Precision 6 DOF Pose Tracker for Application to Welding Simulation

这项提议背后的关键思想是开发一种先进的传感器技术， 精确跟踪执行需要非常高的手动灵活性的任务的人，例如 焊接. 123认证公司开发了一种新型的低成本模拟器，在 减少了培训专业焊工所需的成本和时间。它在很大程度上依赖于能够 跟踪精细的手部运动，并且目前在其适用范围上受到 当前一代的6自由度姿态跟踪器。然而，这项技术的市场受到限制， 电流传感器技术的分辨率和精度。更精确的技术将使 公司覆盖更广泛的培训和认证应用，甚至超越焊接领域， 一般的任务，依赖于精确测量人类的灵活性。 具体来说，我们建议开发一种新的磁姿态跟踪技术，以解决问题 这是由于在3D中跟踪取向的保真度差而引起的。这些技术中的大多数都足以进行跟踪 3D位置，但手动灵活性的测量需要精确跟踪位置和方向。在 在先前的研究中，我们确定了当前一代磁姿态跟踪器设计的局限性， 我们提出了两个增强功能，我们认为这两个增强功能有可能显著提高分辨率， 精度第一个是利用计算机辅助设计的进步，对磁场发生器进行完全重新设计 在麦吉尔大学所做的工作提供的建模和仿真工具。第二种方法采用了一种新的方法， 使用两个拾取线圈（差分模式）的测量，以部分消除3D估计的误差 导向这项研究的目标是根据这些想法制作一个实验室原型， 认证将在生产环境中进行验证。

The key idea behind this proposal is the development of an advanced sensor technology that will permit the precise tracking of a human performing a task that requires a very high degree of manual dexterity, such as welding. 123 Certification Inc. has developed a novel low-cost simulator that has had a dramatic impact in reducing the cost and time required to train a professional welder. It relies to a large degree on sensors capable of tracking the fine hand motion, and is currently limited in its range of applicability by the limitations of the current generation of 6 degree-of-freedom pose trackers. However, the market for this technology is limited by the resolution and accuracy of the current sensor technology. A more precise technology would enable the company to cover a broader range of training and certification applications, even beyond the welding domain to general tasks that rely on precise measurement of human dexterity. Specifically we propose to develop a new technology for magnetic pose tracking that gets around problems arising from poor fidelity in tracking orientation in 3D. Most of these technologies are sufficient for tracking 3D position, but the measure of manual dexterity requires accurate tracking of both position and orientation. In a previous study we identified limitations in the design of current generation magnetic pose trackers and proposed two enhancements that we believe have the potential to significantly enhance both resolution and accuracy. The first involves a complete re-design of the field generator by leveraging advances in CAD modeling and simulation tools afforded by work done at McGill. The second incorporates a novel method of measurement that uses two pickup coils (differential mode) to partially eliminate errors the estimate of 3D orientation. The goal of this research is to produce a laboratory prototype based on these ideas that 123 Certification will validate in a production environment.