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 56 for “"IMUs"”.
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Using wearable IMUs for multi-modal denoising and tracking
Submission published under a 24 month embargo labeled 'U of I Access', the embargo will last until 2026-08-01
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Imaging of residual limbs using motion processing with IMUs
… measurement method is proposed using coordinated IMUs to achieve residual limb imaging through motion processing. The IMUs are fixed to an object which traces the surface of the residual limb. Trajectories are calculated for each IMU, and a correction method is applied using all IMUs fixed to the …
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Developing methods and algorithms of sensor fusion by IMUs applied to service robotics
… light of improvement of technology. We used the IMUs (Inertial Measurement Unit) and MEMS devices such as accelerometers, gyroscopes, but also temperature and pressure sensors for localization and navigation. Through the use of more accurate sensors and to the growing potential of the new …
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An improved model-based observer for inertial navigation for quadrotors with low cost IMUs
In this thesis, we present a model-based observer for inertial navigation of quadrotors and other multirotor aircraft. We include in our model a Coriolis term that has been neglected in prior work. Doing so allows us to estimate the entire velocity vector in the quadrotor's frame of …
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A personal inertial-navigation system based on multiple distributed, nine-degrees-of-freedom, inertial measurement units
The use of inertial-measurement units (IMUs) for personal navigation is investigated in this thesis. IMUs lack a position-finding algorithm that optimally blends sensor data to achieve high accuracy in a GPS-denied environment. In this research, software and a methodology for tracking position …
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An investigation into the use of inertial measurement units to assess the loading profiles of adolescent Badminton players.
… housed within Inertial Measurement Units (IMUs), yet many sports have specific anatomical regions where higher loads or injuries occur, which may not be measurable through trunk-mounted IMUs. Badminton was selected for study due to the high prevalence of both lower limb injuries and …
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Evaluating Alternative Inertial Measurement Unit Locations on the Body for Slip Recovery Measures
… conditions. Inertial measurement units (IMUs) show promise as a portable and wearable form of motion capture. This study had two objectives. First, we investigated whether foot and ankle IMU-derived slip recovery measures could be considered equivalent to the same OMC-derived measures. …
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Non-Treadmill Trip Training – Laboratory Efficacy, Validation of Inertial Measurement Units, and Tripping Kinematics in the Real World
… using wearable inertial measurement units (IMUs), yet IMUs have not been adequately validated for this use. Therefore, the goal of the second study was to investigate the concurrent validity of IMU-based trunk kinematics against the gold standard optical motion capture (OMC)-based trunk …
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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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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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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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The effect of carouseling on MEMS IMU performance for gyrocompassing applications
… 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 than standard inertial measurement …
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Characterization of inertial measurement unit placement on the human body upon repeated donnings
… that make use of Inertial Measurement Units (IMUs). The accuracy of any algorithm incorporating these sensors is limited by the accuracy of the sensor to segment calibration. In this study, 22 participants self-placed IMUs on three locations and performed six prescribed motions during each of …
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Active Perception for Inertial-Aided Systems
Inertial Measurement Units (IMUs) are proprioceptive sensors that measure angular velocities and linear accelerations which are integrated to estimate the relative pose of vehicles in motion. Estimation algorithms used with IMUs need to account for sensor noises which corrupt the measurements, and …
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Toward reliable localization: exploring infrared fiducial markers and multi-imu fusion as alternative sensor modalities
… infrared imagery. In addition, low-cost MEMS IMUs typically used in these systems suffer from high noise and bias instability, limiting the overall accuracy and robustness of the pose estimation. To overcome these challenges, this work proposes two alternative approaches: one based on thermal …
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Human Pose Estimation and Algorithms for Alignment and Registration Problems: Applications in Robotics, Computer Vision, and Stroke Rehabilitation
… upper-body kinematics from three wearable IMUs (sternum and bilateral forearms) for stroke rehabilitation. Using a synchronized XSens MVN system as reference, we introduce a cross-sensor mapping that transfers standalone XSens DOT measurements into the MVN coordinate system. Two mapping …
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Evaluation of functional improvement in patients with chronic non-specific low back pain using inertial measurement units before and after pilates and physiotherapy interventions
… αισθητήρων (Inertial Measurement Units – IMUs), καθώς και της εκτίμησης της λειτουργικής ανικανότητας μέσω του Oswestry Disability Index (ODI). Τα αποτελέσματα έδειξαν ότι οι παρεμβάσεις οδήγησαν σε στατιστικά σημαντικές βελτιώσεις στην κινητικότητα και τη λειτουργικότητα της οσφυϊκής …
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An experimental study of the human interface with one atmosphere diving suit by appendages
… and a series of inertial measurement units (IMUs) placed along the arm and suit. The results of the data analysis show the shape, location, magnitude and movement of the contact areas between pilot and appendage as well as peak pressures, dynamic force loading profiles, impulse and work …
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Improvement of position and orientation tracking accuracy by fusing HTC Vive trackers and Inertia Measurement Units
… and multiple Inertial Measurement Units (IMUs). Sensor fusion algorithms such as the Extended Kalman Filter (EKF) and the Unscented Kalman Filter (UKF) have been developed to combine Vive trackers and IMUs. For the system setup, the base stations are placed above the tracking space and …
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Generic Multisensor Integration Strategy and Innovative Error Analysis for Integrated Navigation
… (Global Navigation Satellite System) receivers, IMUs (Inertial Measurement Unit), and/or other sensors, e.g., odometers and cameras. With the increasing availabilities of low-cost sensors, more research and development activities aim to build a cost-effective system without sacrificing …
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