A fastening tool tracking system using an IMU and a position sensor with Kalman filters and a fuzzy expert system

IEEE Transactions on Industrial Electronics

Volumn 56, Issue 5, 2009, Pages 1782-1792

  Won, Seong Hoon Peter ^a   Golnaraghi, Farid ^b   Melek, Wael William ^a  

^a UNIVERSITY OF WATERLOO   (Canada)

^b SIMON FRASER UNIVERSITY   (Canada)

Author keywords

Accelerometer; Expert system; Fuzzy logic; Gyro; Gyroscope (gyro); IMU; Inertial measurement unit (IMU); Kalman filter; Kalman filter (KF)

Indexed keywords

CENTER OF MASS; CORRECTION METHOD; FUZZY EXPERT SYSTEMS; GYRO; IMPROVED RELIABILITY; IMU; INERTIAL MEASUREMENT UNIT; INERTIAL MEASUREMENT UNIT (IMU); ORIENTATION ERROR; ORIENTATION ESTIMATION; POSITION SENSORS; TILT ANGLE; TOOL TRACKING;

ACCELEROMETERS; BOLTS; CONTROL THEORY; EXPERT SYSTEMS; FLIGHT DYNAMICS; FUZZY SETS; GYROSCOPES; INERTIAL NAVIGATION SYSTEMS; INTELLIGENT SYSTEMS; KALMAN FILTERS; NAVIGATION; SENSORS; TRACKING (POSITION); UNITS OF MEASUREMENT;

FUZZY LOGIC;

EID: 66149106362     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2008.2010166     Document Type: Article

References (26)

1. H. J. Luinge and P. H. Veltink, "Measuring orientation of human body segments using miniature gyroscopes and accelerometers," Med. Biol. Eng. Comput., vol. 43, no. 2, pp. 273-282, Mar. 2005.
2. H. J. Luinge, P. H. Veltink, and C. T.M. Baten, "Ambulatory measurement of arm orientation," J. Biomech., vol. 40, no. 1, pp. 78-85, 2007.
3. H. J. Luinge, P. H. Veltink, and C. T. M. Baten, "Estimating orientation with gyroscopes and accelerometers," Technol. Health Care, vol. 7, no. 6, pp. 455-459, Jan. 1999.
4. J. Vaganay, M. J. Aldon, and A. Fournier, "Mobile robot attitude estimation by fusion of inertial data," in Proc. IEEE Int. Conf. Robot. Autom., Atlanta, GA, May 2-6, 1993, pp. 277-282.
5. J.-H. Wang and Y. Gao, "Multi-sensor data fusion for land vehicle attitude estimation using fuzzy expert system," Data Sci. J., vol. 4, pp. 127-139, Nov. 2005.
6. H. Rehbinder and X. Hu, "Drift-free attitude estimation for accelerated rigid bodies," Automatica, vol. 40, no. 4, pp. 653-659, Apr. 2004.
7. G. Ogris, T. Stiefmeier, H. Junker, P. Lukowicz, and G. Tröster, "Using ultrasonic hand tracking to augment motion analysis based recognition of manipulative gestures," in Proc. 9th IEEE Int. Symp. Wearable Comput., Osaka, Japan, Oct. 18-21, 2005, pp. 152-159.
8. E. Foxlin, M. Harrington, and Y. Altshuler, "Miniature 6-DOF inertial system for tracking HMDs," in Proc. SPIE AeroSense Conf. Helmet-Head-Mounted Displays III, Orlando, FL, 1998, vol. 3362, pp. 214-228.
9. E. Foxlin, "Head tracking relative to a moving vehicle or simulator platform using differential inertial sensors," in Proc. SPIE AeroSense Conf. Helmet- Head-Mounted Displays V, Orlando, FL, Apr. 24-25, 2000, vol. 4021, pp. 133-144.
10. E. Foxlin and L. Naimark, "VIS-tracker: A wearable vision-inertial self-tracker," in Proc. IEEE Virtual Reality, Los Angeles, CA, Mar. 22-26, 2003, pp. 199-206.
11. N. Parnian and M. F. Golnaraghi, "Integration of vision and inertial sensors for industrial tools tracking," Sens. Rev., vol. 27, no. 2, pp. 132-141, Apr. 2007.
12. N. F. Ford and J. Rager, "Expert system support in the textile industry: End product production planning decisions," Expert Syst. Appl., vol. 9, no. 2, pp. 237-246, 1995.
13. K. D. Schnelle and R. S. H. Mah, "A real-time expert system for quality control," IEEE Expert, vol. 7, no. 5, pp. 36-42, Oct. 1992.
14. K.-J. Choi, Y.-H. Lee, J.-W. Moon, C.-K. Park, and F. Harashima, "Development of an automatic stencil inspection system using modified Hough transform and fuzzy logic," IEEE Trans. Ind. Electron., vol. 54, no. 1, pp. 604-611, Feb. 2007.
15. A. Spengler, M. Stanton, and M. Rowlands, "Expert systems and quality tools for quality improvement," in Proc. 7th IEEE Int. Conf. Emerging Technol. Autom., Barcelona, Spain, Oct. 19-21, 1999, vol. 2, pp. 955-962.
16. L. A. Zadeh, "Fuzzy sets," Inf. Control, vol. 8, no. 3, pp. 338-353, 1965.
17. L. A. Zadeh, "Fuzzy algorithms," Inf. Control, vol. 12, pp. 94-102, 1968.
18. L. A. Zadeh, "Outline of a new approach to the analysis of complex systems and decision processes," IEEE Trans. Syst., Man, Cybern., vol. SMC-3, no. 1, pp. 28-44, Jan. 1973.
19. L. Ojeda and J. Borenstein, "FLEXnav: Fuzzy logic expert rule-based position estimation for mobile robots on rugged terrain," in Proc. IEEE Int. Conf. Robot. Autom., Washington, DC, May 11-15, 2002, pp. 317-322.
20. R. Rahbari, B.W. Leach, J. Dillon, and C.W. de Silva, "Expert system for an INS/DGPS integrated navigation installed in a Bell 206 helicopter," in Proc. IEEE Aerosp. Conf., Mar. 6-13, 2004, pp. 1569-1579.
21. D.-J. Jwo and C.-M. Huang, "An adaptive fuzzy strong tracking Kalman filter for GPS/INS navigation," in Proc. IEEE Int. Conf. Ind. Electron. IECON, Taipei, Taiwan, Nov. 5-8, 2007, pp. 2266-2271.
22. K. Kobayashi, K. C. Cheok, K. Watanabe, and F. Munekata, "Accurate differential global positioning system via fuzzy logic Kalman filter sensor fusion technique," IEEE Trans. Ind. Electron., vol. 45, no. 3, pp. 510-518, Jun. 1998.
23. A. Kim and M. F. Golnaraghi, "Initial calibration of an inertial measurement unit using an optical position tracking system," in Proc. IEEE PLANS, Apr. 26-29, 2004, pp. 96-101.
24. D. H. Titterton and J. L. Weston, Strapdown Inertial Navigation Technology. Stevenage, U.K.: Peregrinus, 1997.
25. B. Southall, B. F. Buxton, and J. A. Marchant, "Controllability and observability: Tools for Kalman filter design," in Proc. BMVC, 1998, vol. 1, pp. 164-173.
26. L. A. Zadeh, "Similarity relations and fuzzy orderings," Inf. Sci. vol. 3, pp. 177-200, 1971.