This thesis explores the feasibility of developing an affordable and easy-to-use feed- back system that leverages information from multiple inertial measurement units (IMUs) to identify mistakes during upper body bodyweight training and provide real-time feedback to the user. To develop the system, a human-centered approach was used, which involved conducting semi-structured interviews with movement ex- perts and a workshop with targeted end-users to understand their needs. The study also involved 12 volunteers who performed push-ups, tricep dips, and planks cor- rectly and then made specific mistakes intentionally while wearing five IMUs. Binary and multiclass classifiers were developed to classify the exercise technique. The re- sults showed that personalized multiclass classifiers produced good to excellent quality results, while global classification techniques performed poorly. Additionally, an increased number of sensors did not always lead to improved classification re- sults, and the placement of the sensors could have a significant impact. The user in- put and evaluation of the feedback system pinpointed the need for customization and accessibility in the design. This thesis contributes to the development of a feedback system that can help users identify mistakes in their upper body bodyweight exer- cises and improve their form and technique. / Denna avhandling utforskar genomförbarheten att utveckla ett prisvärt och lättan- vänt feedbacksystem som utnyttjar information från flera inertiella mätenheter (IMU: er) för att identifiera misstag under överkroppsövningar med egen kroppsvikt och ge användaren realtidsfeedback. För att utveckla systemet användes en human- centrerad metod, som innefattade semistrukturerade intervjuer med rörelseexperter och en workshop med målinriktade slutanvändare för att förstå deras behov. Studien inkluderade också 12 frivilliga som utförde armhävningar, tricep dips och plankor korrekt och sedan medvetet gjorde specifika misstag medan de bar på fem IMU: er. Binära och flerklassklassificerare utvecklades för att klassificera övningstekniken. Resultaten visade att personliga flerklassklassificerare producerade bra till utmärkta resultat, medan globala klassificeringstekniker presterade dåligt. Dessutom ledde ett ökat antal sensorer inte alltid till förbättrade klassificeringsresultat, och placeringen av sensorerna kunde ha en betydande påverkan. Användarinput och utvärdering av feedbacksystemet pekade på behovet av anpassning och tillgänglighet i designen. Denna avhandling bidrar till utvecklingen av ett feedbacksystem som kan hjälpa an- vändare att identifiera misstag i sina överkroppsövningar med egen kroppsvikt och förbättra sin form och teknik.

Can we reduce disturbance, swing, and errors by delegating some of the tasks to a subsystem on the tool hanging from a drone to gain precision and dependability? This project covers developing and implementing a user-controlled prototype with an automatic control system and gripper for functionality and controlled movement in 5 DOF. AirForestry is developing a new way of working in the forestry business to provide a greener and healthier solution for the soil and the environment. The forestry industry emits approximately one million tons of CO2 per year from heavy diesel-fueled vehicles. With a renewable energy battery-powered drone of a diameter of 6.2 m and a hanging harvesting tool, they can significantly improve the environmental impact of forestry. The harvesting tool has an automatic control system and is user controlled to perform the thinning and cutting of trees. The main focus is to use IMU sensor data to produce accurate angle estimation to control the stability of a scaled prototype and to implement physical restrictions to make it able to be attached safely and tested on a drone but not limit the controlled mobility of the prototype with a system independent of the control system of the drone itself. The user can control the attitude and elevation and receive real-time sensor data wireless during operation. With the intended spacing of the attachment points on the drone, it can prevent unwanted swing from a push or displaced drop. It uses the accelerometer on the IMUsensor to calculate the angle of roll and pitch, although the accelerometer is sensitive to vibrations and rotations. The control system has a fast response and rise time, but it experiences noise and oscillations. Sensor fusion of the accelerometer and gyroscope in a complementary filter can be implemented to increase the accuracy of the angle estimations and decrease the noise, which will be reflected in the speed of the servos and thereby improve the stability and mobility of the system.

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近年來穿戴相關發展越來越蓬勃，特別是在虛擬-實境的綜合藝術表 演中，例如: 電影「猩球崛起」。然而大部分虛擬實境的綜合內容是 基於腳本預先錄製好的，而且演員需要大量的練習，使表演能夠完美 演出。此外，如果我們想要在兩人的相對方向定位上有特殊效果，那 麼預先錄製的的方法是不合適的。解決這個問題的一個方法是，使用 高品質的相機偵測身體的姿勢或位置。但是精准度常會受限於光線或 是障礙物。 本篇論文中，我們提出一個即時相對方向定位方法，這方法使用無線 可穿戴式設備解決這個問題。我們結合BLE 所發送的Received Signal Strength Indicator (RSSI)與IMU 感測器資訊，來追蹤兩個表演者的相對方向定位的位置。但是RSSI 資料有波動與不穩定性、IMU 會引起 累積的誤差。我們發明了「可靠程度」的RSSI 量測概念，並且把這 概念運用在IMU 定期校正上。我們實驗的情況是，兩個人的舞蹈來 驗證準確性，結果是令人滿意的。我們還使用Unity 來實踐人體骨架， 以便與兩個舞者動作做比較。在未來，我們開發的方案可以用於藝術 表演，使內容更豐富，更具互動性。 / In recent years, wearable-related applications are flourishing, especially in virtual-real integrated art performance, such as “Rise of the Planet of the Apes”. However, most of the virtual-real integrated contents are pre-recorded based on the script, and the performer needs a lot of practice to make the integration perfect. Moreover, if we want to make special effect based on the relative directional positions of two performers, the pre-recorded approach is not suitable. One way to tackle this problem is to use the high-quality camera to detect the body posture or position.But the accuracy is usually limited in light intensity or obstacles. In this thesis, we propose a real-time relative directional positioning approach using wireless wearable devices to solve this problem. We use Received Signal Strength Indicator (RSSI) of BLE, combined with IMU sensors to track two performers’ relative directional positions. The RSSI fluctuates and the IMU causes accumulated errors. We invent the concept of “reliable level” of RSSI measures to periodically correct the IMU errors. We experiment the scenario of two-person dance to validate the accuracy, and the result is satisfactory. We also use Unity to real-time render the human skeleton for comparison with the two dancers’ motion.In the future, our developed scheme can be used in the art performance to make the content richer and more interactive.

