Inertial Measurement Unit System Research Articles

Freehand 3D Ultrasound Imaging Based on Probe-mounted Vision and IMU System

ObjectivesFreehand three-dimensional (3D) ultrasound (US) is of great significance for clinical diagnosis and treatment, it is often achieved with the aid of external devices (optical and/or electromagnetic, etc.) that monitor the location and orientation of the US probe. However, this external monitoring is often impacted by imaging environment such as optical occlusions and/or electromagnetic (EM) interference. MethodsTo address the above issues, we integrated a binocular camera and an inertial measurement unit (IMU) on a US probe. Subsequently, we built a tight coupling model utilizing the unscented Kalman algorithm based on Lie groups (UKF-LG), combining vision and inertial information to infer the probe's movement, through which the position and orientation of the US image frame are calculated. Finally, the volume data was reconstructed with the voxel-based hole-filling method. ResultsThe experiments including calibration experiments, tracking performance evaluation, phantom scans, and real scenarios scans have been conducted. The results show that the proposed system achieved the accumulated frame position error of 3.78 mm and the orientation error of 0.36° and reconstructed 3D US images with high quality in both phantom and real scenarios. ConclusionsThe proposed method has been demonstrated to enhance the robustness and effectiveness of freehand 3D US. Follow-up research will focus on improving the accuracy and stability of multi-sensor fusion to make the system more practical in clinical environments.

Comparability between wearable inertial sensors and an electronic walkway for spatiotemporal and relative phase data in young children aged 6–11 years

BackgroundApproaches to gait analysis are evolving rapidly and now include a wide range of options: from e-patches to video platforms to wearable inertial measurement unit systems. Newer options for gait analysis are generally more inclusive for the assessment of children, more cost effective and easier to administer. However, there is limited data on the comparability of newer systems with more established traditional approaches in young children. Research questionTo determine comparability between the Physilog®5 wearable inertial sensor and GAITRite® electronic walkway for spatiotemporal (stride length, time and velocity, cadence) and relative phase (double support time, stance, swing, loading, foot flat and push off) data in young children. MethodsA total 34 typically developing participants (41% female) aged 6–11 years old median age 8.99 years old (interquartile range 2.83) were assessed walking at self-selected speed over the GAITRite® electronic walkway while concurrently wearing shoe-attached Physilog®5 IMU sensors. Level of agreement was analysed by Lin’s concordance correlation coefficient (CCC), Bland-Altman plots and 95% limit of agreement. Systematic bias was assessed using 95% confidence interval of the mean difference. ResultsExcellent to almost perfect agreement was observed between systems for spatiotemporal metrics: cadence (CCC=0.996), stride length (CCC=0.993), stride time (CCC=0.996), stride velocity (CCC=0.988). The relative phase metrics adjusted for stride velocity showed improved comparability when compared to the unadjusted metrics: swing adjusted (adj) (CCC=0.635); stance adj (CCC: 0.879); loading adj: (CCC=0.626). SignificanceSpatiotemporal metrics are highly compatible across GAITRite® electronic walkway and Physilog®5 IMU systems in young children. Relative phase metrics were somewhat compatible between systems when adjusted for stride velocity.

Objective movement asymmetry in horses is comparable between markerless technology and sensor-based systems.

