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Parkinson's disease is a common neurodegenerative disorder causing several motor symptoms. Gait disorders such as festination and freezing of gait are important clinical problems, since, despite their high impact on patients' quality of life, they are poorly understood and counteracted phenomena due to their episodic nature, heterogeneous manifestation, and drug resistance. Automatic and objective...
This paper proposes a method for a real-time classification of the absolute driving style using three levels of sportiveness: calm, normal and sporty. The algorithm is based on a physical gg-plot-based approach and on a novel manouvre detection algorithm. The method makes use of standard vehicle signals which can be also provided by an external IMU+GPS system. Experimental results show the effectiveness...
This paper proposes a novel sensorless speedup method for doubly salient electro-magnetic motor (DSEM). Based on the characteristic that phase self-inductance varies with rotor position, accurate and quick estimation of rotor sector is achieved through three-phase response currents with only one test injection pulse needed. Besides, no negative torque will be produced by the test pulse unless the...
In this paper, a comparison of IMU-based step length and heading estimation methods for indoor environments is presented. We compared two step detection methods: detecting the stance phase in each stride and detecting negative peaks in the horizontal acceleration filtered signal. Likewise, three step length estimation methods were compared: Zero Velocity Update (ZUPT), step frequency-based and step...
Recent advances in information communication technologies have yielded a variety of new services. Location based services are attractive as they offer so many new functionalities. However, if they are used indoors, location recognition is essential because the global positioning system, the preferred choice outdoors, cannot be used indoors. Therefore, this paper proposes an indoor human location recognition...
This paper discusses about the estimation of warship's motion when shooting a missile to reach a moving target. We use Extended Kalman Filter-Unknown Input-Without Direct Feedthrough (EKF-UI-WDF). The proposed method is an extension of Extended Kalman Filter (EKF) and the method is able to simultaneously estimate the states and unknown input. Unknown input is any inputs without prior information from...
Wearable devices that acquire photoplethysmographic (PPG) signals are becoming increasingly popular to monitor the heart rate during physical exercise. However, high accuracy and low computational complexity are conflicting requirements. We propose a method that provides highly accurate heart rate estimates at a very low computational cost in order to be implementable on wearables. To achieve the...
Generalized complementary filter (GCF) is an attractive solution for data fusion in attitude and heading reference system (AHRS) and inertial measurement unit (IMU), mainly because its computational efficiency. However, since the accelerometer in AHRS and IMU is sensitive to both the gravity and external acceleration, the performance of GCF will be degraded under dynamic circumstances, just as other...
Aim at handling complicated maneuvers or other unpredicted emergencies, an estimation method of aerodynamic parameter via the Cubature Kalman Filter/Smoother (CKF/S) is proposed for maneuvering reentry vehicle (MaRV) tracking. The aerodynamic model is deduced in order to define the aerodynamic parameter at first. Secondly, the statistical properties of aerodynamic parameters are described by first-order...
A novel switchable multiple-mode sensor fusion algorithm for attitude estimation of quadrotor is proposed in this paper. It is a robust algorithm which shows good performance in flight conditions where sustained translational acceleration and wind disturbance exist. This algorithm is based on quaternion-based extended Kalman filter (EKF) in direct configuration and uses measurements from a strap-down...
Monitoring motor function of patients with Parkinson's disease (PD) over long periods of time is essential in order to improve symptom management and avoid complications. Wearable technologies can be useful in this context as long as they do not unnecessarily increase patient and caregiver burden. The goal of the current study was to identify whether using more wearable sensors improved the estimation...
In this paper we present a method for the tracking of interacting targets disregarding whether or not the targets are close to each other. The method relies on parametric modeling of assumptions about targets interactive motion. Our filtering solution incorporates the parameters of the model in the state vector to perform on-line parameter estimation and exploitation. The proposed method is applied...
Human walking contains important physiology, kinematic and dynamic information. There are many application prospect of human gait analysis in real life, such as monitoring the patient's recovery progress in clinical practice, the control strategy of bionic robot, etc. A wearable gait analysis platform (GaitSense) has been established based on wearable inertial/magnetic sensor and body sensor network...
In this paper, we report on a body state and ground profile estimator for a snake-like robot executing a rolling gait to travel from flat ground to a slope. With the help of the estimator, the snake-like robot can adaptively adjust the body shape and locomotion speed by changing the gait parameters for the purpose of tackling a steep slope. Specifically, we propose a repeating sequence of continuous...
Servo drives comprise a high dynamic and smooth motion control which is typically based on a cascaded control structure with position measurement or estimation. By including an additional acceleration feedback, the command and disturbance behavior can be improved significantly. Based on the proven cascaded control structure, this contribution analyzes an extended control concept with additional acceleration...
In this paper we study the problem of estimating the position of a joint that is connecting two rigid links in a biomechanical model. By equipping the two links with inertial sensors, which measure linear acceleration and angular velocity, it is possible to estimate the joint position. Estimation methods for this problem have been proposed before, but experimental evaluation and comparison between...
A guidance problem with the impact time constraint is considered under nonlinear kinematics. The guidance design makes the range to the stationary target behave as a quartic polynomial in time. The analytical availability of the polynomial coefficients provides a feasible basis. Additionally, another important feature of the proposed impact time guidance law is that it does not rely on a time to go...
Cooperative driving behavior is essential for driving in traffic, especially for ramp merging, lane changing or navigating intersections. Autonomous vehicles should also manage these situations by behaving cooperatively and naturally. In this paper, we present a novel learning-based method to efficiently estimate other vehicles' intentions and interact with them in ramp merging scenarios, without...
In this paper, non-linear estimators and feed-forward actions are designed to solve a vehicular platoon control problem. In particular, these estimators are useful in implementation of a Multi-Layer Consensus Seeking approach to the platooning problem. In the Multi-Layer approach the feed-forward part is built separately from the feedback part, based on desired trajectories. This opens the way to...
The ability to accurately track pedestrians is valuable for variant application designs. Although pedestrian tracking has been investigated excessively and owned a well-suited sensing platform, the proposed solutions are far from being mature yet. Pedestrian tracking contains step counting and stride estimation two components. Step counting already has commercial products, but the performance is still...
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