This document discusses using an inertial navigation system (INS) for autonomous mobile robot position estimation. It describes some problems with traditional INS, including inability to directly measure speed and yaw. The document then introduces a solution using a dodecahedron-shaped device containing IMU modules on each facet. This design can directly measure speed and yaw through gyroscopic torque measurements and advanced compassing. It is also less dependent on temperature. The document provides details on the hardware design and complexity of the dodecahedron INS.
Development of a robust filtering algorithm for inertial sensor based navigationMatthew Shamoon
The process of combining data from MEM sensors, gyroscopes, and acoustic sensors to track a person for navigation and surrounding object detection purposes
A solar tracking system maximizes your solar system's electricity production by moving your panels to follow the sun throughout the day, which optimizes the angle at which your panels receive solar radiation.
Development of a robust filtering algorithm for inertial sensor based navigationMatthew Shamoon
The process of combining data from MEM sensors, gyroscopes, and acoustic sensors to track a person for navigation and surrounding object detection purposes
A solar tracking system maximizes your solar system's electricity production by moving your panels to follow the sun throughout the day, which optimizes the angle at which your panels receive solar radiation.
Seoul National University Small Satellite Team SNUSAT
ARLISS 2015 final reporting presentation.
Please visit SNUSAT blog for more details!
https://snusat.wordpress.com/
A Seminar Presentation of Space Mouse. A professional 3d controller, having 6DoF(6 - Degrees of Freedom), and many other facilities like , Keyboard Modifier, on screen display, quick view etc.
Sun trackin solar panel with auto dust cleaning systemsachin kumar
There is a project report of on sun tracking solar panel with auto dust cleaning system.
There is very usefull for those student which are make a project on solar tracker and autu dust cleaning systen.
Extended Navigation Mode in NASA World Wind Javagraphitech
World Wind is an open source 3D interactive world viewer created by NASA. This project has extended the basic navigation mode in World Wind version 0.4.1 to include the following:
- Look left & right
- Look up & down
- Change the altitude of the camera
- Fly mode (mouse only)
Introduction, Definition, Types of space mouse, Specifications, Features of space mouse, Working process of space mouse, Advantages and disadvantages, Applications, Benefits, Future Scope of space mouse and Conclusion
Handheld device motion tracking using MEMS gyros and accelerometeranusheel nahar
Angular motion tracking for gaming applications using MEMS (Micro electro-mechanical systems) devices. MEMS sensors are well recognized as the key building blocks for implementing disruptive applications in consumer devices. MEMS Accelerometer and MEMS Gyroscope are the two simplest MEMS devices used here. Capable of measuring angular rates around one or more axes, gyroscopes represent a fitting complement to MEMS accelerometers. Thanks to the combination of accelerometers and gyroscopes it is possible to track and to capture complete movements in a three-dimensional space.
I designed and built this stable, precise and very maneuverable 3D stage (controlled through Joystick) for any upright microscope configuration. The stage uses Physik Instrumente linear stage, piezo and a Logitech joystick.
Tailored for Mobile: Why Apps are the New Black Amanda Laviana
Fashion retailers everywhere are leveraging shopping apps to deliver the most seamless shopping experience for their customers. Explore fashion retail's shift to mobile commerce and how Shopgate's iOS, Android and Apple TV apps are helping fashion retailers lift conversions, increase customer retention and significantly boost revenue.
Here's a #QuickGuide to the different #TypesOfHeadphones, along with the benefits and drawbacks of each. A must-read for anyone looking for a little extra help when looking to buy a new pair. #SriLanka #Wow.lk
Seoul National University Small Satellite Team SNUSAT
ARLISS 2015 final reporting presentation.
Please visit SNUSAT blog for more details!
https://snusat.wordpress.com/
A Seminar Presentation of Space Mouse. A professional 3d controller, having 6DoF(6 - Degrees of Freedom), and many other facilities like , Keyboard Modifier, on screen display, quick view etc.
Sun trackin solar panel with auto dust cleaning systemsachin kumar
There is a project report of on sun tracking solar panel with auto dust cleaning system.
There is very usefull for those student which are make a project on solar tracker and autu dust cleaning systen.
Extended Navigation Mode in NASA World Wind Javagraphitech
World Wind is an open source 3D interactive world viewer created by NASA. This project has extended the basic navigation mode in World Wind version 0.4.1 to include the following:
- Look left & right
- Look up & down
- Change the altitude of the camera
- Fly mode (mouse only)
Introduction, Definition, Types of space mouse, Specifications, Features of space mouse, Working process of space mouse, Advantages and disadvantages, Applications, Benefits, Future Scope of space mouse and Conclusion
Handheld device motion tracking using MEMS gyros and accelerometeranusheel nahar
Angular motion tracking for gaming applications using MEMS (Micro electro-mechanical systems) devices. MEMS sensors are well recognized as the key building blocks for implementing disruptive applications in consumer devices. MEMS Accelerometer and MEMS Gyroscope are the two simplest MEMS devices used here. Capable of measuring angular rates around one or more axes, gyroscopes represent a fitting complement to MEMS accelerometers. Thanks to the combination of accelerometers and gyroscopes it is possible to track and to capture complete movements in a three-dimensional space.
