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start [2020/05/13 14:43] – [History] oliverstart [2022/07/19 17:13] (aktuell) – [Changelog] oliver
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 ====== Introduction ====== ====== Introduction ======
 =====What is it?===== =====What is it?=====
-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 [[https://netbeans.org/|Netbeans IDE]] the modules are bundeled as a **platform**. +The **Nimue platform** is a set of modules to build up applications in the scientific field of motion analysis (gait analysis, sport sciences, robotics...). In the vocabulary of the [[https://netbeans.org/|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. 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 [[https://github.com/|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.+Most parts of the **Nimue platform** will be made available **open source** again, via [[https://github.com/|github]] repositories. I am working on transfering the code to github if I find time to do this. If this work is done I will add 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. +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 html-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. 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.
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 === Unreleased === === Unreleased ===
 +
 +-----------------
 +== Nimue Platform 0.105 - 2022-07 ==
 +-----------------
 +**Added**
 +
 +     * Better documentation with examples of PointSetFit
 +
 +-----------------
 +== Nimue Platform 0.105 - 2022-02 ==
 +-----------------
 +
 +**Fixed**
 +
 +     * Dataminer: Calculation of standard deviations failed
 +     * DH Calc Element: modified dh and classical dh, index numbers start now at meaningfull positions (for modified dh alpha an r starts from 1 and d and theta starts from 0. For classical DH all parameters start with index 1.
 +     * ransaclin filter does not work for input data including NaN-values. NaN-values are now automatically excluded. But keep in mind to adjust the parameters in these cases.
 +
 +**Added**
 +
 +     * New functionality of the Forward Kinematics element which allows calculations based on modfied Denavit Hartenberg parameters
 +
 +-----------------
 +== Nimue Platform 0.104 - 2021-11 ==
 +-----------------
 +
 +**Fixed**
 +
 +     * <DH>-Element now corretly determines the position trajectories
 +
 +-----------------
 +== Nimue Platform 0.103 - 2021-10 ==
 +-----------------
 +
 +**Added**
 +
 +     * Method getFramesOfEachIntervall() extended to be able to get frames also from phases
 +     * Added functionality to DenavitHartenberg Calc element to determine mean/std of d,r,alpha and theta values directly as parameters calculated by the element itself.
 +     * Added warning messages if a filter results in a complete trajectory with at minimum of one component is NaN for each frame
 +     * Addes "lastD" parameter to the DH-element to define the TCP coordinate system by translation about this parameter around the z-axis of the last joint axis.
 +     * Element to calculate forward kinematics based on Denavit Hartenberg convention
 +
 +**Fixed**
 +
 +     * Added test for all values to be equal of 0.0 of matrix-3d objects and set them them to Double.MINVALUE if not all values are exatly 0.0 to exclude them for substitution by the Vicon WORKAROUND filter isersoSelective-Filter.
 +     * Wrong ResouceBundle name "javax.vecmath.ExceptionString" in vecmath: VecMathI18N.java
 +     * Fixed constructor of DualVector6e elements used in the DH-element.
 +
 +-----------------
 +== Nimue Platform 0.102 - 2021-09 ==
 +-----------------
 +
 +**Added**
 +     * New attribute "expectedPhasesCount" added to the element "Phase" which defines the expected count of phases. If the created count of phases does not fit this values defined by this attribute a warning is given.
 +     * New element <DH> to determine several variants of DH-parameters from circle fits.
 +     * New Datamining parameter Types: "std" and "frames"
 +     * Completion of RANSAC-Linear-Filter to preprocess static measurement-data to eliminate outliers.
 +     * Support for filtering of quaternion-type timeseries during trial-loading for processing
 +     * Added "fit" parameter to ransaclin() to substitute excluded frames with the fit value instead of NaN.
 +     * Additional attributes "minthreshold", "maxthreashold" to the <Event>-element, alow to use methods max/minvelocity in combination with "tolerance".
 +     * New attribute "invert" added to the phase-element.
 +
 +**Fixed**
 +     * Loading RANSAC-Linear filter failed due to wrong specification of implementation class name
 +     * Filterchain interation - only the first filter was used
 +     * Event-Docu corrected
 +
 +**ToDo**
 +     * Filter zero2nan for matrix3x3, not only all zero but also unit-matrix with 1 in diagonal elements
 +     * Workaround that fills all components of a matrix3d to NaN if ransaclin() has set only some of them to NaN
 +     * if group names inclunde "_" then they are excluded from the shown list in the DataExplorer
 +
 +-----------------
 +== Nimue Platform 0.101 - 2021-07 ==
 +-----------------
 +
 +**Added**
 +     * New function ddist(A,B,ref) to define a singed length of a vector based on a given reference vector.
