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，使 对执行任务的人进行精确跟踪，这需要非常高的手动灵活性，例如 焊接。123认证公司开发了一种新型低成本模拟器，该模拟器在 减少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 跟踪细微的手部运动，目前其适用范围受到 当前一代的六自由度姿态跟踪器。然而，这种技术的市场受到以下因素的限制 当前传感器技术的分辨率和精度。一种更精确的技术将使 公司涵盖了更广泛的培训和认证应用，甚至超越了焊接领域 依赖于精确测量人类灵巧度的一般任务。 具体地说，我们建议开发一种新的磁姿态跟踪技术，以绕过问题 这是由于在3D模式下跟踪方向的保真度较差造成的。这些技术中的大多数都足以用于跟踪 3D位置，但衡量手动灵活性需要准确跟踪位置和方向。在……里面 在之前的一项研究中，我们确定了当前一代磁姿跟踪器的设计局限性，并 提出了两项增强措施，我们认为这两项措施有可能显著提高分辨率和 精确度。第一种是利用计算机辅助设计的进步，对场发生器进行彻底的重新设计 由McGill完成的工作提供的建模和仿真工具。第二种方法结合了一种新的方法 使用两个拾取线圈(差动模式)部分消除3D估计误差的测量 定位。这项研究的目标是基于这些想法产生一个实验室原型，123 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.