom wearable system using ESP32 microcontrollers and BNO085 IMUs and conducted a study with 6 human participants performing a series of defined arm movements. A high-precision …
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IMU-Integrated 'Smart' Knee Brace Validation Using Optoelectronic Motion Capture During Treadmill Walking
… training to operate. Inertial measurement units (IMUs) are small, portable devices that measure linear acceleration, angular velocity, and magnetic field and have been proven to be valid in measuring joint angles. A ‘smart’ brace was implemented with two IMUs and the knee joint angles calculated …
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Applicability of IMU in Clinical Research: Improving Upper Limbs Sensor-to-segment Calibration
Inertial Measurement Units (IMU) represent a staple in contemporary motion tracking technology, and they have countless applications in sports, animation, clinical research and biomechanics due to their portability, reliability and low cost. However, several challenges related to orientation …
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A survey of IMU based cross-modal transfer learning in human activity recognition
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-05-01
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IMU-based estimation of human lower body kinematics and applications to extravehicular operations
The use of body-worn inertial measurement units (IMUs) as an alternative to traditional human optical motion capture (OMC) techniques has gained increasing attention over the last twenty years. In contrast to traditional OMC, IMUs are less intrusive and allow measurements to be taken in the …
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Utilizing machine learning techniques in estimating ankle prosthesis power output using wearable IMU sensors
… to estimate the prosthesis power output using IMU sensors attached to the prosthesis. IMU data was collected from 9 able body subjects and 2 TT amputees using 2 different prostheses. This research explores a way of bypassing the need for collecting motion capture data from TT amputees by using …
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Enhancing Body-Mounted LiDAR SLAM using an IMU-based Pedestrian Dead Reckoning (PDR) Model
… reduction in motion sensors' cost and power, Simultaneous Localization and Mapping (SLAM) has emerged as a core technology in several applications such as search-and-rescue, first-responders, and defence. Existing SLAM methods were designed mainly for robotic platforms that use wheel odometry. …
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Mathematical Modelling and Control System Development of a Remote Controlled, IMU Stabilised Hexapod Robot
… to the hexapod. By using a PID controller the IMU pitch and roll data was used to control a height offset of each foot of the hexapod, allowing for stabilisation of the hexapod body. An improved wireless remote control was developed to facilitate communication with a host computer. The remote …
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Toward reliable localization: exploring infrared fiducial markers and multi-imu fusion as alternative sensor modalities
… modalities: infrared fiducial markers and multi-IMU integration, as means to enhance localization robustness in GNSS- and vision-degraded settings. Vision-based navigation systems, which commonly rely on visible-spectrum cameras and fiducial markers (e.g., AprilTags or ArUco markers), are widely …
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