Detta projekt syftar till att undersöka om det går att kurskorrigera en av Weda AB:s poolrengöringsrobotar med hjälp av ett MEMS-gyroskop. Den valda rengöringsroboten styrs idag av en PLC, och konceptet är att komplettera styrenheten med ett MEMS gyroskop som kan detektera kursavvikelser. Undersökandet av möjligheterna för implementeringen börjar med att samla information om MEMS gyroskopens funktion och i vilka tekniker de används idag. Vidare utförs beräkningar mot Wedas definition av rak kurs, det resulterade i för höga krav på känsligheten i gyroskopet. Trots det otillfredsställande resultatet beslutar Weda att projektet ska fortsätta undersöka gyroskopets möjligheter. En marknadsundersöknings med 9 tillverkningsföretag genomförs i syfte att se vad marknaden erbjuder för MEMS gyroskop idag. Sedan konsulteras distribueringsföretaget Avnet som bidrar med sina kunskaper, erfarenheter och rekommendationer för konceptet. Ett av de framstående gyroskopen i undersökningen användes för att genomföra två tester. Syftet av dem var att simulera olika situationer som rengöringsroboten kan utsättas för. Resultatet visar att repetitionsnoggrannheten är god men att gyroskopet inte är tillförlitligt i låga hastigheter, vilket är en dålig egenskap för rengöringsroboten W2000 som körs med en hastighet 0,2 m/s. Testresultatet diskuterades med Bosch och dem tror att gyroskopets automatiska kalibrering är orsaken till att det inte ger tillförlitliga mätdata vid låga hastigheter. / During this project the possibilities to monitor and adjust the direction of a pool cleaning robot with a MEMS gyroscope are evaluated. The robot chosen for the evaluation is manufactured by Weda AB. The concept is to add a MEMS gyroscope to the robot, which will give the control unit (PLC) feedback regarding the direction of the robot. The evaluation includes general information about MEMS gyroscopes, where they are used, common built in errors etc. To be able to select a suitable MEMS gyroscope the needed sensitivity is calculated. The needed sensitivity is based on requirements from Weda AB. The evaluation also includes a market survey which shows that the needed sensitivity cannot be fulfilled by products available on the market. The market survey is based on nine manufacturing companies and a recommendation from a distribution company called Avnet. One of the prominent MEMS gyroscopes was used to carry out two tests. The tests were designed to mimic motions of the pool cleaning robot. The test result shows that the gyroscope has good repetition accuracy, but it is not trustworthy when the rotation speed is low. The test result was discussed with the manufacturer and they think that the non positive result is caused by the automatic calibration.

The main aim of this thesis is to design and build automatic calibration system for inertial measurement sensors. The calibration system is intended to support the development of devices with inertial measurement sensors. The great emphasis is placed on the configurability of system and for this reason all calculations are realized by Matlab system, which is well known by engineers. There is also presented design of inertial measurement unit, which is used as a~model sensor unit for calibration system development.

Within this Master’s thesis, design and construction of a strapdown inertial navigation system based on MEMS sensors is described. The thesis includes theoretic analysis of physics behind determining the position of an object based on the object’s aceleration and changes in the object’s orientation in space. Included is also an overview of mathematical methods related to the position calculation.

The main subject of this thesis is use of inertial sensors for better motion and stability control of mobile robots. In background research are described the basic methods of mobile robots localization. Second part of background research is about mobile robot stability, in this part are described the methods of mobile robots stability control. In next part is description of MEMS accelerometers and gyroscopes and description of basic method of filtering and integration which are useful for input processing of these sensors. Thesis continues with inertial sensors analysis for application on control of wheeled and legged mobile robots. In end of thesis are specified the experiment results, which confirm the applicability of sensors for mobile robot control.

