PPT-Kalman Filtering ECE 383 / MEMS 442: Introduction to Robotics

Kris Hauser Agenda Introduction to sensing and state estimation Continuous probability distributions The G aussian distribution Kalman filtering and extension Reading Principles Ch 9. By Dave Brennan. Advisors: Dr. Shannon . Timpe. , Dr. Prasad . Shastry. Introduction . Part 1) Quick MEMS introduction. Part 2) Capacitive Sensing. Part 3) Goal. MEMS background. Microelectrical mechanical systems (USA), Microsystems Technology (Europe), Micromachines, Japan…etc. www.controltrix.com. Accelerometers (acc) measure acceleration. Gyroscopes (gyro) measure angular velocity. Integrated MEMS may have 3 axis gyro + 3 axis acc. MEMS have low cost compared to other types of gyro /acc . Tim Stucchi . Sensera. Operations Manager. 2. MEMS?. . M. icro-. E. lectro-. M. echanical-. S. ystems. A technique of fabricating Electrical and Mechanical elements on a. chip with miniature dimensions. . Nov 11, 2009. Seismic Instrumentation Technology Symposium. B. John Merchant. Technical Staff. Sandia National Laboratories. Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,. EE 4611. Mark Anderson. 4/22/2015. Abstract:. This report introduces MEMS and general classifications of MEMS. Examples of MEMS devices, sensors, and applications will be . given. . along with a look at the past and a glimpse into the future of MEMS. . LabView . and . Arduino (. DUE . 1400470). Ivy . Tech, Northeast – Engineering, Andrew Bell. Abstract . (. simplified) . – Describe three new MEMS courses that build on SCME MEMS material using LabView and Arduino. Each of the courses will be taught and developed this summer over a 12 week period. This poster will describe the overall course content, teaching methodology and use of technology to teach MEMS. Three teaching styles will be used: (CA) classical approach (lecture, lab and quizzes) with use of multimedia material, (DB) discovery based with focus on labs and hands-on learning, and (IBL) incremental with blended lecture and discovery based learning. Our goal is to determine whether these courses can be taught online. . Kalman Filtering. By: Aaron . Dyreson. (aaron.dyreson@mavs.uta.edu). Supervising Professor: Dr. . Ioannis. . Schizas. (schizas@uta.edu). Introduction. Topic of Research: The performance of different distributed Kalman Filtering Algorithms in wireless sensor networks. 3.2 . Faddeev’s. algorithm mapped onto Systolic. array [8]. 2.4 Reconfigurable Architectures. During . run-time the system model or requirements may change due to . sensor/actuator failure. , environment changes, or at scheduled times. . Filter. Presenter: . Yufan. Liu. yliu33@kent.edu. November 17th, 2011. 1. Outline. Background. Definition. Applications. Processes. Example. Conclusion. 2. Low and high pass filters. Low pass filter allows passing low frequency signals. It can be used to filter out the gravity. . MEMs Sensors. Hand-held Devices. Automotive Industry. Aerospace Industry. Medical Applications. Types Of Sensors. Inertial Sensors. Gyroscopes. Accelerometers. Compass Sensor. Pressure Sensor. Microphone. . Nov 11, 2009. Seismic Instrumentation Technology Symposium. B. John Merchant. Technical Staff. Sandia National Laboratories. Sandia is a multiprogram laboratory operated by Sandia Corporation, a Lockheed Martin Company,. Micro/Nano Electromechanical Systems. Liaison Report. February . 2017. About SEMI Standards. Established in 1973. Experts from the microelectronic, display, photovoltaic, and related industries. Exchange ideas and develop globally-accepted technical standards. Zeeshan. Ali . Sayyed. What is State Estimation?. We need to estimate the state of not just the robot itself, but also of objects which are moving in the robot’s environment.. For instance, other cars, people, . Overview. Introduction. Purpose. Implementation. Simple Example Problem. Extended . Kalman. Filters. Conclusion. Real World Examples. Introduction. Optimal Estimator. Recursive Computation. Good when noise follows Gaussian distribution.