A markerless artificial intelligence (AI) system for lameness detection has recently become available but has not been extensively compared with commonly used inertial measurement unit (IMU) systems for detecting asymmetry under field conditions. Comparison of classification of asymmetric limbs under field conditions and comparison of normalised asymmetry data using a markerless AI system (SleipAI; recorded on a tripod mounted iPhone 14pro [SL]); the Equinosis Q Lameness Locator (LL); the EquiMoves (EM); and subjective evaluation (SE). Descriptive clinical study. Straight line trot data were collected from 52 client-owned horses in regular training. Limbs were categorised as symmetric or asymmetric. Number of analysed strides were compared with Wilcoxon's each pairs test. Inter-rater reliability in classification of asymmetric limbs was assessed with Light's Kappa. Bland Altman analysis of normalised asymmetry data was performed. Data from 41 horses were included. Most horses showed mild asymmetry. The EM analysed significantly more strides than the other systems, both for forelimbs and for hindlimbs (53 ± 11 strides for both, respectively; p < 0.006). The LL analysed significantly more hindlimbs strides (45 ± 13) than the SL (27 ± 6; p < 0.001). Moderate inter-rater agreement for asymmetry classification was found between systems (k = 0.59 forelimbs; 0.44 hindlimbs); agreement decreased when including the SE. For the normalised asymmetry data, the strongest agreement was found between the two IMU systems. Horses were assessed during straight-line trot only. The objective systems were comparable in classification of asymmetric limbs under field conditions when using defined asymmetry thresholds. Discrepancies stemmed largely from the imposed thresholds (i.e., systems largely identified same-side asymmetry). Overall, the strongest agreement was found between LL and EM. The SL analysed significantly fewer hindlimb strides than the LL and EM which could represent a limitation of the Sleip AI.

Objective Assessment of Equine Locomotor Symmetry Using an Inertial Sensor System and Artificial Intelligence: A Comparative Study.

In horses, quantitative assessment of gait parameters, as with the use of inertial measurement units (IMUs) systems, might help in the decision-making process. However, it requires financial investment, is time-consuming, and lacks accuracy if displaced. An innovative artificial intelligence marker-less motion tracking system (AI-MTS) may overcome these limitations in the field. Our aim was to compare the level of agreement and accuracy between both systems and visual clinical assessment. Twenty horses underwent locomotion analysis by visual assessment, IMUs, and AI-MTS systems, under the following conditions: straight hard (SH), straight soft (SS), left and right circle hard (LCH, RCH), and soft (LCS, RCS). A greater number of horses were considered sound by clinical examination, compared to those identified as symmetric by the two gait analysis systems. More limbs were considered asymmetric by the AI-MTS compared to IMUs, suggesting its greater sensitivity. The greatest agreement between the two systems was found for the difference between two minima in vertical head position in SH, while the lowest for the difference between two minima in vertical pelvis position in SS, reflecting the difficulties in assessing asymmetry of the hindlimbs. It is unknown what degree of asymmetry is clinically relevant, suggesting that more consistent use in training horses may help determine the thresholds for asymmetry. Some degree of asymmetry may be clinically relevant, suggesting its regular use in training horses.

Validation of LEOMO inertial measurement unit sensors with marker-based three-dimensional motion capture during maximum sprinting in track cyclists

ABSTRACT LEOMO™ is a commercial inertial measurement unit system that provides cycling-specific motion performance indicators (MPIs) and offers a mobile solution for monitoring cyclists. We aimed to validate the LEOMO sensors during sprint cycling using gold-standard marker-based three-dimensional (3D) motion technology (Qualisys, AB). Our secondary aim was to explore the relationship between peak power during sprints and MPIs. Seventeen elite track cyclists performed 3 × 15s seated start maximum efforts on a cycle ergometer. Based on intraclass correlation coefficient (ICC3,1), the MPIs derived from 3D and LEOMO showed moderate agreement (0.50 < 0.75) for the right foot angular range (FAR); left foot angular range first quadrant (FARQ1); right leg angular range (LAR); and mean angle of the pelvis in the sagittal plane. Agreement was poor (ICC < 0.50) between MPIs derived from 3D and LEOMO for the left FAR, right FARQ1, left LAR, and mean range of motion of the pelvis in the frontal and transverse planes. Only one LEOMO-derived (pelvic rotation) and two 3D-derived (right FARQ1 and FAR) MPIs showed large positive significant correlations with peak power. Caution is advised regarding use of the LEOMO for short maximal cycling efforts and derived MPIs to inform peak sprint cycling power production.

