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Articles 1 - 3 of 3
Full-Text Articles in Engineering
A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou
A Wearable Mechatronic Device For Hand Tremor Monitoring And Suppression: Development And Evaluation, Yue Zhou
Electronic Thesis and Dissertation Repository
Tremor, one of the most disabling symptoms of Parkinson's disease (PD), significantly affects the quality of life of the individuals who suffer from it. These people live with difficulties with fine motor tasks, such as eating and writing, and suffer from social embarrassment. Traditional medicines are often ineffective, and surgery is highly invasive and risky. The emergence of wearable technology facilitates an externally worn mechatronic tremor suppression device as a potential alternative approach for tremor management. However, no device has been developed for the suppression of finger tremor that has been validated on a human.
It has been reported in …
Nonlinear Attitude And Pose Filters With Superior Convergence Properties, Hashim Abdellah Hashim Mohamed
Nonlinear Attitude And Pose Filters With Superior Convergence Properties, Hashim Abdellah Hashim Mohamed
Electronic Thesis and Dissertation Repository
In this thesis, several deterministic and stochastic attitude filtering solutions on the special orthogonal group SO(3) are proposed. Firstly, the attitude estimation problem is approached on the basis of nonlinear deterministic filters on SO(3) with guaranteed transient and steady-state measures. The second solution to the attitude estimation problem considers nonlinear stochastic filters on SO(3) with superior convergence properties with two filters being developed in the sense of Ito, and one in the sense of Stratonovich.
This thesis also presents several deterministic and stochastic pose filtering solutions developed on the special Euclidean group SE(3). The first solution includes two nonlinear deterministic …
Nonlinear Observer For Visual-Inertial Navigation Using Intermittent Landmark Measurements, Miaomiao Wang
Nonlinear Observer For Visual-Inertial Navigation Using Intermittent Landmark Measurements, Miaomiao Wang
Western Research Forum
The development of reliable orientation, position and linear velocity estimation algorithms for the 3D visual-inertial navigation system (VINS) is instrumental in many applications, such as autonomous underwater vehicles (AUVs), and unmanned aerial vehicles (UAVs). It is extremely important when the global position system (GPS) is not available in GPS-denied environments. Recently, observers design for VINS using landmark position measurements from Kinect sensors or stereo cameras has been increasingly investigated in the literature.
The aim of this work is to design a nonlinear observer for VINS under the assumption that landmark position measurements are intermittent. In practice, the landmark measurements are …