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 40 for “"Inertial sensor"”.
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A Thermal Enclosure Prototype For A Suspended Inertial Sensor
… (which can be a passive or an active isolation), inertial sensors play an important role in monitoring the seismic vibration and disturbances. However, these sensors have a weakness. They cannot distinguish between translation motion and tilt motion at low frequency and the signal is dominated by …
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Multi-modal and inertial sensor solutions for navigation-type factor graphs
… a non-permanent manner). Keeping with existing inertial navigation, we present a novel, continuous-time, retroactively calibrating inertial odometry residual function, using preintegration to seamlessly incorporate pure inertial sensor measurements into a factor graph. We centralize around a …
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Multi-modal and inertial sensor solutions for navigation-type factor graphs
… modalities. In addition, keeping with existing inertial navigation for dynamic platforms, we present a novel continuous-time inertial odometry residual function. Inertial odometry uses preintegration to seamlessly incorporate pure inertial sensor measurements into a factor graph, while …
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State estimation of a cheetah spine and tail using an inertial sensor network
… during rapid manoeuvres via placing multiple sensors on a cheetah. This requires the development of a 3D dynamic model of the spine and tail to accurately study the motion of the cheetah. A wireless sensor network was built and three different filters and state estimation algorithms were …
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Filter and bounding algorithm development for a helmet mounted micromechanical inertial sensor array
… head mounted displays (HMDs) and micromechanical inertial sensor arrays (MMISAs) have, until recently, occurred independently. This thesis details the development and simulation results of an inertial helmet-mounted head tracker for a T- 38 jet aircraft flight environment. Primary focuses are the …
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Sensemble : a wireless inertial sensor system for the interactive dance and collective motion analysis
… low-power, high-bandwidth RF devices and compact inertial sensors to create a wearable, wireless, motion analysis system meeting the demands of many points of measurement and high data rates. This thesis outlines the implementation of such a system intended for interactive dance, in which sensor …
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Effect of induced hindlimb length difference on bodymounted inertial sensor measures of hindlimb lameness in horses
This study has investigated the effect of induced hindlimb length difference on differences in minimum and maximum pelvic heights in horses trotting in a straight line and lungeing on both hard and soft surfaces. The horses were trotted in a straight line and lunged in both directions on both hard …
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Inertial measurement via dynamics of trapped particles
… and practical aspects of the particle trap as an inertial sensor. The insight motivating this approach is that a trapped particle acts like a mass on a spring, but the restoring forces are provided by electrostatic fields. Exquisitely machined physical mechanisms can be replaced by carefully tuned …
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A system for real-time gesture recognition and classification of coordinated motion
… implementation of a wireless 6 degree-of-freedom inertial sensor system to be used for multiple-user, real-time gesture recognition and coordinated activity detection. Analysis is presented that shows that the data streams captured can be readily processed to detect gestures and coordinated …
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Hydra: A Spatial Perception Engine for Constructing and Optimizing 3D Scene Graphs in Real-time
… investigating how to build scene graphs from sensor data. We first introduce the concept of a 3D scene graph, and then detail our contributions to Kimera, the first work to build a hierarchical 3D scene graph directly from visual-inertial sensor data in post-processing. We discuss experiments …
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MEMS IMU navigation with model based dead-reckoning and one-way-travel-time acoustic range measurements for autonomous underwater vehicles
… XY position error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single …
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An Autonomous Underwater Vehicle for Validating Internal Actuator Control Strategies
… system, power supply, on-board computer and inertial sensor. Since the housing is spherically symmetric, the hydrodynamics of IAMBUS are uncoupled (e.g. a roll maneuver does not impact pitch or yaw). This hull shape enables IAMBUS to be used as a spacecraft attitude dynamics and control …
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A Motion Graph Approach for Interactive 3D Animation using Low-cost Sensors
… motion sequences in real-time using a set of inertial sensor based controllers. The user's action generates signals from the controllers that provide constraints to select appropriate sequence of motions from a structured database of human motions, namely \emph{motion graph}. Our local search …
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MEMS IMU inertial measurement unit one-way-travel-time inertial measurement unit autonomous underwater vehicles
… XY position error. Additionally, advances in inertial sensor technology have drastically lowered the size, power consumption, and cost of these sensors. Nonetheless, these sensors are still noisy and accrue error over time. This thesis builds on the research and recent developments in single …
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Stochastic constraints for vision-aided inertial navigation
This thesis describes a new method to improve inertial navigation using feature-based constraints from one or more video cameras. The proposed method lengthens the period of time during which a human or vehicle can navigate in GPS-deprived environments. Our approach integrates well with existing …
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Large-area visually augmented navigation for autonomous underwater vehicles
… underwater vehicles (AUVs) while exploiting the inertial sensor information that is routinely available on such platforms. We adopt a systems-level approach exploiting the complementary aspects of inertial sensing and visual perception from a calibrated pose-instrumented platform. This …
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