Smartphone-based Vision/MEMS-IMU/GNSS tightly coupled seamless positioning using factor graph optimization

With the diversification of functionalities and enhancement of performance in smartphones, low-cost GNSS chips, Micro-Electro-Mechanical System (MEMS) inertial measurement units (IMU), and cameras have become essential hardware components. Moreover, the computational power provided by smartphones for data processing has also become more robust. The fusion of multiple sensors in smartphones for positioning has emerged as a trend. In order to further enhance the positioning performance of smartphones in complex environments, this paper proposes a smartphone-based Vision/MEMS-IMU/GNSS tightly coupled integration for indoor-outdoor seamless positioning. Factor graph optimization is employed to combine observations from monocular vision, MEMS-IMU, and GNSS. To solve the unstable timing of current smartphone sensors, we present a GNSS-to-VIO time synchronization method. Furthermore, an adaptive positioning mechanism is devised based on the presence or absence of GNSS signals, allowing indoor and outdoor environment to switch. The proposed method is validated by integrating smartphone VIO with both smartphone built-in GNSS and high-performance geodetic GNSS receivers. The test results of the complex outdoor environments demonstrate that the proposed method significantly enhances GNSS positioning performance. The positioning accuracy of the proposed method using geodetic GNSS receiver is superior to that using smartphone GNSS. In outdoor environments, our method enables positioning accuracy of smartphone to improve 29.4, 53.0 and 69.9 % in three directions compared to single point positioning. Indoor and outdoor tests verified that the proposed method can provide continuous and reliable positioning in alternating interrupted and restored GNSS signals.

Research on the technology of intelligent vehicle sensor positioning system in autonomous driving

In this comprehensive exploration of positioning and navigation technologies, we have delved into the intricacies of GPS (Global Positioning System), IMU (Inertial Measurement Unit), and VPS (Visual Positioning Systems) systems, shedding light on their unique attributes and applications. GPS, a global satellite-based system, offers precise positioning on a worldwide scale, although it encounters challenges in complex urban and environmental conditions. Its role in navigation and tracking is undeniable. IMU, characterized by accelerometers and gyroscopes, excels in delivering high-precision positioning over short durations, making it invaluable for applications in aviation, robotics, and virtual reality. However, it is susceptible to drift over time. Visual Positioning Systems (VPS), harnessing computer vision and visual sensors, provide remarkable sub-meter to centimeter-level accuracy when conditions are optimal. Their significance is particularly pronounced in indoor navigation, augmented reality, and robotics, although they may face challenges in less favorable environments. These technologies are not isolated but can synergize to enhance accuracy and reliability. GPS and IMU collaborate to compensate for signal disruptions, while GPS and VPS join forces to tackle urban complexities. IMU and VPS integration offer precise indoor navigation and augmented reality experiences, delivering impeccable positioning and orientation data. Ultimately, the choice of technology hinges on specific application requirements, encompassing accuracy, environmental considerations, cost factors, and the need for complementary systems. As these technologies advance, they hold the promise of revolutionizing navigation across various domains, from autonomous vehicles to immersive augmented reality environments.

Obesity-Specific Considerations for Assessing Gait with Inertial Measurement Unit-Based vs. Optokinetic Motion Capture.

Adults with obesity experience high rates of disability and rapid functional decline. Identifying movement dysfunction early can direct intervention and disrupt disability development; however, subtle changes in movement are difficult to detect with the naked eye. This study evaluated how a portable, inertial measurement unit (IMU)-based motion capture system compares to a laboratory-based optokinetic motion capture (OMC) system for evaluating gait kinematics in adults with obesity. Ten adults with obesity performed overground walking while equipped with the OMC and IMU systems. Fifteen gait cycles for each participant were extracted for the 150 total cycles analyzed. Kinematics were compared between OMC and IMU across the gait cycles (coefficient of multiple correlations), at clinically significant time points (interclass correlations), and over clinically relevant ranges (Bland-Altman plots). Sagittal plane kinematics were most similar between systems, especially at the knee. Sagittal plane joint angles at clinically meaningful timepoints were poorly associated except for ankle dorsiflexion at heel strike (ρ = 0.38) and minimum angle (ρ = 0.83). All motions except for ankle dorsiflexion and hip abduction had >5° difference between systems across the range of angles measured. While IMU-based motion capture shows promise for detecting subtle gait changes in adults with obesity, more work is needed before this method can replace traditional OMC. Future work should explore standardization procedures to improve consistency of IMU motion capture performance.

