Pub Date : 2019-10-31DOI: 10.1109/NSENS49395.2019.9293998
Yingjiao Rong, Yentze Ko, Xinan Wang, G. Shi
Mobile robots have broad application prospects in military, industrial, agricultural, commercial, transportation, and logistics fields. The core problem of mobile robot lies in the autonomous navigation ability of mobile robot. Inertial navigation system based on MEMS sensor is one of the research hotspots in the field of inertial navigation in recent years and one of the main research directions in the future. Aiming at the positioning of the mobile robot, this paper adopts the magnetometer assisted inertial navigation system, the navigation system consisting of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer. The heading is calculated with three sensors, the velocity error is compensated, and calculate the position. In this paper, an Extended Kalman Filter for mobile robot navigation system is proposed to improve the position accuracy of the navigation system. Experiments are carried out to verify and analyze the filter with the experimental results.
{"title":"Algorithm Research of Magnetometer Assisted Inertial Navigation System for Mobile Robots","authors":"Yingjiao Rong, Yentze Ko, Xinan Wang, G. Shi","doi":"10.1109/NSENS49395.2019.9293998","DOIUrl":"https://doi.org/10.1109/NSENS49395.2019.9293998","url":null,"abstract":"Mobile robots have broad application prospects in military, industrial, agricultural, commercial, transportation, and logistics fields. The core problem of mobile robot lies in the autonomous navigation ability of mobile robot. Inertial navigation system based on MEMS sensor is one of the research hotspots in the field of inertial navigation in recent years and one of the main research directions in the future. Aiming at the positioning of the mobile robot, this paper adopts the magnetometer assisted inertial navigation system, the navigation system consisting of a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer. The heading is calculated with three sensors, the velocity error is compensated, and calculate the position. In this paper, an Extended Kalman Filter for mobile robot navigation system is proposed to improve the position accuracy of the navigation system. Experiments are carried out to verify and analyze the filter with the experimental results.","PeriodicalId":246485,"journal":{"name":"2019 IEEE THE 2nd INTERNATIONAL CONFERENCE ON MICRO/NANO SENSORS for AI, HEALTHCARE, AND ROBOTICS (NSENS)","volume":"119 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125252129","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-31DOI: 10.1109/NSENS49395.2019.9293990
Kaiming Xu, Yuyu Lai, Xiaodong Geng, Zhan Shu, G. Shi
A high dynamic attitude solution and calculation system for vehicle motion, which combines a three-axis gyroscope with a three-axis accelerometer and a speedometer for the measurement and calculation of vehicle navigation information. For the attitude algorithm in the motion state, an Extended Kalman filtering algorithm based on the quaternion is proposed. The gyroscope attitude quaternion is used as the state amount of the Extended Kalman filtering algorithm through transform methods of Euler angular and quaternion. The calculated attitude quaternion is used as observational measurement after the compensation of the accelerometer via the speedometer. The measurement of noise covariance matrix is used to correct it. The Kalman equation is established, and the attitude angle is solved by obtaining the high-precision attitude quaternion. The experimental results show that the algorithm effectively solves the disadvantages of low accuracy, high error, tendency to be easily affected by motion acceleration, and improves the accuracy of high dynamic vehicle inertial navigation system.
{"title":"High Dynamic Vehicle Attitude Algorithm Based on Multi-sensor Inertial Navigation System","authors":"Kaiming Xu, Yuyu Lai, Xiaodong Geng, Zhan Shu, G. Shi","doi":"10.1109/NSENS49395.2019.9293990","DOIUrl":"https://doi.org/10.1109/NSENS49395.2019.9293990","url":null,"abstract":"A high dynamic attitude solution and calculation system for vehicle motion, which combines a three-axis gyroscope with a three-axis accelerometer and a speedometer for the measurement and calculation of vehicle navigation information. For the attitude algorithm in the motion state, an Extended Kalman filtering algorithm based on the quaternion is proposed. The gyroscope attitude quaternion is used as the state amount of the Extended Kalman filtering algorithm through transform methods of Euler angular and quaternion. The calculated attitude quaternion is used as observational measurement after the compensation of the accelerometer via the speedometer. The measurement of noise covariance matrix is used to correct it. The Kalman equation is established, and the attitude angle is solved by obtaining the high-precision attitude quaternion. The experimental results show that the algorithm effectively solves the disadvantages of low accuracy, high error, tendency to be easily affected by motion acceleration, and improves the accuracy of high dynamic vehicle inertial navigation system.","PeriodicalId":246485,"journal":{"name":"2019 IEEE THE 2nd INTERNATIONAL CONFERENCE ON MICRO/NANO SENSORS for AI, HEALTHCARE, AND ROBOTICS (NSENS)","volume":"69 2 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126774542","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-31DOI: 10.1109/nsens49395.2019.9293997
{"title":"NSENS 2019 Index","authors":"","doi":"10.1109/nsens49395.2019.9293997","DOIUrl":"https://doi.org/10.1109/nsens49395.2019.9293997","url":null,"abstract":"","PeriodicalId":246485,"journal":{"name":"2019 IEEE THE 2nd INTERNATIONAL CONFERENCE ON MICRO/NANO SENSORS for AI, HEALTHCARE, AND ROBOTICS (NSENS)","volume":"170 ","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"131485249","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-31DOI: 10.1109/NSENS49395.2019.9293951
Xiao-Long Yu, Wenjiang Wu, Na Liu, Tao Yue, Yuanyuan Liu, Huayan Pu
Mechanical properties of cells have been recognized as a biomarker for indicating cellular cytoskeletal organization. On the reason that chemical treatments can lead to rearrangements of cell cytoskeletal, characterization of cellular mechanical properties can provides an insightful approach to evaluate the effects of chemical treatments on cancer cells. The appearance of atomic force microscope (AFM) provides a powerful tool for detecting the nanoscale physiological activity of single living cell. In this paper, the detailed changes of cellular morphology and mechanical properties after docetaxel (DCT) treatment were quantified using AFM. The results showed that the Young’s modulus of the cells after DCT treatment was larger than the untreated cells and the adhesion of the treated cell was lower than before. In addition, these changes was related to the chemical concentration. These results thus provide a unique idea into the effects of chemical on individual cells.
