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    DEVELOPING WIRELESS IMUS TO SIMPLIFY INTEGRATION INTO DYNAMIC SYSTEMS

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    ITC_2019_19-10-01.pdf
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    Author
    Lipina, Jacob
    Christmas, Austin
    Marcolina, Rebecca
    Advisor
    Kosbar, Kurt
    Affiliation
    Missouri University of Science and Technology
    Issue Date
    2019-10
    
    Metadata
    Show full item record
    Publisher
    International Foundation for Telemetering
    Journal
    International Telemetering Conference Proceedings
    URI
    http://hdl.handle.net/10150/635261
    Additional Links
    http://www.telemetry.org/
    Abstract
    This paper discusses the development of wireless inertial measurement units (IMUs) designed to transmit data from a prototype Mars rover to a remote base station. These nine degree of freedom, multi-chip modules provide measurements for linear acceleration, angular rotation velocity, and magnetic field vectors for the rover’s chassis and robotic arm end-effector. To facilitate integration into these dynamic systems, each unit is independently powered and has a form factor of 108 cc. IMU data is sent from 32-bit microcontrollers with embedded IEEE 802.11 b/g/n Wi-Fi to the rover via UDP transport through a custom publish/subscribe distributed IP protocol. Data is relayed over two circular polarized omnidirectional antennas to the base station’s dual linear MIMO Yagi-Uda antenna. The information gathered provides operators a heading and orientation to improve situational awareness, as camera visuals are often inadequate.
    Type
    text
    Proceedings
    Language
    en_US
    ISSN
    0884-5123
    0074-9079
    Sponsors
    International Foundation for Telemetering
    Collections
    International Telemetering Conference Proceedings, Volume 55 (2019)

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