Age and beta amyloid deposition impact gait speed, stride length, and gait smoothness while transitioning from an even to an uneven walking surface in older adults

BackgroundCapturing a measure of movement quality during a complex walking task may indicate the earliest signs of detrimental changes to the brain due to beta amyloid (Aβ) deposition and be a potential differentiator of older adults at elevated and low risk of developing Alzheimer's disease. This study aimed to determine: 1) age-related differences in gait speed, stride length, and gait smoothness while transitioning from an even to an uneven walking surface, by comparing young adults (YA) and older adults (OA), and 2) if gait speed, stride length, and gait smoothness in OA while transitioning from an even to an uneven walking surface is influenced by the amount of Aβ deposition present in an OA's brain. MethodsParticipants included 56 OA (>70 years of age) and 29 YA (25–35 years of age). In OA, Aβ deposition in the brain was quantified by PET imaging. All participants completed a series of cognitive assessments, a functional mobility assessment, and self-report questionnaires. Then participants performed two sets of walking trials on a custom-built walkway containing a mixture of even and uneven surface sections, including three trials with a grass uneven surface and three trials with a rocks uneven surface. Gait data were recorded using a wireless inertial measurement unit system. Stride length, gait speed, and gait smoothness (i.e., log dimensionless lumbar jerk) in the anteroposterior (AP), mediolateral (ML), and vertical (VT) directions were calculated for each stride. Outcomes were retained for five stride locations immediately surrounding the surface transition. ResultsOA exhibited slower gait (Grass: p < 0.001; Rocks: p = 0.006), shorter strides (Grass: p < 0.001; Rocks: p = 0.008), and smoother gait (Grass AP: p < 0.001; Rocks AP: p = 0.002; Rocks ML: p = 0.02) than YA, but they also exhibited greater reductions in gait speed and stride length than YA while transitioning to the uneven grass and rocks surfaces. Within the OA group, those with greater Aβ deposition exhibited decreases in smoothness with age (Grass AP: p = 0.02; Rocks AP: p = 0.03; Grass ML: p = 0.04; Rocks ML: p = 0.03), while those with lower Aβ deposition exhibited increasing smoothness with age (Grass AP: p = 0.01; Rocks AP: p = 0.02; Grass ML: p = 0.08; Rocks ML: p = 0.07). Better functional mobility was associated with less smooth gait (Grass ML: p = 0.02; Rocks ML: p = 0.05) and with less variable gait smoothness (Grass and Rocks AP: both p = 0.04) in the OA group. ConclusionThese results suggest that, relative to YA, OA may be adopting more cautious, compensatory gait strategies to maintain smoothness when approaching surface transitions. However, OA with greater Aβ deposition may have limited ability to adopt compensatory gait strategies to increase the smoothness of their walking as they get older because of neuropathological changes altering the sensory integration process and causing worse dynamic balance (i.e., jerkier gait). Functional mobility, in addition to age and Aβ deposition, may be an important factor of whether or not an OA chooses to employ compensatory strategies to prioritize smoothness while walking and what type of compensatory strategy an OA chooses.

The difference in the relationship of spinal sagittal alignment between individuals with flat lumbar and normal lordosis posture based on global and regional angles.

According to previous studies, the relationship between lumbar lordosis and thoracic kyphosis or that between pelvic parameters and thoracic kyphosis have been inconsistent. The purpose of this study was to investigate spinal sagittal alignment and its relationship to global and regional lumbar and thoracic angles, pelvic and sway angles, and C7-S1 distance measurements, followed by a detailed subgroup analysis using an inertial measurement unit system. A total of 51 asymptomatic volunteers stood in a comfortable posture with inertial measurement units attached to the T1, T7, T12, L3, and S2 vertebrae. T1, T7, T12, L3, and S2 sagittal angles were acquired during standing posture using the Eulerian angle coordinate system. All angles are reported as the mean of three 5-s measurements. Following the measurement of lumbar lordosis angles (T12 relative S2), participants were divided into the flat lumbar and normal lordosis groups. There were different correlation patterns between groups because of spinal sagittal imbalance, which was greater in the flat lumbar group than in the normal lordosis group. In addition, sacral inclination proved the ideal parameter to evaluate reciprocal balance in lumbar lordosis, showing a stronger correlation with lower than with upper lumbar lordosis. T1 was the key element in assessing thoracic kyphosis, which showed a stronger correlation with upper than with lower thoracic kyphosis. We suggest that when assessing posture, it is necessary to identify the global and regional angles and it is useful to classify spinal sagittal alignment into subgroups according to lumbar lordosis and evaluate the groups separately.

