Estimation of multilink kinematics and dynamics: inertial/magnetic sensors and sensor fusion techniques

A seminar by prof. Angelo Cappello, prof. Roberto Diversi and dr Alberto Ferrari

  • Date:

    29 JANUARY
    31 JANUARY 2018
     from 10:00 to 13:00
  • Event location: Room 5.5, School of Architecture and Engineering, viale del Risorgimento 2, 40136 Bologna

  • Type: Course

Curriculum: Bioengineering


Monday 29 January 2017

Room 5.5 – h 10.00 - 13.00

Prof. Roberto Diversi, PhD (DEI, University of Bologna)

Stochastic state space models. Kalman filtering: standard assumptions. The predictor-corrector form. The Kalman predictor and the difference Riccati equation.  The steady-state Kalman filter. Dealing with nonlinear models: the extended Kalman filter. Some examples.

Tuesday 30 January 2017

Room 5.5 – h 10.00 - 13.00

Prof. Angelo Cappello, PhD (DEI, University of Bologna)

Multilink kinematics and dynamics. Inertial and magnetic sensors. Sensor fusion techniques. Application to direct and inverted pendulum. Experimental session: data acquisition and processing. 

Wednesday 31 January 2017

Room 5.5 – h. 10.00 - 12.00 

Dr. Alberto Ferrari, PhD (DEI, University of Bologna)

Strap-down integration methods to determine IMU orientation. Pedestrian dead-reckoning. Applying Zero Velocity Update to gait data by means of Kalman Filter to obtain accurate position information. Example of a Real time Indoor navigation system with possibility to set different constraint to improve position accuracy.

Wednesday 31 January 2017

Room 5.5 – h. 12.00 - h. 13.00 

Discussion and projects assignment


Credit validation for the students of the doctoral programs is conditioned to passing the written exam assigned at the end of the course.


Prof. Angelo Cappello

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