Long exposure handheld photography is coupled with the problem of blurring, which is difficult to remove without additional information. The goal of this work was to utilize motion sensors contained in modern smartphones to detect exact motion track of the image sensor during the exposure and then to remove the blur from the resulting photograph according to this data. A system was proposed which performs deconvolution using a kernel from the recorded gyroscope data. An implementation on Android platform was proved on a test smartphone device.

Zugl.: Saarbrücken, Univ., Diss., 2008

Idag ses ett ökat intresse för användandet av rörelseanalys inom olika sammanhang t.ex. övervakning, dataspel och diagnostisk undersökning av personers rörelsemönster med mera. Optisk rörelseanalys är den teknik som finns mest idag, men de systemen är dyra och saknar lämplig mjukvara för klinisk användning. En forskargrupp vid centrum för medicinsk teknik och strålningsfysik (CMTS) forskning och utvecklings avdelning (MT-FoU) vid Norrlands universitetssjukhus har sedan 2007 jobbat med en produktidé som bygger på att skapa ett nytt mobilt system för rörelseanalys som kan användas i medicinska undersökningar. Ett Arduino pro mini kort samt ett 9-axligt prototypkort som består av MPU-6000 och en magnetometer HMC5883L är anskaffat för att tillverka ett system i detta syfte. Syftet med projektet har varit att skapa ett verktyg som kan samla in rörelsemönster för att sedan presentera resultatet i ett diagram. Systemet skulle kunna samla in data från en sensor som inkluderar en 3D-accelerometer ett 3D-gyroskop och en 3D magnetometer för att därefter skicka det vidare till en dator där mätdata presenteras visuellt och sparas undan i en textfil. En viktig detalj att ta hänsyn till vid konstruktionen av det nya systemet var att konstruktionen gjordes med hjälp av billiga standardkomponenter och kretskort. Projektet har genomförts och några testmätningar har gjorts. Ett resultat sparades undan i en textfil och ett diagram har tagits fram som beskriver ett lårs rörelsemönster vid normal gång.

The goal of this paper is to design and implement a module to determine the rotation around three axes normal to each other. The paper is divided into six parts. The first part deals with the rate sensor - the gyroscope. It is explicated how the gyroscope is used for rotation measurement. The next part of the paper explains the acceleration sensor – the accelerometer, functioning as an inclination sensor. The third part analyses the magnetic field sensor – the magnetometer, functioning as an electronic compass. With each type of sensor, the problems of parasitic influences are discussed. The foregoing parts constitute the basis for the HW of the module design that is explained in the forth parts. It deals especially with components used for processing the sensor signals. The next part is a description of the software of the module. Here, the software of the particular sensors and measurement methods used with them are discussed. The last part describes the software of the control application in the computer. The attention is paid especially to processing data from the sensors and their compensation against parasitic influences.

The main aim of the thesis is the design of a seating element dedicated to interior. The first theoretical part is focused on the historical development of the session, typology, ergonomics and problems arising from incorrect long-term sitting. Furthermore, the safety and dynamics of the seat element are emphasized. The second part of the thesis includes the design of the balancing chair, which is presented by sketches, visualization and technical drawings. In conclusion, there is a detailed description of the creation of a functional prototype.

This work deals with design and construction of unstable double wheeled Segway-like vehicle built for human personnel transportation and its smaller scaled clone developed for control algorithms testing. The smaller machine is controlled via Joystick and PC. This work was conducted in team consisting of three students. Individual goals are described in chapter „Stanovení cílů práce“. The beginning of the work deals with researching any similar projects concerned with this topic, especially with sensors and control algorithms used. Further, the work describes the process of choosing used electronics and its parameters. One of the problems faced during the work was the pitch angle of the vehicle base calculation - algorithm of the angle calculation had been designed by students of several world universities. The principle of how it works was studied and then tested by simulations and practically in the following chapters. Further on, the work deals with platform‘s parameter estimation, at first the testing platform made of wood, followed by the final platform made of aluminium. Parameter estimation was realized by using the multifunctional I/O card Humusoft MF 624 for PC. Part of the work deals with the final control algorithm on the dsPIC microcontroller implementation, sensor‘s outputs calculation and calibration algorithm design. Since the vehicle is built for human personnel transportation, implementation of certain safety algorithms was necessary. These algorithms should be able to detect possible fail states and prevent the driver from losing control over the vehicle in order to prevent any injuries.