Accuracy validation of a wearable IMU-based gait analysis in healthy female

ObjectiveThe aim of this study was to assess the accuracy and test-retest reliability of a wearable inertial measurement unit (IMU) system for gait analysis in healthy female compared to a gold-standard optoelectronic motion capture (OMC) system.MethodsIn our study, we collected data from 5 healthy young females. Participants were attached with markers from both the OMC system and the IMU system simultaneously. Data was collected when participants walked on a 7 m walking path. Each participant performed 50 repetitions of walking on the path. To ensure the collection of complete gait cycle data, a gait cycle was considered valid only if the participant passed through the center of the walking path at the same time that the OMC system detected a valid marker signal. As a result, 5 gait cycles that met the standards of the OMC system were included in the final analysis. The stride length, cadence, velocity, stance phase and swing phase of the spatio-temporal parameters were included in the analysis. A generalized linear mixture model was used to assess the repeatability of the two systems. The Wilcoxon rank-sum test for continuous variables was used to compare the mean differences between the two systems. For evaluating the reliability of the IMU system, we calculated the Intra-class Correlation Coefficient (ICC). Additionally, Bland-Altman plots were used to compare the levels of agreement between the two systems.ResultsThe measurements of Spatio-temporal parameters, including the stance phase (P = 0.78, 0.13, L-R), swing phase (P = 0.78, 0.13, L-R), velocity (P = 0.14, 0.13, L-R), cadence (P = 0.53, 0.22, L-R), stride length (P = 0.05, 0.19, L-R), by the IMU system and OMC system were similar. Which suggested that IMU and OMC systems could be used interchangeably for gait measurements. The intra-rater reliability showed an excellent correlation for the stance phase, swing phase, velocity and cadence (Intraclass Correlation Coefficient, ICC > 0.9) for both systems. However, the correlation of stride length was poor (ICC = 0.36, P = 0.34, L) to medium (ICC = 0.56, P = 0.22, R). Additionally, the measurements of IMU systems were repeatable.ConclusionsThe results of IMU system and OMC system shown good repeatability. Wearable IMU system could analyze gait data accurately. In particular, the measurement of stance phase, swing phase, velocity and cadence showed excellent reliability. IMU system provided an alternative measurement to OMC for gait analysis. However, the measurement of stride length by IMU needs further consideration.

UI-MoCap: An Integrated UWB-IMU Circuit Enables 3D Positioning and Enhances IMU Data Transmission.

While inertial measurement unit (IMU)-based motion capture (MoCap) systems have been gaining popularity for human movement analysis, they still suffer from long-term positioning errors due to accumulated drift and inefficient data transmission via Wi-Fi or Bluetooth. To address this problem, this study introduces an integrated ultrawideband (UWB)-IMU system, named UI-MoCap, designed for simultaneous 3D positioning as well as wireless IMU data transmission through UWB pulses. The UI-MoCap comprises mobile UWB tags and hardware-synchronized UWB base stations. Each UWB tag, a compact circular PCB with a 3.4cm diameter, houses a nine-axis IMU unit and a UWB transceiver for data transmission. The base stations are equipped with a UWB transceiver and an Ethernet controller, ensuring efficient reception and management of messages from multiple tags. Experiments were conducted to evaluate the system's validity and reliability of 3D positioning and IMU data transmission. The results demonstrate that UI-MoCap achieves centimeter-level 3D positioning accuracy and maintains consistent positioning performance over time. Moreover, UI-MoCap exhibits high update rates and a minimal packet loss rate for IMU data transmission, significantly outperforming Wi-Fi-based transmission techniques. Future work will explore the fusion of UWB and IMU technologies to further enhance positioning performance, with a focus on human movement analysis and rehabilitation applications.

