Download e-book for iPad: Enhancing Cognitive Assistance Systems with Inertial by Wolfgang Guenthner

By Wolfgang Guenthner

ISBN-10: 354076996X

ISBN-13: 9783540769965

ISBN-10: 3540769978

ISBN-13: 9783540769972

The fundamental target of this publication is the specification, layout and checking out of an inertially stabilized digicam platform for advice platforms with the point of interest on adaptive inertial dimension. this is divided into the subsequent sub-goals which additionally served as inner milestones for the venture; improvement of a hugely miniaturized inertial dimension unit, improvement of adaptive keep an eye on algorithms for gaze stabilization, business program and improvement of multi-sensor fusion algorithms.

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System supply 5V digital 5V analog 5V reference 2,5V analog Controller CAN RS232 Gyroscopes ADC Accelerometer Fig. 3: Power concept for µCube. The whole system can be operated with supply voltages between 7V and 10V, which do not need to be stabilized. This makes µCube suitable for in-field operation with, for example battery supply. 4 Software Microcontroller software is one of the critical aspects of the device design. There is no alternative to real-time task execution, which leads to an integrated and interrupt driven software concept.

The most general one is a direction cosine matrix (DCM), or transformation matrix, between the body and the navigation frame. It contains the cosines of the angles between all involved axes, Eq. 17. 3) or by integration (Eq. 20) leading to two mathematical solutions of the resulting quadratic equation. The third is the cross product of the first two columns. With the restriction that the body zaxis must not point downwards, which would mean the car is lying upside down, the required positive value of a33 eliminates the wrong mathematical solution to the second column of the DCM.

If low amplitudes can be assumed and process as well as measurement noise have constant covariances, a simplified method introduced by Baerveldt [10] as complimentary filtering can be derived. It is based on low-pass filtering of accelerations and high-pass filtering of gyroscopes. This computationally inexpensive method yields good results for the humanoid robot JOHNNIE, which keeps his upper body in an upright position [47] [48]. If motion cannot be reduced to low amplitudes transformation matrices become nonlinear.

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Enhancing Cognitive Assistance Systems with Inertial Measurement Units by Wolfgang Guenthner


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