Eine Voraussetzung um einen Flugregler für Flugroboter zu realisieren, ist die Wahrnehmung der Bewegungen dieses Roboters. Diese Arbeit beschreibt einen Ansatz zur Schätzung der Bewegung eines autonomen Flugroboters unter Verwendung relativ einfacher, leichter und kostengünstiger Sensoren. Mittels eines Erweiterten Kalman Filters werden Beschleunigungssensoren, Gyroskope, ein Ultraschallsensor, sowie ein Sensor zu Messung des optischen Flusses zu einer robusten Bewegungsschätzung kombiniert. Dabei wurden die einzelnen Sensoren hinsichtlich der Eigenschaften experimentell untersucht, welche für die anschließende Erstellung des Filters relevant sind. Am Ende werden die Resultate des Filters mit den Ergebnissen einer Simulation und eines externen Tracking-Systems verglichen.

Eine Voraussetzung um einen Flugregler für Flugroboter zu realisieren, ist die Wahrnehmung der Bewegungen dieses Roboters. Diese Arbeit beschreibt einen Ansatz zur Schätzung der Bewegung eines autonomen Flugroboters unter Verwendung relativ einfacher, leichter und kostengünstiger Sensoren. Mittels eines Erweiterten Kalman Filters werden Beschleunigungssensoren, Gyroskope, ein Ultraschallsensor, sowie ein Sensor zu Messung des optischen Flusses zu einer robusten Bewegungsschätzung kombiniert. Dabei wurden die einzelnen Sensoren hinsichtlich der Eigenschaften experimentell untersucht, welche für die anschließende Erstellung des Filters relevant sind. Am Ende werden die Resultate des Filters mit den Ergebnissen einer Simulation und eines externen Tracking-Systems verglichen.

Syftet med att mäta vibrationer och rekyler i ett padelrack i detta arbete är att utveckla en prototyp som kan användas som träningsredskap för att minska risken för skador. En vanlig skada som drabbar padelspelare är tennisarmbåge, som enligt studier tros uppkomma genom upprepad exponering av mikrotrauman som vibrationer och rekyler. Genom att utföra en litteraturstudie i ämnet har systemkrav för ett sensorbaserat system definierats. Systemet som mäter vibrationer och rekyler har monterats i handtaget på padelracket. Två olika testmiljöer har utvecklats för att möjliggöra kontrollerade tester. För att identifiera och analysera slag använder systemet frekvensanalyser, korrelationstester och positionsförändring. Vid utveckling av metoden för identifiering av träffpunkt delades racket upp i fem olika zoner. Resultatet indikerar att träffar i två av zonerna ger upphov till mindre mängd vibrationer jämfört med de övriga zonerna. Resultatet för identifiering av träffzon varierar mellan testmiljöerna och enbart identifiering av en zon kan anses vara fungerande i båda fallen. Systemet identifierade träffzonen korrekt i 18 av 25 slag i den ena testmiljön och 9 av 25 i den andra. För att förbättra identifieringen av träffzon behövs flera analyser och korrelationtester utformas. En slutsats för det här examensarbetet är att det här arbetet kan användas som grund för vidare utveckling av ett sensorbaserat system för att identifiera träffzonen och kvantifiera vibrationer i ett padelrack. / The purpose of measuring vibrations and recoils in a padel racket in this thesis is to develop a prototype that can be used as a training equipment to reduce the risk of injury. A common injury for padel players is tennis elbow, studies show that the cause of this injury are microtraumas from vibrations and recoils. Through a literature study in the subject, system demands for a sensor-based system have been defined. The system that has been used to measure vibrations and recoils have been attached to the bottom of the handle on the padel racket. To achieve controlled tests two different test environments have been developed. To identify and analyze impacts the system utilizes frequency analysis, correlation tests and displacement tracking. For identification of the impact area the racket was divided into five zones. The result indicates, that two of the impact zones generate less vibrations than the others. The result also shows that identification of impact zone varies between the test environments and that only the sweet spot can be identified in both cases. The system identified the impact zone correctly in 18 out of 25 strokes in one test environment and 9 out of 25 in the other. To further improve the methods for identification of the impact zone more analyses and correlations tests are required. One conclusion for this thesis is that it can be used as a platform for further development of a sensor-based system that can correctly identify impacts in all zones and quantify the resulting vibrations.