Polyimides with a unique combination of properties including low color in thin films, atomic oxygen (AO), ultra-violet (UV) radiation resistance, solubility in organic solvents in the imide form, high glass transition (Tg) temperatures and high thermal stability have been prepared and characterized. The polymers were prepared by reacting a novel aromatic diamine with aromatic dianhydrides in a ...

Survey class Autonomous Underwater Vehicles (AUVs) typically rely on Doppler Velocity Logs (DVL) for precise navigation near the seafloor. In cases where the distance to the seafloor is greater than the DVL bottom lock range, localizing between the surface where GPS is available and the seafloor presents a localization problem, since both GPS and DVL are unavailable in the mid-water column. Pre...

In this paper, we propose and demonstrate an omnidirectional walking engine that achieves stable walking using feedback from an inertial measurement unit (IMU). The 3D linear inverted pendulum model (3D-LIPM) is used as a simplified model of the robot, the zero moment point (ZMP) criterion is used as the stability criterion, and only the feedback from the IMU is utilized for stabilization. The ...

We focus on the space Ec , the countable infinite power of complete Erdős space Ec. Both spaces are universal spaces for the class of almost zerodimensional spaces. We prove that Ec has the property that it is stable under multiplication with any complete almost zero-dimensional space. We obtain this result as a corollary to topological characterization theorems that we develop for Ec . We also...

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...

Current implementations of spatially-aware multi-surface environments rely heavily on instrumenting the room with different tracking technologies (e.g. Microsoft Kinect, Vicon Cameras). Prior research, however, has shown that real-world deployment using such approaches leads to feasibility issues and users being uncomfortable with the technology in the environment. In this work, we attempt to a...

Walking underwater reduces joint impacts, enhances stability and lowers the net body weight of patient during rehabilitation. It is a recent rehabilitation method few suitable methods exist to study gait kinematics. We propose an inertial measurement (IMU) system analogous those used in land-based investigate The objective this was test validate proposed two human trials by evaluating knee angl...

We propose a new position regulation strategy for VTOL-UAVs using IMU and GPS measurements. Since there is no sensor that measures the attitude, our approach does not rely on the knowledge (or reconstruction) of the system orientation as usually done in the existing literature. Instead, IMU and GPS measurements are directly incorporated in the control law. An important feature of the proposed s...