text: Most recent papers with the keyword IMU | Read by QxMD
  https://www.readbyqxmd.com/read/29565287/detection-and-compensation-of-degeneracy-cases-for-imu-kinect-integrated-continuous-slam-with-plane-features
  Detection and Compensation of Degeneracy Cases for IMU-Kinect Integrated Continuous SLAM with Plane Features.
  In a group of general geometric primitives, plane-based features are widely used for indoor localization because of their robustness against noises. However, a lack of linearly independent planes may lead to a non-trivial estimation. This in return can cause a degenerate state from which all states cannot be estimated. To solve this problem, this paper first proposed a degeneracy detection method. A compensation method that could fix orientations by projecting an inertial measurement unit's (IMU) information was then explained...
  29565287
  https://www.readbyqxmd.com/read/29547515/study-of-the-navigation-method-for-a-snake-robot-based-on-the-kinematics-model-with-mems-imu
  Study of the Navigation Method for a Snake Robot Based on the Kinematics Model with MEMS IMU.
  Xu Zhao, Lihua Dou, Zhong Su, Ning Liu
  A snake robot is a type of highly redundant mobile robot that significantly differs from a tracked robot, wheeled robot and legged robot. To address the issue of a snake robot performing self-localization in the application environment without assistant orientation, an autonomous navigation method is proposed based on the snake robot's motion characteristic constraints. The method realized the autonomous navigation of the snake robot with non-nodes and an external assistant using its own Micro-Electromechanical-Systems (MEMS) Inertial-Measurement-Unit (IMU)...
  https://www.readbyqxmd.com/read/29544891/nonlinear-unbiased-minimum-variance-filter-for-mars-entry-autonomous-navigation-under-large-uncertainties-and-unknown-measurement-bias
  Nonlinear unbiased minimum-variance filter for Mars entry autonomous navigation under large uncertainties and unknown measurement bias.
  High-precision navigation algorithm is essential for the future Mars pinpoint landing mission. The unknown inputs caused by large uncertainties of atmospheric density and aerodynamic coefficients as well as unknown measurement biases may cause large estimation errors of conventional Kalman filters. This paper proposes a derivative-free version of nonlinear unbiased minimum variance filter for Mars entry navigation. This filter has been designed to solve this problem by estimating the state and unknown measurement biases simultaneously with derivative-free character, leading to a high-precision algorithm for the Mars entry navigation...
  29544891
  March 12, 2018: ISA Transactions
  https://www.readbyqxmd.com/read/29534513/research-into-kinect-inertial-measurement-units-based-on-indoor-robots
  Huixia Li, Xi Wen, Hang Guo, Min Yu
  As indoor mobile navigation suffers from low positioning accuracy and accumulation error, we carried out research into an integrated location system for a robot based on Kinect and an Inertial Measurement Unit (IMU). In this paper, the close-range stereo images are used to calculate the attitude information and the translation amount of the adjacent positions of the robot by means of the absolute orientation algorithm, for improving the calculation accuracy of the robot's movement. Relying on the Kinect visual measurement and the strap-down IMU devices, we also use Kalman filtering to obtain the errors of the position and attitude outputs, in order to seek the optimal estimation and correct the errors...
  29534513
  March 12, 2018: Sensors
  https://www.readbyqxmd.com/read/29495299/an-automatic-gait-feature-extraction-method-for-identifying-gait-asymmetry-using-wearable-sensors
  This paper aims to assess the use of Inertial Measurement Unit (IMU) sensors to identify gait asymmetry by extracting automatic gait features. We design and develop an android app to collect real time synchronous IMU data from legs. The results from our method are validated using a Qualisys Motion Capture System. The data are collected from 10 young and 10 older subjects. Each performed a trial in a straight corridor comprising 15 strides of normal walking, a turn around and another 15 strides. We analyse the data for total distance, total time, total velocity, stride, step, cadence, step ratio, stance, and swing...
  https://www.readbyqxmd.com/read/29494542/a-foot-mounted-inertial-measurement-unit-imu-positioning-algorithm-based-on-magnetic-constraint
  Yan Wang, Xin Li, Jiaheng Zou
  With the development of related applications, indoor positioning techniques have been more and more widely developed. Based on Wi-Fi, Bluetooth low energy (BLE) and geomagnetism, indoor positioning techniques often rely on the physical location of fingerprint information. The focus and difficulty of establishing the fingerprint database are in obtaining a relatively accurate physical location with as little given information as possible. This paper presents a foot-mounted inertial measurement unit (IMU) positioning algorithm under the loop closure constraint based on magnetic information...
  February 9, 2018: Journal of Biomechanics
  https://www.readbyqxmd.com/read/29476427/wearable-inertial-sensor-systems-for-lower-limb-exercise-detection-and-evaluation-a-systematic-review
  BACKGROUND: Analysis of lower limb exercises is traditionally completed with four distinct methods: (1) 3D motion capture; (2) depth-camera-based systems; (3) visual analysis from a qualified exercise professional; and (4) self-assessment. Each method is associated with a number of limitations. OBJECTIVE: The aim of this systematic review is to synthesise and evaluate studies which have investigated the capacity for inertial measurement unit (IMU) technologies to assess movement quality in lower limb exercises...
  February 24, 2018: Sports Medicine
  https://www.readbyqxmd.com/read/29466209/-awareness-of-the-risk-factors-for-cardiovascular-disease-in-different-types-of-hospitalized-medical-patients
  N V Pogosova, M A Lysenko, I V Samsonova, A V Karpova, Y M Yufereva, S S Isakova, V A Vygodin, A S Vasilevskiy
  OBJECTIVE: to study medical awareness of cardiovascular risk factors (FR) in hospitalized patients of the cardiac and internal medicine units (CU and IMU). MATERIALS AND METHODS: A total of 100 patients from CU (n=50) and IMU (n=50) of a Moscow city hospital were included into the survey. The patients were interviewed during the I-II days of hospital stay. A special questionnaire was developed including socio-demographic and clinical indicators, open questions on the knowledge of traditional cardiovascular RFs and their target values...
  https://www.readbyqxmd.com/read/29459072/stride-length-determination-during-overground-running-using-a-single-foot-mounted-inertial-measurement-unit
  Stride length determination during overground running using a single foot-mounted inertial measurement unit.
  From a research perspective, detailed knowledge about stride length (SL) is important for coaches, clinicians and researchers because together with stride rate it determines the speed of locomotion. Moreover, individual SL vectors represent the integrated output of different biomechanical determinants and as such provide valuable insight into the control of running gait. In recent years, several studies have tried to estimate SL using body-mounted inertial measurement units (IMUs) and have reported promising results...