Related papers: Full Magnetometer and Gyroscope Bias Estimation us…
Exploring anisotropy and diverse magnetization dynamics in specimens with vanishing magnetic moments presents a significant challenge using traditional magnetometry, as the low resolution of existing techniques hinders the ability to obtain…
Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and…
Inertial-based navigation refers to the navigation methods or systems that have inertial information or sensors as the core part and integrate a spectrum of other kinds of sensors for enhanced performance. Through a series of papers, the…
Inertial navigation systems (INS) are widely used in almost any operational environment, including aviation, marine, and land vehicles. Inertial measurements from accelerometers and gyroscopes allow the INS to estimate position, velocity,…
The online adaptation of exoskeleton control based on muscle activity sensing offers a promising approach to personalizing exoskeleton behavior based on the user's biosignals. While electromyography (EMG)-based methods have demonstrated…
Atomic magnetometers (AMs) offer many advantages over superconducting quantum interference devices (SQUIDs) due to, among other things, having comparable sensitivity while not requiring cryogenics. One of the major limitations of AMs is the…
This paper presents a real-time calibration method for gyro sensors in consumer portable devices. The calibration happens automatically without the need for external equipment or user intervention. Multi-level constraints, including the…
In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is…
To identify under what conditions guiding-centre or full-orbit tracing should be used, an estimation of the spatial variation of the magnetic field is proposed, not only taking into account gradient and curvature terms but also parallel…
We present and analyze methods for the kinematic and kinetostatic calibration of, typically, wrist mounted force/torque sensors in robotics. The algorithms are based on matrix factorization and require no special equipment. The only…
Magnetic position sensors find extensive applications in various industrial sectors and consumer products. However, measuring angles in the full range of 0{\deg} to 360{\deg} in a wide field range using a single magnetic sensor remains a…
The main advantage of an atomic accelerometer when compared to a classical accelerometer is negligible bias drift, allowing for stable long-term measurements, which opens the potential application in navigation. This negligible drift arises…
Inertial navigation systems generally consist of timing, acceleration, and orientation measurement units. Although much progress has been made towards developing primary timing sources such as atomic clocks, acceleration and orientation…
We demonstrate a simple, low cost, magneto-transport method for rapidly characterizing the magnetic anisotropy and anisotropic magneto-resistance (AMR) of ferromagnetic devices with uniaxial magnetic anisotropy. This transport technique is…
Seamless operation of mobile robots in challenging environments requires low-latency local motion estimation (e.g., dynamic maneuvers) and accurate global localization (e.g., wayfinding). While most existing sensor-fusion approaches are…
Motion artifacts degrade MRI image quality and increase patient recalls. Existing automated quality assessment methods are largely limited to binary decisions and provide little interpretability. We introduce AutoMAC-MRI, an explainable…
This paper addresses velocity estimation within robot-aided integrated sensing and communications (ISAC), where mobile robots act as sensing nodes but can only opportunistically reuse irregular 5G/6G reference signals (RSs). We show that…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
Sensor fusion of a MEMS IMU with a magnetometer is a popular system design, because such 9-DoF (degrees of freedom) systems are capable of achieving drift-free 3D orientation tracking. However, these systems are often vulnerable to ambient…
Barycentric averaging is a principled way of summarizing populations of measures. Existing algorithms for estimating barycenters typically parametrize them as weighted sums of Diracs and optimize their weights and/or locations. However,…