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Motion-logger

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Material Information

Title:
Motion-logger an attitude and motion sensing system
Physical Description:
Book
Language:
English
Creator:
Marquez, Andres Felipe
Publisher:
University of South Florida
Place of Publication:
Tampa, Fla
Publication Date:

Subjects

Subjects / Keywords:
Attitude estimation
Kalman filter
Inertial Measurement Unit (IMU)
Accelerometers
Gyroscopes
Dissertations, Academic -- Electrical Engineering -- Masters -- USF   ( lcsh )
Genre:
non-fiction   ( marcgt )

Notes

Abstract:
ABSTRACT: This thesis proposes a motion sensing system for wheelchairs with the main objective of determining tips, falls and risky situations. The system relies on measurements from an Inertial Measurement Unit, (IMU), consisting of a 3-axis accelerometer and a 2-axis gyroscope as the source of information. The IMU was embedded in a portable device, the "Motion Logger", which collects motion data in a Secure Digital memory card after running a real time preprocessing algorithm. The algorithm was designed to reduce energy consumption and memory usage. Actual signal analysis and attitude estimation is carried out offline. The motion sensing system was developed for determining wheelchair-related falls as part of a major research effort carried out at the research center of the James A Haley VA Hospital Subject Safety Center, Tampa, Florida. The focus of the study concentrated on achieving a thorough understanding of the demographics, nature, consequences and the creation of prediction models for fall events. The main goal of the embedded system was to successfully estimate the motion variables relevant to the occurrence of falls, tips and similar risky situations. Currently, off-line smoothing techniques based on Kalman filter concepts allow for optimal estimation of angles in the longitudinal direction, roll, and in the lateral direction, pitch. Results from both predefined experiments with known outcomes and data collected from actual wheelchair users during pilot and final deployment stages are presented and discussed.
Thesis:
Thesis (M.S.E.E.)--University of South Florida, 2008.
Bibliography:
Includes bibliographical references.
System Details:
Mode of access: World Wide Web.
System Details:
System requirements: World Wide Web browser and PDF reader.
Statement of Responsibility:
by Andres Felipe Marquez.
General Note:
Title from PDF of title page.
General Note:
Document formatted into pages; contains 97 pages.

Record Information

Source Institution:
University of South Florida Library
Holding Location:
University of South Florida
Rights Management:
All applicable rights reserved by the source institution and holding location.
Resource Identifier:
aleph - 002006322
oclc - 383613925
usfldc doi - E14-SFE0002719
usfldc handle - e14.2719
System ID:
SFS0027036:00001


This item is only available as the following downloads:


Full Text
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ABSTRACT: This thesis proposes a motion sensing system for wheelchairs with the main objective of determining tips, falls and risky situations. The system relies on measurements from an Inertial Measurement Unit, (IMU), consisting of a 3-axis accelerometer and a 2-axis gyroscope as the source of information. The IMU was embedded in a portable device, the "Motion Logger", which collects motion data in a Secure Digital memory card after running a real time preprocessing algorithm. The algorithm was designed to reduce energy consumption and memory usage. Actual signal analysis and attitude estimation is carried out offline. The motion sensing system was developed for determining wheelchair-related falls as part of a major research effort carried out at the research center of the James A Haley VA Hospital Subject Safety Center, Tampa, Florida. The focus of the study concentrated on achieving a thorough understanding of the demographics, nature, consequences and the creation of prediction models for fall events. The main goal of the embedded system was to successfully estimate the motion variables relevant to the occurrence of falls, tips and similar risky situations. Currently, off-line smoothing techniques based on Kalman filter concepts allow for optimal estimation of angles in the longitudinal direction, roll, and in the lateral direction, pitch. Results from both predefined experiments with known outcomes and data collected from actual wheelchair users during pilot and final deployment stages are presented and discussed.
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