Using wearable technology data to explain recreational running injury: A prospective longitudinal feasibility study

ObjectivesInvestigate 1) if collecting and analysing wristwatch inertial measurement unit (IMU) and global positioning system (GPS) data using a commercially-available training platform was feasible in recreational runners and 2) which variables were associated with subsequent injury. DesignProspective longitudinal cohort. ParticipantsHealthy recreational runners. Main outcome measuresWe set a priori feasibility thresholds for recruitment (maximum six-months), acceptance (minimum 80%), adherence (minimum 70%), and data collection (minimum 80%). Participants completed three patient-reported outcome measures (PROMS) detailing their psychological health, sleep quality, and intrinsic motivation to run. We extracted baseline anthropometric, biomechanical, metabolic, and training load data from their IMU/GPS wristwatch for analysis. Participants completed a weekly injury status surveillance questionnaire over the next 12-weeks. Feasibility outcomes were analysed descriptively and injured versus non-injured group differences with 95% confidence intervals were calculated for PROM/IMU/GPS data. Results149 participants consented; 86 participants completed (55 men, 31 women); 21 developed an injury (0.46 injuries/1000km). Feasibility outcomes were satisfied (recruitment = 47 days; acceptance = 133/149 [89%]; adherence = 93/133 [70%]; data collection = 86/93 [92%]). Acute load by calculated effort was associated with subsequent injury (mean difference −562.14, 95% CI -1019.42, −21.53). ConclusionCollecting and analysing wristwatch IMU/GPS data using a commercially-available training platform was feasible in recreational runners.

GAIT PARAMETERS IN OLDER BREAST CANCER SURVIVORS WITH PERSISTENT CHEMOTHERAPY-INDUCED PERIPHERAL NEUROPATHY

Abstract Chemotherapy-induced peripheral neuropathy (CIPN) results from chemotherapy for breast cancer treatment. CIPN symptoms persist causing significant loss of functional abilities and increased risk of falls. This study aimed to assess the spatiotemporal gait parameters in breast cancer survivors with CIPIN using an IMU system. We hypothesized that spatiotemporal gait parameters will differ between patients with persistent CIPN as compared to normative values. Thirty-two women who completed taxane-based chemotherapy for breast cancer and who have symptomatic neuropathy &amp;gt;6 months following completion of chemotherapy. Gait was assessed using seven Inertial Measurement Unit (IMU) sensors positioned at the sacrum, upper and lower leg, and foot. Participants completed a 2-minute walk at a comfortable walking pace. The outcome variables assessed included gait speed, single limb support, stride length, gait cycle time, stance percent, swing percent, double support percent, and cadence. Mean age 65(10) years, gait speed was 0.95(0.2) meters/second, single limb support 37.9(2.2) % of gait cycle, stride length 1.1(0.2) meters, gait cycle time 1.2(0.1) seconds, stance percent 62.1(2.2)% GC, swing percent 37.9(2.2)% GC, double support percent 23.9(4.3)% GC, and cadence 104.6(12.3) steps/min. Gait parameters assessed in this study showed an excellent test-retest reliability (r &amp;gt;0.86; ICC &amp;gt; 0.90). This is the first study to assess gait parameters in older breast cancer survivors with CIPN. Breast cancer survivors with CIPN showed reductions in all gait parameters. Reduced gait speed and stride length are critical indicators of fall risk for women with CIPN. Our study confirmed differences in spatiotemporal parameters between patients with persistent CIPN.

