Pose Estimation Algorithm Implication for Bicycle Using Gyroscope & Accelerometer: Design Approach

A Simple and Fast Method for Field Calibration of Triaxial Gyroscope by using Accelerometer

Proprioceptive Sensing for a Legged Robot

This thesis provides a methodology of sensory system development for a hexapod robot, working toward the development of dynamic behaviors utilizing feedback controllers. We develop an approach to utilizing strain gauges together with a simple data driven phenomenological model that simultaneously delivers information of leg touchdown, leg configuration, and ground reaction force suitable for ro...

Inertial Motion Capture Costume Design Study

The paper describes a scalable, wearable multi-sensor system for motion capture based on inertial measurement units (IMUs). Such a unit is composed of accelerometer, gyroscope and magnetometer. The final quality of an obtained motion arises from all the individual parts of the described system. The proposed system is a sequence of the following stages: sensor data acquisition, sensor orientatio...

Quadrotor Accelerometer and Gyroscope Sensor Fault Diagnosis Using Nonlinear Adaptive Estimation Methods

This paper presents the design, analysis, and real-time experimental evaluation results of a nonlinear sensor fault diagnosis scheme for quadrotor unmanned air vehicles (UAV). The objective is to detect, isolate, and estimate sensor bias faults in accelerometer and gyroscope measurements. Based on the quadrotor dynamics and sensor models under consideration, the effects of sensor faults are rep...

Design and Experimental Evaluation of integrated orientation estimation algorithm Autonomous Underwater Vehicle Based on Indirect Complementary Filter

This paper aims is to design an integrated navigation system constituted by low-cost inertial sensors to estimate the orientation of an Autonomous Underwater Vehicle (AUV) during all phases of under water and surface missions. The proposed approach relied on global positioning system, inertial measurement unit (accelerometer & rate gyro), magnetometer and complementary filter technique. Complem...