In this paper, performance analysis of hybrid localization based on radio-frequency (RF) and inertial measurement unit (IMU) measurements for a single wireless capsule endoscopy (WCE) traveling the gastrointestinal tract is studied. Specifically, the multiple bodymounted sensors are considered which are located on the front and back of a patient’s medical jacket and form the uniform rectangular...

This paper presents a novel kind of bi-stable structure: bi-stable space frames, based on a double-layer cylindrical architecture. An analytical method to carry out a preliminary assessment of the bi-stability of such space frames is introduced here and a series of bi-stable space frames found by this method are presented. Non-linear finite element simulations have been used to test one of the ...

An approach is presented which extends the MOMfaulttolerant implementation of the Linda model of parallel programming. The original MOM system provided persistence of tuples and tuple states across both tuplespace and worker node halt failures. Unfortunately, the requirement that system tuple space reside in a central location restricted the scalability of the MOM model. In this work, an approa...

A single low cost inertial measurement unit (IMU) is often used in conjunction with GPS to increase the accuracy and improve the availability of the navigation solution for a pedestrian navigation system. This paper develops several fusion algorithms for using multiple IMUs to enhance performance. In particular, this research seeks to understand the benefits and detriments of each fusion method...

This paper deals with the attitude estimation of a rigid body equipped with angular velocity sensors and reference vector sensors. A quaternion-based nonlinear observer is proposed in order to fuse all information sources and to obtain an accurate estimation of the attitude. It is shown that the observer error dynamics can be separated into two passive subsystems connected in "feedback". Then, ...

This thesis deals with pedestrian localization by way of multi-sensor fusion. A special focus is made on the use of a foot-mounted inertial measurement unit (IMU) and its incorporation into other pedestrian navigation systems. Mounting to the foot location is preferred due to the anticipated dynamics of the foot during normal walking motion, but poses difficulty when fusing with other body-worn...

INTRODUCTION Assessment of movement dysfunctions commonly comprises trunk range of motion (ROM), movement or control impairment (MCI), repetitive movements (RM), and reposition error (RE). Inertial measurement unit (IMU)-systems could be used to quantify these movement dysfunctions in clinical settings. The aim of this study was to evaluate a novel IMU-system when assessing movement dysfunction...

Abstract: In this study a sensor fusion technique was developed for indoor localization of omnidirectional mobile robots. The proposed sensor fusion method combines the measurements made by an indoor localization system (e.g. ultrasound based localization) with the measurements that comes from an IMU (Inertial Measurement Unit). It was taken into consideration that the measurements made by the ...