IEEE Robotics and Automation Society
                Central New England Chapter

                 Tuesday, January 7, 2003
                Informal Discussion: 6:00 PM
                      Program: 6:30 PM


   Using Micro-machined Sensors in Autonomous Navigation

                     Joseph Rothweiler
                   http://www.myown1.com/


			 ABSTRACT

Autonomous robots and other small moving devices use a
variety of mechanisms to determine their position and
motion, including GPS, sonar or laser ranging, mechanical
sensors, and wheel rotation sensors. Each mechanism has
limitations, including interference sensitivity, loss of
signal, or errors due to slippage. One way to detect and
mitigate these problems is to use an Inertial Navigation
System (INS) to track actual platform motion by measuring
acceleration and rotation directly. While effective, the
complexity and precision requirements of INS have typically
restricted it to applications on large and expensive
platforms.

Micro-machined sensors for measuring acceleration have been
in wide use for several years. With the recent addition of
micro-machined sensors for measuring rate of rotation, it
becomes possible to build a full Inertial Navigation
Subsystem (INS) at low cost and with low power requirements.
Resolution and sensitivity of the currently available
devices is sufficient for many cost-sensitive applications
such as robotics, model boats or airplanes, and various
industrial applications.

This talk will briefly describe some currently available
acceleration and rotation sensors. It will then focus
primarily on the design and implementation of a small,
low-cost inertial navigation board suitable for
hobbyist/educational use. Topics to be covered include a
discussion of the position accuracy that can be achieved
with current devices, circuit design and device mounting
issues, and signal processing and performance analysis. The
first version of the unit is designed to control a robot
moving and turning on a flat surface. Plans for a full
6-axis unit capable of tracking position and orientation in
three dimensions will also be discussed.



                     SPEAKER BIOGRAPHY

Joseph Rothweiler is a specialist in the development and
application of signal processing techniques for a variety of
communications, sensing, and multimedia applications.
Companies he has worked for include ITT, Sanders (Now BAE
systems), and Agere Systems. Among other activities, he
maintains the http://www.myown1.com/ web site as a
collection of information that may be useful to others in
the field.


                    MEETING INFORMATION

The IEEE Robotics and Automation Society will meet on
Tuesday, January 7, 2003, at Wellesley High School at 6:00
PM for informal discussions and for the formal presentation
between 6:30 and 7:30 PM. The group will have a no-host
dinner afterwards at Bertucci's, where more conversations
can take place with the guest speaker. The meetings are open
to the general public, and all are welcome at the dinner
afterwards.

For more information contact Rich Maynard at 978-439-5511
ext 6221 or at the Chapter email address:

	info@robotics-boston.org
	(hotlink: mailto:info@robotics-boston.org)


                         DIRECTIONS

From Route 128, take either Route 9 or Route 16 west. From
the junction of Routes 9 and 16, follow Route 16 (Washington
Street) west past the Wellesley Hills commuter rail station
(within walking distance of the school), then turn left onto
Rice Street. Wellesley High School is on the left. Parking
is available in a lot just beyond the school.

For a web map showing the location of Wellesley High School,
go to the Yahoo map site at http://maps.yahoo.com/ and enter
the following information in the indicated locations:

    Address:			50 Rice St
    City, State or ZIP:		Wellesley, MA

The star marker is misplaced slightly to the south. Imagine
it about 1 cm toward the top of the map at Rice St.

For more information about our Section and Chapter, visit
our web site at our registered domain URL

             http://www.robotics-boston.org/