Validation of algorithms for calculating spatiotemporal gait parameters during continuous turning using lumbar and foot mounted inertial measurement units

Spatiotemporal gait parameters such as step time and walking speed can be used to quantify gait performance and determine physical function. Inertial measurement units (IMUs) allow for the measurement of spatiotemporal gait parameters in unconstrained environments but must be validated against a gold standard.While many IMU systems and algorithms have been validated during treadmill walking and overground walking in a straight line, fewer studies have validated algorithms during more complex walking conditions such as continuous turning in different directions.This study explored the concurrent validity in a population of healthy adults (range 26–52 years) of three different algorithms using lumbar and foot mounted IMUs to calculate spatiotemporal gait parameters: two methods utilizing an inverted pendulum model, and one method based on strapdown integration. IMU data was compared to a Vicon twelve-camera optoelectronic system, using data collected from 9 participants performing straight walking and continuous walking trials at different speeds, resulting in 162 walking trials in total. Intraclass correlation coefficients (ICCA,1) for absolute agreement were calculated between the algorithm outputs and Vicon output.Temporal parameters were comparable in all methods and ranged from moderate to excellent, except double support time which was poor. Strapdown integration performed better for estimating spatial parameters than pendulum models during straight walking, but worse during turning. Selecting the most appropriate model should take into consideration both speed and walking condition.

ANALYSIS OF EXTERIOR ORIENTATION PARAMETERS ON MONOPLOTTING PROCEDURE FOR AVOIDING OBSTACLES IN UAV REAL-TIME ROUTING

Abstract. Unmanned Aerial Vehicles (UAVs) are adopted in different applications, such as mapping, logistics, and surveillance. For some applications, it is important to identify people or objects to be tracked in the image and define their coordinates in the object space. It can be done by using a photogrammetric process called Monoplotting. Moreover, by applying the Propagation of Variance and Covariance, the standard deviation from planimetric coordinates can be defined as an Exterior Orientation Parameter (EOP) function. This work evaluates the planimetric accuracy achieved using points defined in UAV images and the impact of EOPs precision. Two UAV images, the Digitals Surface Model (DSM) from the corresponding areas, the EOPs (X0, Y0, Z0, ω, φ, κ), and the platform/sensors characteristics were used for the experiments. Results showed that planimetric precision is low when using UAVs with a low-cost positioning system, especially if the points of interest in the image are far from the nadir. For UAVs with a high-precision positioning system, Inertial Measurement Unit (IMU) system is the one with a higher influence on the accuracy of planimetric coordinates, especially for oblique photographs (essential for UAV routing when avoiding obstacles). The impact of the IMU system precision increases in oblique photographs, this alerts to attention for UAV flight real-time routing guided by obstacles mapping using images.

Validity of Inertial Measurement Units to Measure Lower-Limb Kinematics and Pelvic Orientation at Submaximal and Maximal Effort Running Speeds

Inertial measurement units (IMUs) have been validated for measuring sagittal plane lower-limb kinematics during moderate-speed running, but their accuracy at maximal speeds remains less understood. This study aimed to assess IMU measurement accuracy during high-speed running and maximal effort sprinting on a curved non-motorized treadmill using discrete (Bland–Altman analysis) and continuous (root mean square error [RMSE], normalised RMSE, Pearson correlation, and statistical parametric mapping analysis [SPM]) metrics. The hip, knee, and ankle flexions and the pelvic orientation (tilt, obliquity, and rotation) were captured concurrently from both IMU and optical motion capture systems, as 20 participants ran steadily at 70%, 80%, 90%, and 100% of their maximal effort sprinting speed (5.36 ± 0.55, 6.02 ± 0.60, 6.66 ± 0.71, and 7.09 ± 0.73 m/s, respectively). Bland–Altman analysis indicated a systematic bias within ±1° for the peak pelvic tilt, rotation, and lower-limb kinematics and −3.3° to −4.1° for the pelvic obliquity. The SPM analysis demonstrated a good agreement in the hip and knee flexion angles for most phases of the stride cycle, albeit with significant differences noted around the ipsilateral toe-off. The RMSE ranged from 4.3° (pelvic obliquity at 70% speed) to 7.8° (hip flexion at 100% speed). Correlation coefficients ranged from 0.44 (pelvic tilt at 90%) to 0.99 (hip and knee flexions at all speeds). Running speed minimally but significantly affected the RMSE for the hip and ankle flexions. The present IMU system is effective for measuring lower-limb kinematics during sprinting, but the pelvic orientation estimation was less accurate.

