Design and implementation of a DSP-based control interface unit (CIU)
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Authors
Kavousanos-Kavousanakis, Andreas
Subjects
MARG III sensor
Control interface unit (CIU)
One-
Three-
Sixteen-Channel CIU
Avatar
Virtual environment
Virtual training
Immersion
Honeywell
Analog devices
Texas Instruments
Microcontoller
Micromachined sensor
X3D
Java
Xilinx
RS232
Wireless communication
WISER 2400
Control interface unit (CIU)
One-
Three-
Sixteen-Channel CIU
Avatar
Virtual environment
Virtual training
Immersion
Honeywell
Analog devices
Texas Instruments
Microcontoller
Micromachined sensor
X3D
Java
Xilinx
RS232
Wireless communication
WISER 2400
Advisors
Yun, Xiaoping
Date of Issue
1997-09
Date
March 2004
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
This research involves the development of a human-body motion tracking system constructed with the use of commercial off-the-shelf (COTS) components. The main component of the system investigated in this thesis is the Control Interface Unit (CIU). The CIU is a component designed to receive data from the magnetic, angular rate, and gravity (MARG) sensors and prepare them to be transmitted through a wireless configuration. A simple and effective algorithm is used to filter the sensor data without singularities, providing the measured attitude in the quaternion form for each human limb. Initial calibration of the MARG sensors is also performed with the use of linear calibrating algorithms. The testing and evaluation of the whole system is performed by MATLABʼ and SIMULINKʼ simulations, and by the realtime visualization using a human avatar designed with the X3D graphics specifications. Through this research, it is discovered that the MARG sensors had to be redesigned to overcome an erratum on the Honeywell magnetometer HMC1051Z data sheet. With the redesigned MARG sensors, the testing results showed that the CIU was performing extremely well. The overall motion tracking system is capable of tracking human body limb motions in real time.
Type
Thesis
Description
Series/Report No
Identifiers
NPS Report Number
Sponsors
Funder
Format
xviii, 66 p. : ill. (some col.)
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
Copyright is reserved by the copyright owner