I designed and built this stable, precise and very maneuverable 3D stage (controlled through Joystick) for any upright microscope configuration. The stage uses Physik Instrumente linear stage, piezo and a Logitech joystick.
Tailored for Mobile: Why Apps are the New Black Amanda Laviana
Fashion retailers everywhere are leveraging shopping apps to deliver the most seamless shopping experience for their customers. Explore fashion retail's shift to mobile commerce and how Shopgate's iOS, Android and Apple TV apps are helping fashion retailers lift conversions, increase customer retention and significantly boost revenue.
Here's a #QuickGuide to the different #TypesOfHeadphones, along with the benefits and drawbacks of each. A must-read for anyone looking for a little extra help when looking to buy a new pair. #SriLanka #Wow.lk
Towards Rapid Implementation of Adaptive Robotic SystemsMeshDynamics
Current automation design practice produces expensive one-of-a-kind installations where the system cannot be easily modified to
meet changing demands or advancements in technology. It is imperative that we design robot systems to be modular, portable and
easily re-configurable in order to reduce the design lead times and life cycle costs of providing automation alternatives.
The Unified Tele-robotics Architecture Program (UTAP) was developed under the sponsorship of the US Air Force Robotics and
Automation Center of Excellence. A goal of the program was to define and develop prototypes of commonly used software building
blocks for sensor guided real time embedded control of telerobotic devices. Standard building blocks and a non-proprietary
communication protocols would provide the Air Force and specifically the Logistic Centers with a support infrastructure designed to
rapidly and efficiently build and maintain mission critical automation systems.
Simultaneous Mapping and Navigation For Rendezvous in Space ApplicationsNandakishor Jahagirdar
To design and develop an image processing algorithm that can identify the target spacecraft docking station as well as the distance, location and angle of the docking station with respect to the chaser vehicle. Making a use of the image from single camera.
International Journal of Engineering and Science Invention (IJESI)inventionjournals
International Journal of Engineering and Science Invention (IJESI) is an international journal intended for professionals and researchers in all fields of computer science and electronics. IJESI publishes research articles and reviews within the whole field Engineering Science and Technology, new teaching methods, assessment, validation and the impact of new technologies and it will continue to provide information on the latest trends and developments in this ever-expanding subject. The publications of papers are selected through double peer reviewed to ensure originality, relevance, and readability. The articles published in our journal can be accessed online
An Experimental Study on a Pedestrian Tracking Deviceoblu.io
The implemented navigational algorithm of an inertial
navigation system (INS), along with the hardware configuration, decides its tracking performance. Besides, operating conditions also influence its tracking performance. The aim of this study is to demonstrate robust performance of a multiple Inertial Measurement Units (IMUs) based foot-mounted INS, The Osmium MIMU22BTP, under varying operating conditions. The device, which performs zero-velocity-update (ZUPT) aided navigation, is subjected to different conditions which could potentially influence gait of its wearer, its hardware configuration etc. The gait-influencing factors chosen for study are shoe type, walking surface, path profile and walking speed. Besides, the tracking performance of the device is also studied for different number of on-board IMUs and the ambient temperature. The tracking performance of MIMU22BTP is reported for all these factors and benchmarked using identified performance metrics. We observe very robust tracking performance of MIMU22BTP. The average relative errors are less than 3 to 4% under all the conditions, with respect to drift, distance and height, indicating a potential for a variety of location based services based on foot mounted inertial sensing and dead reckoning.
SIMULTANEOUS MAPPING AND NAVIGATION FOR RENDEZVOUS IN SPACE APPLICATIONS Nandakishor Jahagirdar
The project is to develop a autonomous navigation system along with mapping of the path.
A robot which senses the edges of the object in the path and move without colliding the object. This application equipped with camera as main component which captures the images and transmitted to workstation through wireless antenna.
The processing of the image is done on a workstation or computer using MATLAB-2013a. An IR ranging device, which senses any objects ahead of it and accordingly the robot change its direction to avoid any collision.
Thus we ensure that even in cases of circumstances leading to errors in the output of the image processing algorithm, a decision can be made using the input from the IR sensors.
