Transcript Inertial Motion Units(IMU)

Inertial Motion Units(IMU)
2014. 10. 22.
Key factor
attachable / programmable / affordable / wireless / continuity / OS / interruption free
Attachable
PET에 무리 없이 들어가거나 head의 특정 부분에 잘 부착될 수 있어야 하며, 이미 부착 하기로한 CDD sensor를 건드리지 않는 선을 지켜야.
Programmable
소스가 풍부하고 우리가 사용할 수 있는 Matlab, C, C++ 지원해야. 또는 오픈 소스 S/W 다운로드 가능해야.
Affordable
가격문제 있으나 직접 contact해야 하는 경우 있음. 또한 가용 예산도 교수님과의 미팅에서 파악해야.
Wireless
가능하다면 wireless를 사용하는 것이 좋을 것.
Continuity
촬영 목적에 따라 다르겠지만 긴 경우 90min까지 촬영하므로 long lasting data transfer 가능해야.
OS
Window7 또는 window8 지원해야. ios, linux... That's nono
Interruption free
배경지식 없어 추가적으로 알아봐야 하지만 wireless의 경우 PET이나 CCD와 혼선 생기지 않을지 알아봐야.
Accuracy
보통의 PET이면 2.5mm 픽셀 단위이지만 NRI의 HRRT의 경우 1.5mm 픽셀단위로 알고 있음.
Detectable range of angle에 대한 spec은 많이 써있지만 최소 미소 angle에 대한 spec알아야 미세한 patient movement 측정 정확할 것.
1. Colibri Wireless
- Inertial Motion Tracker
Feature
• 3-axis MEMS accelerometer
• 3-axis MEMS gyroscope
• 3-axis AMR (magneto-resistive) magnetic
sensor
• Temperature sensor
• Wireless 2.4GHz bandoperation
• 10 meters working distance
• 16 hours operation with built-in battery,
micro-USB charging
Feature
• Up to 10 trackers synchronized in the wireless network
• USB-dongle (receiver), with USB inerface (virtual COM
port) and synchronisation IN/OUT to join 2 or more
Colibri networks
• Auxiliary digital and analog inputs (e.g. for OEMs to
implement joystick)
• Software API for Windows and Linux representing
extended Kalman filter for the orientation tracking
• High-precision aluminum base plate
Spec
Accelerometer
Scale: ±6g | Resolution: 13-bit
Gyroscope
Scale: ±2000º/s | Resolution: 16-bit
Magnetic sensor
Scale: ±1.3 Ga | Resolution: 12-bit
Working frequency
100 Hz
Orientation accuracy
Pitch/roll: 0.5° | Yaw: 2°
Temperature sensor
Accuracy: ±0.5°C | Range: 0°C to +70°C
Non-volatile memory
for user data
1024 bytes
Power consumption
3.7V LiPo battery 660 mAh(40mA)
Operation
Temperature
0 .. +55 °C (self-powered); 0 .. +40 °C (char
ging)
Weight
41g (with battery)
Dimensions (W/H/D)
56mm/42mm/17mm
•
Link : http://www.trivisio.com/trivisio-products/colibri-wireless-inertialmotion-tracker-3/
2. APDM
- Wearable Inertial Monitors
Feature
• Dimensions: 48.5x36.5x13.5 mm
• Weight: 22 grams (with battery)
• Material: 6061 clear anodized Aluminum, ABS
plastic, and Velcro straps.
• Internal Storage: 8 GB (~720 hours of
recording)
• Battery Life
– Wireless Streaming: 8 hours
– Synchronous Logging: 12 hours
– Asynchronous Logging: 16-36 hours (depending on
output rate)
Sensor Characteristics
Property
Accelerometer
Gyroscope
Magnetometer
Axes
3
3
3
Range
+/-2g or +/-6g
+/- 2000 º/s
+/- 6 Gauss
128 μg/ 𝐻𝑧
0.07 º/s/ 𝐻𝑧
4 mGauss/ 𝐻𝑧
Sample Rate
1280 Hz
1280 Hz
1280 Hz
Output Rate
20 - 128 Hz
20 - 128 Hz
20 - 128 Hz
Bandwidth
50 Hz
50 Hz
50 Hz
Resolution
14 bits
14 bits
14 bits
Noise Density
Wireless Characteristics
Synchronous units
2 to 24 Opals exchange data packets to maintain
precise time synchronization
Synchronization
resolution
10μs resolution between Opals in a network
Transmission range
30m line of sight, 10m office
Transmission
latency
300 ms with data buffer feature turned ON
30 ms with data buffer feature turned OFF
Data buffer
8 GB storage completely eliminates data loss
while streaming.
Data and System Information
Data output
3D acceleration, angular velocity, magnetic
field, and orientation estimate
Data format
Documented binary format (HDF5) and/or plain
text (CSV)
Application
development
Complete cross-platform software development kit
included for Windows Mac, and Linux.
Compatible with MATLAB, Java, and C.
