Related papers: A Raspberry Pi-Based Attitude Sensor
Measuring the resistance fluctuations of gas sensors provides new opportunities to enhance the selectivity and sensitivity of the sensor. Taking advantage of this possibility requires special low-noise measurement hardware and software to…
Pose estimation is a critical task in computer vision with a wide range of applications from activity monitoring to human-robot interaction. However,most of the existing methods are computationally expensive or have complex architecture.…
Commercial six-axis force-torque sensors suffer from being some combination of expensive, fragile, and hard-to-use. We propose a new fiducial-based design which addresses all three points. The sensor uses an inexpensive webcam and can be…
Experiments deploying large arrays of transition-edge sensors (TESs) often require a robust method to monitor gain variations with minimal loss of observing time. We propose a sensitive and non-intrusive method for monitoring variations in…
This paper describes the design and implementation of a ground-related odometry sensor suitable for micro aerial vehicles. The sensor is based on a ground-facing camera and a single-board Linux-based embedded computer with a multimedia…
This paper presents the $\mathrm{\mu}$Car, a 1:18 model-scale vehicle with Ackermann steering geometry developed for experiments in networked and autonomous driving in research and education. The vehicle is open source, moderately costed…
We report on an educational pilot program for low-cost physics experimentation run in Ecuador, South Africa, and the United States. The program was developed after having needs-based discussions with African educators, researchers, and…
People with visual impairments face numerous challenges when interacting with their environment. Our objective is to develop a device that facilitates communication between individuals with visual impairments and their surroundings. The…
We propose the Hardware-in-the-Loop (HIL) test of an adaptive satellite attitude control system with reaction wheel health estimation capabilities. Previous simulations and Software-in-the-Loop testing have prompted further experiments to…
Position sensors, such as the gyroscope, the magnetometer and the accelerometer, are found in a staggering variety of devices, from smartphones and UAVs to autonomous robots. Several works have shown how adversaries can mount spoofing…
Haptic feedback is essential for humans to successfully perform complex and delicate manipulation tasks. A recent rise in tactile sensors has enabled robots to leverage the sense of touch and expand their capability drastically. However,…
Attitude sensors determine the spacecraft attitude through the sensing of an astronomical object, field or other phenomena. The Sun and fixed stars are the two primary astronomical sensing objects. Attitude sensors are critical components…
This paper studies a rigid body attitude tracking control problem with attitude measurements only, when angular velocity measurements are not available. An angular velocity observer is constructed such that the estimated angular velocity is…
This paper presents hybrid attitude and gyro-bias observers designed directly on the Special Orthogonal group SO(3). The proposed hybrid observers, enjoying global exponential stability, rely on a hysteresis-based switching between…
Robotic systems show significant promise for water environmental sensing applications such as water quality monitoring, pollution mapping and biodiversity data collection. Conventional deployment methods often disrupt fragile ecosystems,…
The attitude control of a spacecraft is integral to achieving mission success. However, failures in actuators such as reaction wheels are detrimental and can often lead to an early end of mission. We propose a Lyapunov-based adaptive…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…
Air-dispersed sensor networks deployed from aerial robotic systems (e.g., UAVs) provide a low-cost approach to wide-area environmental monitoring. However, existing methods often rely on active actuators for mid-air shape or trajectory…
Monitoring behaviour in smart homes using sensors can offer insights into changes in the independent ability and long-term health of residents. Passive Infrared motion sensors (PIRs) are standard, however may not accurately track the full…