{"title":"Quantify the effect of docetaxel with different concentration on cell mechanical properties using atomic force microscopy","authors":"Xiao-Long Yu, Wenjiang Wu, Na Liu, Tao Yue, Yuanyuan Liu, Huayan Pu","doi":"10.1109/NSENS49395.2019.9293951","DOIUrl":"https://doi.org/10.1109/NSENS49395.2019.9293951","url":null,"abstract":"Mechanical properties of cells have been recognized as a biomarker for indicating cellular cytoskeletal organization. On the reason that chemical treatments can lead to rearrangements of cell cytoskeletal, characterization of cellular mechanical properties can provides an insightful approach to evaluate the effects of chemical treatments on cancer cells. The appearance of atomic force microscope (AFM) provides a powerful tool for detecting the nanoscale physiological activity of single living cell. In this paper, the detailed changes of cellular morphology and mechanical properties after docetaxel (DCT) treatment were quantified using AFM. The results showed that the Young’s modulus of the cells after DCT treatment was larger than the untreated cells and the adhesion of the treated cell was lower than before. In addition, these changes was related to the chemical concentration. These results thus provide a unique idea into the effects of chemical on individual cells.","PeriodicalId":246485,"journal":{"name":"2019 IEEE THE 2nd INTERNATIONAL CONFERENCE ON MICRO/NANO SENSORS for AI, HEALTHCARE, AND ROBOTICS (NSENS)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128558457","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2019-10-31DOI: 10.1109/NSENS49395.2019.9293952
Xiaojuan Shi, Didi Chen
For the position detection problem of 3-UPU parallel mechanism, most of detection methods are less targeted, slow in detection speed or poor in adaptability. To solve these problems, the paper proposes a method of quadruplicated frequency. This method achieves the frequency subdivision, phase discrimination and count functions. This method improves the resolution of the photoelectric encoder and achieve the high-precision position detection. The simulation platform is designed and built in Quartus-II software environment and CPLD (Complex Programmable Logic Device) EPM240T100C5N is selected to build experiment platform. The simulation and experimental data show the validity, reliability and rapidity of this method. The method of quadruplicated frequency can acquire accurate real-time coordinates, so the position control accuracy of the parallel mechanism can be enhanced.
{"title":"Design and Implementation of Position Detection System Based on 3-UPU Parallel Mechanism","authors":"Xiaojuan Shi, Didi Chen","doi":"10.1109/NSENS49395.2019.9293952","DOIUrl":"https://doi.org/10.1109/NSENS49395.2019.9293952","url":null,"abstract":"For the position detection problem of 3-UPU parallel mechanism, most of detection methods are less targeted, slow in detection speed or poor in adaptability. To solve these problems, the paper proposes a method of quadruplicated frequency. This method achieves the frequency subdivision, phase discrimination and count functions. This method improves the resolution of the photoelectric encoder and achieve the high-precision position detection. The simulation platform is designed and built in Quartus-II software environment and CPLD (Complex Programmable Logic Device) EPM240T100C5N is selected to build experiment platform. The simulation and experimental data show the validity, reliability and rapidity of this method. The method of quadruplicated frequency can acquire accurate real-time coordinates, so the position control accuracy of the parallel mechanism can be enhanced.","PeriodicalId":246485,"journal":{"name":"2019 IEEE THE 2nd INTERNATIONAL CONFERENCE ON MICRO/NANO SENSORS for AI, HEALTHCARE, AND ROBOTICS (NSENS)","volume":"8 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2019-10-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127410844","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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