Infrastructureless in-door localization of pedestrians
Our research group is working on this project with Professor Yuen Chau who is the PI.
Demand for infrastructureless in-door localization has been increasing over the years due to increasing need ranging from public safety to elderly care, and safety of firemen to operational planning or strategy coordination of soldiers. In this project, our research groups first work on using the IMU alone and is able to provide an estimate of the displacement be it the pedestrian is walking or running, and small or large steps as illustrated in the above figure.
Currently, together with Professor Yuen Chau’s group, the two research groups are working together and utilizing both the techniques from Robotics and Wireless communication to achieve a more robust infrastructureless in-door localization. Updated results on the combination and additional features will be shared soon.
Researcher involved: Do Tri Nhut (Richard)
In-door estimation of orientation & angular velocity of a monocopter
In monocopter flight, two important parameters are required for control: angular rates and heading direction. Smaller monocopters fly at a very high speed (more than 600rpm), which can be out of the typical gyroscope limit. Very high speed gyroscopes do exist, but the price is high and can only measure a single axis rotation. Meanwhile, the current method of obtaining heading direction for monocopters involves only the magnetometer, which is susceptible to magnetic disturbances commonly found in indoor flight.
In this project, our research group proposes an alternative approach to measure the angular rates and the heading direction. The angular rates are obtained by using three accelerometers mounted on the monocopter wing. The readings of the accelerometers are subtracted to calculate the angular rates in all the three axes (x, y, and z). The heading direction is obtained by combining the magnetometer data and the angular rates data using Extended Kalman Filter (EKF). The direction of the angular rates vector is used as the vertical direction reference.
SUTD Faculty involved: Professor Shaohui Foong
Researcher involved: Teguh Santoso Lembono
Multi-DOF micro-motion sensing of tremor
With the increasing aging population and declining birth rate, there has been increasing interest in tremor. Tremor is the most common motion disorder in humans, and the situation worsen with age. The frequency of tremor of a healthy subject is between 8 to 12 Hz, and most of the current sensing systems do not meet at least one of the following: 1) bandwidth, 2) resolution, and 3) degree of freedom.
In this project, our research group is working with Surgery ACP to design and develop a sensing system that utilize Inertia Measurement Units (IMUs) and Position Sensitive Devices (PSDs). The project includes design of position sensitive system for micromanipulation monitoring and modeling. This device will be used to study tremor and aid in further device design to increase the lifespan of surgeons.
Partner: Surgery ACP
Researcher involved: Yichang He
MRI-compatible optical force sensor (Previous work)
This is a previous work done with Professor Jaydev Desai (currently at Georgia Tech) on MRI-Compatible Robotic System for breast biopsy.