The last decade has seen a dramatic expansion in the deployment of Unmanned Airborne Vehicles (UAVs) as witnessed by deployments to Bosnia, Afghanistan and Iraq. Many low-cost UAVs operate without redundant attitude sensors and are therefore highly vulnerable to the failure of such sensors. It is common for low-cost UAVs to carry a vision sensor as its primary payload. Given that a human pilot ...

We present an approach to wearable sensor-based assessment of functional ability (FA) of individuals post stroke. We make use of one on-body inertial measurement unit (IMU) to automate the FA scoring of the Wolf Motor Function Test (WMFT). WMFT is an assessment instrument used to determine the functional capabilities of individuals post stroke. It comprises of 17 tasks15 of which are rated acco...

We present an application of a microelectromechanical systems (MEMS)-based inertial measurement unit (IMU) to thigh angle estimation for the control of a semi-active knee prosthesis. By using inertial based measurement devices, we can move all of our sensors to one location inside the prosthetic leg. These sensors are challenging to use, however, because error in their measurements will accumul...

This report presents integrity monitoring and integration methods for an Inertial Measurement Unit (imu) and a gps receiver. The methods are applied to data from a Maxus sounding rocket used for microgravity research. It is crucial to determine the rocket position during launch to ensure a safe landing location. Today, the navigation relies on imu integration only. Involving a gps receiver enha...

Precise autonomous navigation remains a substantial challenge to all underwater platforms. Inertial Measurement Units (IMU) and Doppler Velocity Logs (DVL) have complementary characteristics and are promising sensors that could enable fully autonomous underwater navigation in unexplored areas without relying on additional external Global Positioning System (GPS) or acoustic beacons. This paper ...

An Inertial Navigation System (INS) can easily track position, velocity and orientation of any moving vehicle. Generally, deterministic errors are present in an uncalibrated Inertial Measurement Unit (IMU) which leads to the requirement of an accurate estimation of navigation solution. These inertial sensors, thus, needs to be calibrated to reduce the error inherent in these systems. By mathema...

This paper presents a novel systematic approach to identify the dynamic parameters of robotic manipulators. A sequential identification procedure is firstly proposed to deal with the difficulties usually encountered with standard approaches. An all-accelerometer inertial measurement unit (IMU) is also suggested to estimate the joint velocities and accelerations, which are traditionally obtained...