Synchronize with 3rd ECG, force plate, gait mats, optical systems,
party systems
and more
Accessories
Straps
For the wrist, ankle, bicep, thigh, head, trunk,
sternum, belt, or shoe
Docking station
Recharge the battery and download stored data,
includes AC adapter
Access point
Enable wireless data streaming from the Opals to
the user’s computer over USB
External button
When an event occurs, such as a fall, the subject
can indicate the occurrence by simply pressing the
external button located on the Opal
Link : http://apdm.com/Wearable-Sensors/Opal
3. InertiaCube4™
Feature
• Sourceless 3DOF tracking with full 360° range
• Accuracy of 1° yaw, 0.25° pitch & roll
• 200 Hz update rate
• 2000° maximum angular rate
• Adjustable output filters and rotational sensitivity
• In-situ and environmental Compass Calibration Tools for
static magnetic field compensation
• Native USB and RS-232 versions available
Spec
Degrees of Freedom
3 (Yaw, Pitch, and Roll)
Angular Range
Full 360° - All Axes
Maximum Angular Rate
2000° per second
Minimum Angular Rate
0° per second
Accuracy (RMS)
1° in yaw, 0.25° in pitch & roll at 25°C
Angular Resolution
0.01° RMS
Update Rate
200 Hz
Minimum Latency
2 ms for RS-232 (PC host OS dependent)
Spec
Prediction
Up to 50 milliseconds
Serial Rate
115.2 kbaud
Size
1.44 in. x 1.09 in. x 0.55 in.
(36.6 mm x 27.7 mm x 13.8 mm)
Weight
0.39 ounces (11 grams)
Cable Length
15 ft. (4.572 m) for RS-232 Version
6 ft. (2.0 m) for USB Version
Power
6 VDC, 40 mA
Operating Temp. Range
0° to 50°C
O/S Compatibility
.dll for Windows 7/XP
.so for Linux
.dylib for Mac OS X
Compliance
CE, UL, RoHS
•
Link : http://www.intersense.com/pages/18/234/
4. MTw Development Kit Lite
- Wireless motion tracker
Overview
• Completely wireless
• Long battery life of up to 4 hours
• Compatible with software for MTi 10-series and MTi 100series
• Intuitive Windows software for real-time view, logging
and export
• Extensive SDK with example code for system integration
• Accurate data
Overview
• Highly sensitive MEMS inertial sensors
• Internal sampling at 1800 Hz and internal preprocessing maintains accuracy under challenging dynamic
conditions
• Sensor fusion algorithms ensures highly accurate,
drift-free output
• Highly suitable for training & simulation, pedestrian
navigation, test & measurement and robotics
Spec
Transmission range
Up to 10 m in Continuous use
~3.5 hours
open space
operating time (typical)
Internal sample rate
1800Hz
Stand-by time
90 hours
Wireless update rate
120 Hz
Charging time
~1 hour
Hardware
•
•
•
•
1x
1x
1x
1x
MTw inertial motion tracker
Awinda USB dongle
USB charging cable
Set of click-in mounting tools
Physical properties MTw Motion Tracker
• 27 grams
• 34.5 x 57.8 x 14.5 mm (W x L x H)
Spec
• Motion trackers orientation performance
Static accuracy (Roll/Pitch) < 0.5 deg
Static Accuracy
< 1 deg
Dynamic Accuracy
2 deg RMS
Angular Resolution
0.05 deg
• Output Data
• 3D Orientation (Euler,
quaternions, rotation matrices)
• 3D Acceleration
• 3D Rate of turn
• 3D Earth magnetic field
• Static pressure
• Software
• MT Software Suite, including MT Manager and MT SDK
Software : MT Software Suite
•
•
•
•
•
C++ wrapper
Examples for C, C++ and Matlab.
Supported operating systems: Windows and Linux.
DLL for both 32-bit and 64-bit systems.
Extensive documentation on the MTw, the XBus protocol and
the SDK (PDF and HTML)
Link : http://www.xsens.com/products/mtw-development-kit-lite/
5. STT-IBS
- Wireless Inertial Sensor
Spec
• HOUSING SPECIFICATIONS
Dimensions
36 x 15 x 46.5 mm
Weight
30 gr
• SENSOR PERFORMANCE
Frequency rate
125 - 250 Hz
Static precision (roll, pitch, yaw)
<0.5º
Dynamic precision (roll, pitch, yaw) <2º
Angle resolution
<0.1º
Latency
4 ms
Rotational velocities
+/- 2,000 dps
Acceleration
+/- 2G and +/- 8G
Magnetic force
+/- 1,200 uT
SDK
• SAMPLE LAPTOP FEATURES
Operating
System
Windows 2000, XP, Vista, 7, 8
CPU
Intel Core 2 Duo 2.00GHz
or more
Memory
1 GB RAM or more
Video card NVidia GeForce 8600M GS or more
Hard drive 1 GB of free disk space
• COMMUNICATION
•
Bluetooth
2.0
WiFi
IEEE 802.11
Link : http://www.stt-systems.com/en/products/inertial-sensor/ibs-sensor/
6. Adafruit 10-DOF IMU Breakout
- L3GD20 + LSM303 + BMP180
Feature
•
•
•
•
3 axes of accelerometer data
3 axes gyroscopic
3 axes magnetic (compass)
Barometric pressure/altitude and temperature
•
L3GD20 3-axis gyroscope: ±250, ±500, or ±2000 degree-persecond scale
•
LSM303 3-axis compass: ±1.3 to ±8.1 gauss magnetic field
scale
•
LSM303 3-axis accelerometer: ±2g/±4g/±8g/±16g selectable
scale
•
BMP180 barometric pressure/temperature: -40 to 85 °C, 300 1100hPa range, 0.17m resolution
Feature
• Dimensions (without header)
– Length: 1.5" / 38mm
– Width: 0.9" / 23mm
– Height: 0.125" / 3mm
– Weight: 2.8g
– This board/chip uses I2C 7-bit addresses 0x19 &
0x1E & 0x6B & 0x77
•
Link : http://www.adafruit.com/categories/59