In today’s society, approximately half of the world population utilize their smart phone for their everyday tasks as handling scheduled events, financial inquires and general social life, according to Ash Turner’s statistical study on the topic. They have been an amazing tool for helping people handle these tasks easily, conveniently and swiftly, all at the palm of our hand. This also includes traveling and navigation. Even for traveling by foot, smartphones possess features that makes it a flexible option. As such, navigation apps have been of heavy use. They do have some problems, such as lacking information of more recent paths or smaller known areas that have not been added to the database. Hence, Neava AB had an interest in exploring this field and find a solution using Augmented Reality (AR). This thesis will document the process, from the creation of the development plan, to the development process, the final result and discussion. It will also showcase other applications of the AR technology in similar and completely different fields, along with future potential usage. The final prototype is a small program that allows the user to guided from a start position to a destination with visual aid in terms of an arrow that points the user towards the destination. It guides the user to a certain checkpoint between the two points. When the user has reached the checkpoint, they press the button on the screen to be guided to the next checkpoint with audio in the form of a audio clip informing which direction to turn. This is repeated until the destination is reached. At that point, pressing the button again will bring out text. The current text is dummy text currently, but is meant to contain information about the destination in the final build. This thesis will also analyse the reliability of the GPS and Gyroscope components within a smartphone by request of the examiner. This test is done by walking from a starting position towards a set location while recording the current coordinates and time since departure. These values are recorded in a text file. The program is then terminated and the process repeats itself back to the starting position. The data will then be visualised analysed to determine the stability. In the end, the prototype showed promise in becoming a commercial product with more development time. There were many features that did not make into the prototype such as a virtual trail for improved visual guidance and have voicelines and checkpoints change automatically. The GPS tests showed great promise in reliability and stability, showcasing small deviation which could be attributed to other factors than the component itself. The gyroscope was a bit less reliable, but that can be addressed in software. / I dagens samhälle, använder sig ungefär hälften av världens befolkning av smarttelefoner för att sin vardagliga åtgärder. Detta kan inkludera hantering av schemalagda åtgärder, finansiella behov och fritidslivet, enligt Ash Turner’s statistiska forskning. Smarttelefoner har blivit ett praktiskt modell för att hantera dessa ˚åtgärder enkelt, lämpligt och snabbt. Detta inkluderar även resa och navigering. När man även reser till fots, är smarttelefoner ett mer praktiskt val för navigeringsmedel än traditionella kartor. PA grund av detta, har navigeringsappar sett stor användning. Dock är de inte utan sina nackdelar, speciellt i mindre kända områden. Neava AB har haft ett intresse att undersöka detta fall och skapa en lösning till problemet. Därför önskade de en prototyp för smarttelefoner som använder sig av Augmented Reality(AR). Denna rapport dokumenterar hela processen, från skapandet av utvecklingsplanen till utvecklingsprocessen, slutresultatet och diskussion. Rapporten kommer även visa gå igenom tidigare tillämpningar av AR i olika industrier och framtida tillämpningar. Slutprototypen blev ett litet program som låter användaren bli vägled från Punkt A till Punkt B med både en pil och ljusröd. Mellan dessa punkter finns det mellanpunkter som kopplar Punkt A till Punkt B. Användaren börjar med att bli vägled till den första mellanpunkten. När den har nåtts så trycker man på knappen och då vägleds man till nästa mellanpunkt, med pilen riktad åt den och ljudklipp som säger vilken riktning man ska ta. Denna process upprepas tills man har kommit till punkt B, då man trycker på knappen och textinformation dyker upp på skärmen. Rapporten kommer också undersöka pålitligheten hos GPS och gyroskop komponenten inom en smarttelefon. Undersökningen kommer att genomföras genom ett test då programmet startas och telefon är tagen från startposition, genom en specifik rutt, till en destination. Under tiden man rör sig mot destination, sparas tid och nuvarande koordinater varje sekund i en textfil. När man har nått destinationen, termineras programmet, åter-uppstartas och man rör tillbaks till startpositionen, samma process. All data från textfilen sedan visualieras och analyseras. Prototypen har en bra chans att bli en kommersiell produkt om det byggs på vidare. Det fanns flera funktioner och idéer som kunde inte implementeras i prototypen på grund av tid. Några av dessa funktioner var bättre visuell vägledning (rita en virtuell linje går från användaren till den kommande mellanpunkten). En annan idéer var att låta ljudspelningar och mål byta automatiskt när man når en mellanpunkt, istället för att användaren måste göra det manuellt. Resultatet från testerna för GPSen visar att den är stabil och pålitlig när de inte är påverkade av andra faktorer. Gyroskopen visade sig vara mindre pålitlig, men det kan lösa mig hjälp av mjukvara som rättar till den.

In the production industry, quality control is of importance. Even though today's tools provide a lot of functionality and safety to help the operators in their job, the operators still is responsible for the final quality of the parts. Today the nutrunners manufactured by Atlas Copco use their driver to detect the tightening angle. There- fore the operator can influence the tightening by turning the tool clockwise or counterclockwise during a tightening and quality cannot be assured that the bolt is tightened with a certain torque angle. The function of orientation tracking was de- sired to be evaluated for the Tensor STB angle and STB pistol tools manufactured by Atlas Copco. To be able to study the orientation of a nutrunner, practical exper- iments were introduced where an IMU sensor was fixed on a battery powered nutrunner. Sensor fusion in the form of a complementary filter was evaluated. The result states that the accelerometer could not be used to estimate the angular dis- placement of tightening due to vibration and gimbal lock and therefore a sensor fusion is not possible. The gyroscope by itself can be used to provide the angular displacement around every axis with high accuracy without taking into account the gimbal lock phenomena or external forces in the form of vibration of the tool. The gyroscope provided data with a probability to measure ±1° in future tightenings by 69,76%. The gyroscope provided data with high accuracy and stability and can be used in real world application and production for true angle functionality of the tools. / I produktionsindustrin är kvalitetskontroll av stor betydelse. Även om dagens verk- tyg innehåller mycket funktionalitet och säkerhet för att hjälpa operatörer i jobbet, är operatören fortfarande ansvarig för den slutliga kvaliteten. Idag använder Atlas Copcos skruvdragare motorns vridmoment för att göra den slutliga åtdragningen. Därav kan operatören påverka åtdragningen genom att vrida verktyget medurs el- ler moturs under en åtdragning och kvaliteten kan inte säkerställas att bulten dras med ett visst vridmoment. Funktion för rörelseavläsning var önskvärd att utvärde- ras för Tensor STB-vinkel- och STB-pistolverktygen tillverkade av Atlas Copco. För att kunna studera orienteringen hos en skruvdragare introducerades praktiska ex- periment där en IMU-sensor fixerades på en batteridriven skruvdragare. En Sen- sorfusion i form av ett komplementärt filter utvärderades. Resultaten visar att acce- lerometern inte kunde användas för att uppskatta vinkelförskjutningen av en åt- dragning på grund av vibration och gimballås och därav kan inte fusionen heller nyttjas. Gyroskopet i sig kan användas för att ge vinkelförskjutningen runt varje axel med hög noggrannhet utan att ta hänsyn till gimballåsfenomen eller yttre kraf- ter i form av vibration från verktyget. Gyroskopet gav data med en sannolikhet att mäta ± 1° i avvikelse från ett förbestämt värde i framtida åtdragningar med 69,76%. Vidare utvärdering av gyroskop och implementation av detta borde göras innan detta skulle anses kunna användas i en riktig applikation för rörelseavläsning un- der en åtdragning.