The Improved Method for Indoor 3D Pedestrian Positioning Based on Dual Foot-Mounted IMU System.

Micro-Electro-Mechanical System (MEMS) inertial sensors, characterized by their small size, low cost, and low power consumption, are commonly used in foot-mounted wearable pedestrian autonomous positioning systems. However, they also have drawbacks such as heading drift and poor repeatability. To address these issues, this paper proposes an improved pedestrian autonomous 3D positioning algorithm based on dual-foot motion characteristic constraints. Two sets of small-sized Inertial Measurement Units (IMU) are worn on the left and right feet of pedestrians to form an autonomous positioning system, each integrated with low-cost, low-power micro-inertial sensor chips. On the one hand, an improved adaptive zero-velocity detection algorithm is employed to enhance discrimination accuracy under different step-speed conditions. On the other hand, considering the dual-foot gait characteristics and the height difference feature during stair ascent and descent, horizontal position update algorithms based on dual-foot motion trajectory constraints and height update algorithms based on dual-foot height differences are, respectively, designed. These algorithms aim to re-correct the pedestrian position information updated at zero velocity in both horizontal and vertical directions. The experimental results indicate that in a laboratory environment, the 3D positioning error is reduced by 93.9% compared to unconstrained conditions. Simultaneously, the proposed approach enhances the accuracy, continuity, and repeatability of the foot-mounted IMU positioning system without the need for additional power consumption.

Utilizing EEG Signal Data and Motion to Aid in Prosthetic Hand Motion

Current prosthetic arm technologies are often difficult to use intuitively by amputees, require invasive surgical procedures, and can be extremely costly with prices ranging from $20,000 to $80,000. To address these challenges, the engineering goal of this project aims to design a smart, low-cost, mind-controlled transhumeral prosthesis by integrating the brain-interfacing capabilities of electroencephalography (EEG), the economical means of 3D printing technology, and gesture-detecting attributes of an accelerometer-gyroscope. Single-channel brain signals are transmitted through Bluetooth to be interpreted by a novel EEG decoding algorithm and head gestures from the inertial measurement unit actuate movement within the arm. Force sensitive resistors were employed to regulate force control in real-time to optimize grasp type. An LCD screen is integrated within the arm’s design to display the type of touch it is exerting on an object. The arm itself was printed with an original design utilizing PLA plastic filament making it extremely durable and lightweight. After thoroughly testing the prosthesis, the novel EEG decoding system boasts an accuracy of 94.7% and a user cognition to machine delay of 1.64 + - 0.37 seconds. The inertial measurement unit system recognizes user gestures with a delay of .136 seconds. With a bill of materials approximately $375 USD and ability to be moved in 4 degrees of motion, this novel upper limb prosthesis serves as a promising alternative to existing units on the market. The algorithms developed within this project have a wide range of use within other brain control interface projects.

Particle trajectories, velocities, accelerations and rotation rates in snow avalanches

Abstract Understanding the dynamics of snow avalanches is crucial for predicting their destructive potential and mobility. To gain insight into avalanche dynamics at a particle level, the AvaNode in-flow sensor system was developed. These synthetic particles, equipped with advanced and affordable sensors such as an inertial measurement unit (IMU) and global navigation satellite system (GNSS), travel with the avalanche flow. This study focuses on assessing the feasibility of the in-flow measurement systems. The experiments were conducted during the winter seasons of 2021–2023, both in static snow cover and dynamic avalanche conditions of medium-sized events. Radar measurements were used in conjunction with the particle trajectories and velocities to understand the behaviour of the entire avalanche flow. The dynamic avalanche experiments allowed to identify three distinct particle flow states: (I) initial rapid acceleration, (II) a steady state flow with the highest velocities (9–17 ms−1), and (III) a longer deceleration state accompanied by the largest measured rotation rates. The particles tend to travel towards the tail of the avalanche and reach lower velocities compared to the frontal approach velocities deduced from radar measurements (ranging between 23–28 ms−1). The presented data give a first insight in avalanche particle measurements.