ROBOTOR AN AUTONOMOUS VEHICLE FOR TARGET DETECTION AND SHOOTINGIAEME Publication
Humans have evolved to better survive and have evolved their invention. In today’s age, a large number of robots are placed in many areas replacing manpower in severe or dangerous
workplaces. Moreover, the most important thing is to take care of this technology for developing robots progresses. This paper proposes an autonomous moving system which automatically finds its target from a scene, lock it and approach towards its target and hits through a shooting mechanism.
Neural network training for serial multisensor of autonomous vehicle systemIJECEIAES
This study aims to find the best artificial neural network weight values to be applied to the autonomous vehicle system with ultrasonic multisensor. The implementation of neural network in the system required long time process due to its training process. Therefore, this research is using offline training before implementing to online training by embedding the best network weight values to obtain the outputs faster according to desired targets. Simulink were used to train the system offline. Eight ultrasonic sensors are used on all sides of the vehicle and arranged in a serial multisensory configuration as inputs of neural network. With eight inputs, one sixteen-depth hidden layer, and five outputs, it was trained using the back-propagation algorithm of artificial neural network. By 100000 iterations, the output values and the target values are almost the same, indicating its convergency with minimum of errors. The result of this training is the best weights of the networks. These weight values can be implemented as fixed-weight in online training.
Similar to Dodecahedron Inertial Navigation Network (2) (20)
2. Introduction
To estimate position has always been a
challenge for the mankind, be it navigating
spaceships using Inertial Navigation Systems
(INSs), or simply crossing the desert using
compass or stars to find his direction.
Different applications call for different
methods, however, the main goal is the same
in all navigation: to estimate or measure
position or some of its derivatives.
3. Problem Definition
I have been several years in a robotic team. My duty was
finding position of robots and obstacles.
since an INS refers to no real-world item beyond itself. It is
therefore self-contained, immune to jamming and
deception, non-radiating, and a good candidate for position
estimation in Autonomous Mobile Robots.
4. Problems with INS
Can’t measure speed directly
Can’t measure yaw directly
It is very dependant to temperature
* please refer to
http://en.wikipedia.org/wiki/Inertial_na
vigation_system for more information.
5. Solved with Dodecahedron
Can measure speed directly
Dodecahedron calculates speed by measuring gyroscopic
torque on different facets.
Can measure yaw directly
advanced compassing mechanism is developed to estimate
the position of magnetic source(by scattered
measurements on the surface of dodecahedron) , therefore
we can find magnetic field of earth even in a complicated
environment.
It is not very dependant to temperature
measuring quantities with two sensors in opposite direction
reduces the effect of temperature on their biases
effectively.
6.
7. I have DONE every steps of this
project by myself
Designing Micro controller and analog circuits
by Altium (Protel)
Designing PCB board by Altium (Protel)
Soldering
Programming Microcontroller by C (MPLAB)
Programming data accusation software on PC
by Delphi
13. Main component of IMU modules
Each modules is a
complete Inertial
Measurement Unit
(IMU). It has 3
perpendicular
axes of
measurement for
Accelerometers
and Gyroscopes.
Each module
(pentagonal) has
capabilities equal
to Xsense
commercial
Products.
(http://www.xsen
s.com/)
14. However I designed this
Dodecahedron for Autonomous
vehicle, the modules can be used
in different configuration for
different propose.
Motion Tracking is one of the most
popular use of these modules.
Motion tracker
* please refer to very exciting Video
http://www.moven.com/Static/Docume
nts/UserUpload/Moven_movie/product_
reel2009.wmv for more information. From: www.xsense.com
15. Dodecahedron Hardware complexity
It is made from 770 discreet electrical component
Measures 108 Sensory Quantity
It uses Distributed Processing with 12 DSP
Support RS485, RS232, SPI, CAN to communicate
Advanced Data Structure to reduce communication
faults
Manage all process by Interrupts in an event trigger
manner to reduce power consumption
Uses DMA to decrease process load
16.
17. Geometrical shape
Appendix: Platonic Solids
Name V F E F-Type Truncation Dual
tetrahedron 4 4 6 triangles truncated tetrahedron tetrahedron
cube 8 6 12 squares truncated cube octahedron
octahedron 6 8 12 triangles truncated octahedron cube
dodecahedron 20 12 30 pentagons truncated dodecahedron icosahedron
icosahedron 12 20 30 triangles truncated icosahedron odecahedron
tetrahedron cube octahedron dodecahedron icosahedron
All vertices, edge mid-points and face mid-points lie on concentric spheres
All faces are the same shape and are all regular polygons
Thus all edges are equal in length and face corners equal in angle.
Duals are also all Plationic Solids.
The cube is also called a hexahedron
[1] http://www.cit.gu.edu.au/~anthony/graphics/polyhedra/