Accelerometers and gyroscopes are used to detect foot strike (FS), i.e., the moment when the foot first touches the ground. However, it is unclear whether different conditions (footwear hardness or foot strike pattern) influence the accuracy and precision of different FS detection methods when using such micro-electromechanical sensors (MEMS). This study compared the accuracy of four published MEMS-based FS detection methods with each other and the gold standard (force plate) to establish the most accurate method with regard to different foot strike patterns and footwear conditions. Twenty-three recreational runners (12 rearfoot and 11 forefoot strikers) ran on a 15-m indoor track at their individual running speed in three footwear conditions (low to high hardness). MEMS and a force plate were sampled at a rate of 3750 Hz. Individual accuracy and precision of FS detection methods were found which were dependent on running styles and footwear conditions. Most of the methods were characterized by a delay which generally increased from rearfoot to forefoot strike pattern and from high to low midsole hardness. It can be concluded that only one of the four methods can accurately determine FS in a variety of conditions.

Gyroscopes have been used in previous studies to measure the peak angular velocity of the shoe or foot in the frontal plane (evVel). However, it is not clear whether different test conditions (footwear hardness or locomotion speed) can influence the accuracy of evVel. The purpose of the present study was to compare the accuracy of gyroscopes and electrogoniometers when measuring evVel and the time until evVel (t_evVel) in 12 different conditions using a single axis gyroscope attached to the heel cap. Twenty-four recreational runners were instructed to walk and run on a 15-m indoor track at four locomotion speeds (1.5, 2.5, and 3.5 m/s, and individual running speed) and in three footwear conditions (low to high hardness). The gyroscope data and electrogoniometer data were sampled at a rate of 1000 Hz. Comparisons between both measurement devices showed small mean differences up to 49.8 ± 46.9 deg/s for evVel and up to 5.3 ± 3.5 ms for t_evVel. Furthermore, strong relationships between gyroscope and electrogoniometer data were found for evVel as well as for t_evVel for all conditions. It can be concluded that gyroscopes can be used to accurately determine evVel and t_evVel under a variety of conditions.

This thesis is focused on the design and realisation of inertial navigation unit INS. The unit is capable to measure, store and send data to a PC in real-time for a later offline processing. The first part of the thesis introduces the reader with the basic principles of accelerometers, gyroscopes and MEMS sensors. An introduction to coordinate systems and measuring errors is also included. The second and third part of the thesis deals with the analysis of the solution and the implementation of the INS unit. The fourth part of the document is dedicated to the software for the INS unit. This thesis concludes with explanation how the gathered data are processed.

This thesis project considers the potential use of inertial navigation on a consumer grade tablet mounted in a vehicle in an underground mine. The goal is to identify which sensors and techniques are useful and to design a navigation algorithm based on those results. The navigation algorithm is intended to work alongside the current received signal strength indication (RSSI) positioning system. Testing of the gyroscope, accelerometer and magnetometer sensors suggest that, while dead reckoning is likely not precise enough, an orientation filter can be designed that can be used for navigation. A complementary orientation filter using the gyroscope and accelerometer is then designed that shows better results than the default sensor fusion solutions available in Android. The filter is expandable and can come to include magnetometer data in the future. Based on the outputs of this filter, a navigation algorithm based onangle matching with map information is proposed. Precise positioning in an underground mine can be crucial to employee safety, and may also bring production benefits.