State estimation of a cheetah spine and tail using an inertial sensor network

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dc.contributor.advisorPatel, Amiren_ZA
dc.contributor.advisorBoje, Edwarden_ZA
dc.contributor.authorFisher, Callenen_ZA
dc.date.accessioned2016-06-17T06:25:25Z
dc.date.available2016-06-17T06:25:25Z
dc.date.issued2015en_ZA
dc.description.abstractThe cheetah (Acinonyx jubatus) is by far the most manoeuvrable and agile terrestrial animal. Little is known, in terms of biomechanics, about how it achieves these incredible feats of manoeuvrability. The transient motions of the cheetah all involve rapid flicking of its tail and flexing of its spine. The aim of the research was to develop tools (hardware and software) that can be used to gain a better understanding of the cheetah tail and spine by capturing its motion. A mechanical rig was used to simulate the tail and spine motion. This insight may inspire and aid in the design of bio-inspired robotic platforms. A previous assumption was that the tail is heavy and acts as a counter balance or rudder, yet this was never tested. Contrary to this assumption, necropsy results determined that the tail was in fact light with a relatively low inertia value. Fur from the tail was used in wind tunnel experiments to determine the drag coefficient of a cheetah tail. No researchers have actively sought to track the motion of a cheetah's spine and tail during rapid manoeuvres via placing multiple sensors on a cheetah. This requires the development of a 3D dynamic model of the spine and tail to accurately study the motion of the cheetah. A wireless sensor network was built and three different filters and state estimation algorithms were designed and validated with a mechanical rig and camera system. The sensor network consists of three sensors on the tail (base, middle and tip) as well as a hypothetical collar sensor (GPS and WiFi were not implemented).en_ZA
dc.identifier.apacitationFisher, C. (2015). <i>State estimation of a cheetah spine and tail using an inertial sensor network</i>. (Thesis). University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering. Retrieved from http://hdl.handle.net/11427/20020en_ZA
dc.identifier.chicagocitationFisher, Callen. <i>"State estimation of a cheetah spine and tail using an inertial sensor network."</i> Thesis., University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2015. http://hdl.handle.net/11427/20020en_ZA
dc.identifier.citationFisher, C. 2015. State estimation of a cheetah spine and tail using an inertial sensor network. University of Cape Town.en_ZA
dc.identifier.ris TY - Thesis / Dissertation AU - Fisher, Callen AB - The cheetah (Acinonyx jubatus) is by far the most manoeuvrable and agile terrestrial animal. Little is known, in terms of biomechanics, about how it achieves these incredible feats of manoeuvrability. The transient motions of the cheetah all involve rapid flicking of its tail and flexing of its spine. The aim of the research was to develop tools (hardware and software) that can be used to gain a better understanding of the cheetah tail and spine by capturing its motion. A mechanical rig was used to simulate the tail and spine motion. This insight may inspire and aid in the design of bio-inspired robotic platforms. A previous assumption was that the tail is heavy and acts as a counter balance or rudder, yet this was never tested. Contrary to this assumption, necropsy results determined that the tail was in fact light with a relatively low inertia value. Fur from the tail was used in wind tunnel experiments to determine the drag coefficient of a cheetah tail. No researchers have actively sought to track the motion of a cheetah's spine and tail during rapid manoeuvres via placing multiple sensors on a cheetah. This requires the development of a 3D dynamic model of the spine and tail to accurately study the motion of the cheetah. A wireless sensor network was built and three different filters and state estimation algorithms were designed and validated with a mechanical rig and camera system. The sensor network consists of three sensors on the tail (base, middle and tip) as well as a hypothetical collar sensor (GPS and WiFi were not implemented). DA - 2015 DB - OpenUCT DP - University of Cape Town LK - https://open.uct.ac.za PB - University of Cape Town PY - 2015 T1 - State estimation of a cheetah spine and tail using an inertial sensor network TI - State estimation of a cheetah spine and tail using an inertial sensor network UR - http://hdl.handle.net/11427/20020 ER - en_ZA
dc.identifier.urihttp://hdl.handle.net/11427/20020
dc.identifier.vancouvercitationFisher C. State estimation of a cheetah spine and tail using an inertial sensor network. [Thesis]. University of Cape Town ,Faculty of Engineering & the Built Environment ,Department of Electrical Engineering, 2015 [cited yyyy month dd]. Available from: http://hdl.handle.net/11427/20020en_ZA
dc.language.isoengen_ZA
dc.publisher.departmentDepartment of Electrical Engineeringen_ZA
dc.publisher.facultyFaculty of Engineering and the Built Environment
dc.publisher.institutionUniversity of Cape Town
dc.subject.otherElectrical Engineeringen_ZA
dc.titleState estimation of a cheetah spine and tail using an inertial sensor networken_ZA
dc.typeMaster Thesis
dc.type.qualificationlevelMasters
dc.type.qualificationnameMSc (Eng)en_ZA
uct.type.filetypeText
uct.type.filetypeImage
uct.type.publicationResearchen_ZA
uct.type.resourceThesisen_ZA
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