• Title/Summary/Keyword: Orientation tracking

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Human Body Orientation Tracking System Using Inertial and Magnetic Sensors (관성 센서와 지자계 센서를 사용한 인체 방향 추적 시스템)

  • Choi, H.R.;Ryu, M.H.;Yang, Y.S.
    • Journal of Biomedical Engineering Research
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    • v.32 no.2
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    • pp.118-126
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    • 2011
  • This study proposes a human body orientation tracking system by inertial and earth magnetic sensors. These sensors were fused by indirect Kalman filter. The proposed tracking system was configured and the filter was implemented. The tracking performance was evaluated with static and dynamic tests. In static test, the sensor was fixed on the floor while its static characteristics was analyzed. In dynamic test, the sensor was held and moved manually for 30 seconds. The dynamic test included x, y, z axis rotations, and elbow flection/extension motions that mimic drinking. For these dynamic motions, the tracking angle error was under $4.1^{\circ}$ on average. The proposed tracking method is expected to be useful for various human body motion analysis.

Orientation Tracking Method based on Angular Displacement for Wireless Capsule Endoscope (각변위 방식을 이용한 캡슐의 오리엔테이션 측정 방법)

  • Yoo, Young-Sun;Kim, Myung-Yu;You, Young-Gap
    • The Journal of the Korea Contents Association
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    • v.8 no.2
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    • pp.27-32
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    • 2008
  • In this paper, we propose an orientation tracking method and a digestion path model based on angular displacement. The proposed method expresses a capsule's orientation as 3-dimension vectors and its rotation angle. Errors in roll, pitch, and yaw representing capsule's orientation information is down to $1.6^{\circ}$. Using the proposed method we can measure a roll which is not Possible to be measured using the magnetic field method. We reduce algorithm complexity lower than a previous methods based on Euler angle.

Path Following Control of Mobile Robot Using Lyapunov Techniques and PID Cntroller

  • Jin, Tae-Seok;Tack, Han-Ho
    • International Journal of Fuzzy Logic and Intelligent Systems
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    • v.11 no.1
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    • pp.49-53
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    • 2011
  • Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

Position Synchronization Control of Single Link Manipulators (단일 링크 머니퓰레이터들에 대한 위치 동기화 제어)

  • Song, Ki-Won
    • Journal of the Institute of Electronics Engineers of Korea SC
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    • v.48 no.3
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    • pp.6-12
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    • 2011
  • Electric vehicles and robots are real-time distributed control systems composed of multiple drive subsystems using micro controller units. Each control subsystem should be modular, compact, power saving, interoperable and fault tolerable in order to be incorporated into the networked real-time distributed control system. Under the networked real-time distributed control the synchronization problem can be occurred to the position and orientation tracking control due to the load variance, mismatch and time delay between the multiple drive subsystems. This paper suggests two types of position synchronization control of the single link manipulators. One of them is composed of cross controller, Kalman filter and disturbance observer, and the other uses the generation of target trajectories to minimize the gradient vector of the scalar function which is composed of the sum of square errors between the reference input vector and the output vectors. The availability of the proposed control schemes is shown through the control experiments.