We consider two models which lead to the prediction of a weight change of gyroscopes depending on the rate of rotation: mass-energy equivalence and Weber's force for gravitation. We calculate the order of magnitude of this effect in both models and show that Weber's model predicts a weight change depending on the spin axis orientation resembling close similarities to observed Earth flyby anomalies. however, our predicted effect is much smaller than the observed effect, which could explain why flyby anomalies were not detected anymore in recent spracecraft trajectories.

In der vorliegenden Publikation wird ein Verfahren beschrieben, dass eine infrastrukturlose Positionierung im Inneren von Gebäuden ermöglicht. Unter infrastrukturlos wird in diesem Zusammenhang die autarke Positionierung eines Systems auf Basis seiner Inertialsensorik ohne den Einsatz von im Gebäude installierter Zusatzlösungen, wie Funksysteme, verstanden. Aufgrund der insbesondere über die Zeit erhöhten Fehlerbehaftung solcher Sensoren werden bei diesem Verfahren Innenraumkarten in den Lokalisierungsprozess einbezogen. Diese Kartendaten erlauben den Ausschluss invalider Positionen und Bewegungen, wie das Durchqueren von Wänden, und ermöglichen somit eine wesentliche Verbesserung der Ortungsgenauigkeit.

The goal of this project was to make a shirt with three embedded IMU sensors (Inertial Measurement Unit) that can measure a person’s movements throughout an entire workday. This can provide information about a person’s daily routine movements and aid in finding activities which can lead to work-related injuries in order to prevent them. The objective was hence to construct a sensor fusion framework that could retrieve the measurements from these three sensors and to create an estimate of the human body orientation and to estimate the angular movements of the arms. This was done using an extended Kalman filter which uses the accelerometer and magnetometer values to retrieve the direction of gravity and north respectively, thus providing a coordinate system that can be trusted in the long term. Since this method is sensitive to quick movements and magnetic disturbance, gyroscope measurements were used to help pick up quick movements. The gyroscope measurements need to be integrated in order to get the angle, which means that we get accumulated errors. This problem is reduced by the fact that we retrieve a correct long-term reference without accumulated errors from the accelerometer and magnetometer measurements. The Kalman filter estimates three quaternions describing the orientation of the upper body and the two arms. These quaternions were then translated into Euler angles in order to get a meaningful description of the orientations. The measurements were stored on a memory card or broadcast on both the local net and the Internet. These data were either used offline in Matlab or shown in real-time in the program Unity 3D. In the latter case the user could see that a movement gives rise to a corresponding movement on a skeleton model on the screen.

Thanks to the development in recent years, the placement of miniaturized sensors such as accelerometers, gyroscopes, magnetometers, global positioning system receivers (GPS), microphones or others to commercially sold smartphones is increasing. Use of these sensors (which are to be found in the smartphone) for human activity recognition with health care improvement in mind is a discussed theme. Advantages of the use of smartphone for human movement monitoring lies in the fact that it is a device that the person measured carries with them and there are no additional costs. The disadvantages are a limited storage and battery. Therefore, only accelerometer, gyroscope, magnetometer, and microphone were chosen because their combination achieves best results. GPS sensor was excluded for its lack of reliability in sampling and for being energy demanding. Features were computed from the measured data and used for learning of the classification model. The highest accuracy was achieved with the use of a machine learning method called Random Forest. The main goal of this work was to create an algorithm for transportation mode recognition using signals sensed by a smartphone. The created algorithm succeeds in classification of walk, car, bus, tram, train, and bike in 97.4 % with 20 % holdout validation. When tested on a new set of data from the tenth volunteer, the resulting accuracy counted as average form classification recall for each transportation mode reached 90.49 %.