The Nimue platform is a set of modules to build up applications in the scientific field of motion analysis (gait analysis, sport sciences, …). In the vocabulary of the Netbeans IDE the modules are bundeled as a platform.
The Nimue plaform includes implementations of a lot of mathematical algorithms for 3d analyses, graphical components for visualisation and also utilities to model the workflow of measurements and analyses. It is made for easy integration of measurement systems (markerbased optical-, inertial sensor based systems, …) and their specific data file formats.
Most parts of the Nimue platform will be made available open source again, via github repositories. I am working on transfering the code to github and adding the links to the repositories into this documentation. It is a pity, but in the current version, the Nimue platform as a whole, is no longer available as a single repository, because of the restructureing of the codebase and due to licence issues of some of the modules. The reason to split the code into several repositories has to do with the need to have the parts of the platform with its own version numbering.
This is a draft version of the manual for version 2.2 of the Nimue Platform. It is far away from completeness. There are hundrets of htm-pages which must be transfered to this Wiki. During this process I want to update its content and this needs a lot of time.
It gives you an overview about the main structure and features. You should read this document, if you are interested in developing motion analysis applications, based on the Nimue platform and if you want to learn about using specific features of your Nimue platform based motion analysis application, which are implemented as part of the platform.
This document is explicitly not a users manual and it's also not a manual for developers. If you have descided to develop an application based on the Nimue platform you have to ask for a developers guide. If you are working with an application based on the Nimue platform, better read first the applications manual.
The origin of the codebase comes from a project arranged by the Institue for Physic Didactics at the Karlsruhe Institute for Technoloogy. This was the work of Andreas Traupe and Oliver Rettig in the years 1998-1999.
The base idea was to use XML files to describe complex dynamic systems and the workflow of measurements and analyses for educational usage. The target application was called Skepsis. The easy processing possibilities of XML files allow simple automatisation and the use of powerful codegenerators and tools to develop graphical userinterfaces, where the XML files can be hidden for unexperienced users. With these experiences more generalized components are developed, to be able to build applications for research purposes.
In the following years many non mathematical orientated modules are added and a lot of non research applications are realized by the company ORAT Software-Entwicklung, which is founded as a spin off from the Karlsruhe Institute for Technology.
In the years 2003-2008 advanced components for motion analysis are added and the specialized components bundle Nimue for motion analysis was established. It was used for the application Upperlimb in the Gait- and Motionlab of the Heidelberg Orthopedic clinic for many years.
The extention of the framwork for inertial sensor based applications is started in Mai 2009 initially for the usage in the European community funded project Suregait. The idea of SureGait was to build up a low cost complete gait analysis system based on intertial and EMG sensors.
Since Sep. 2017 the Nimue platform is used in the RaHM-Lab for analysing robot motion at the DHBW Karlsruhe. Specific extentions to integrate with the ROS - robot operation system are implemented in JDataAquisition a Nimue platform based application with the focus on data aquisition for motion analysis.
The following applications are build on top of the Nimue platform :
This was the first application we are started with the company ORAT Software-Entwicklung. It was a distributed modelling system, for dynamica systems, focussed on teaching purposes. The application is not available any more.
This application is used from universities in Germany and in Swizerland and it is actively maintained by the company ORAT Software-Entwicklung.
This application is made for usage in the Heidelberg Motionlab only but not established in the lab.
This application is made for usage in the Heidelberg Motionlab only. It allows to record data with the sensors of the XSens measurement system. The data is processed into a structure that allows the application of the lab internal MoMo software for analysing gait. CMTGait not used any more in the lab because the XSens system is not used.
This application was developed for the EU funded project SUREGAIT (FP6-SME, 32808).
This application is a generic data aquisition tool and currently used for the projects MobMonRob, Ergobot and KIRK in the RaHM-Lab at the DHBW Karlsruhe for robot motion analysis. It is possible to used it to collect data or human motion analysis based on data streamed by the Vicon Tracker software. It also includes a framework to collect data from the robot operation system (ROS).