 +     * New property "seperateGroupFiles" for the outputhandler MotionDataOutputHandler to save data for each calcgroup into sepearte files
 +     * New function mdho() to determine the origin of a coordinate system based on modifed Denavit Hartenberg convention
 +     * New function mdh() to determine the 4x4-Matrix of modified Denavit Hartenberg convention
 +
 +-----------------
 +== Nimue Platform 0.100 - 2021-04 ==
 +-----------------
 +**Fixed**
 +     * The calculation element "LocalCoordinateSystem" has not considered the includes/excludes attributes. Now the attributes can be used to prohibit calculation for specific trials.
 +     * The <Phase>-Element has added wrong phases in the special case that there are single frames fulfilling the inphase-function. Theses 1-frame-length-phases are excluded now as it is specified.
 +     * The <LocalCoordinateSystem>-Element overwrites the original given (by the attribute) global position. A new object is now created to prevent for this behavoir. 
 +     * The <GlobalCoordinateSystem>-element overwrites the original gien (by attribute) local position and rotation. New objects are now created to preent for this behavoir.
 +     * The <Point>-Element used with calibration for specified phases does not work correct because the complete trial length is used instead only the number of frames from all phases together. Fixed by determing the the number of counts from the frames-object.
 +     * poc()-function bug fixed
 +
 +**Added**
 +     * Timeseries read to be processed can be renamed defined by a mapping element in the input labelset. This was implemented explicit for GenericData, generic-c3d and vicon-c3d files only. The mapping functionality is now added for files in the d3d-file-format.
 +     * New feature: Attribute "autodetectStaticFrames" can be used to calibrate a point based on a non static trial by autodetection of static frames.
 +     * New feature: The element <LocalCoordinateSystem> supports calibration.
 +     * Documentation for the <GlobalFrame>-element in Show4d added.
 +
 +-----------------
 +== Nimue Platform 0.99 - 2020-12 ==
 +-----------------
 +
 +**Changed**
 +     * The axes calculated with AoR estimation based on the SARA algorithm are now normalized.
 +     * The attribute "Rotation" of the <CoordinateSystem>-element is interpreted as the name of a trajectory defining a matrix3d which descirbed the orientation of the coordinate system. This includes the automatically creation of alias trajectories for the columns of the matrix. This is changed to allow an arbitray formula describing the rotation. With this change alias trajectories are no longer created automatically.
 +     * AoRSARA: Missing or not available movingCoordinateSystem/coordinateSystem is logged and not stops further processing
 +
 +**Added**
 +     * PointSetFit calc-element to fit two point sets based on singular value decomposition. 
 +     * Transpose function t() for 4x4 matrix type
 +     * implemenation of iCoordinateSystem in the PointSetFit element to use the element name as a reference in the attributes of AoR-circle-fit calculation elements.
 +     * The DataExplorer is now able to collect trial data from more than one motiondata file e.g. v3d and rtde, into one DataCollection, to be able to plot timeseries of all data files together inside one plot.
 +     * PointSetFit: Possibility to use two different set of phases for each of the trajectories. This allows to work with trajectories which have different delays.
 +     * PointSetFit: Automatically exclude phases for which one of the trajectories has no values.
 +     * PointSetFit: New attribute "maxVariation"
 +     * Export Data: The name of the phase defined as the labelgroup name is added as a suffix to the output filename. 
 +
 +**Fixed**
 +     * AoRGamage2002 throws NullPointerException if used without the ReferencePoint attribute set.
 +     * Created session parameters of the type Matrix3x3 are saved now if only generic xml file format is available to save session parameters.
 +     * Sequences of trial types works now the same way as if the trial types are used separately, e.g. triggering works, configuration is read from the single trial types, etc.
 +     * Constant types Vector3d, Matrix3d, Vector4d, Matrix4d and Quat4d are saved now properly in the session parameter file if the parameters are created by calibration. The functions vec(), vec4(), mat(), mat4() and q() are used.
 +     * Catch NumberFormatException if in the Visual4d-View an undfined color name is used. 
 +     * If differentiation configuration is used in inputlabelsets to read data from multiple motiondata files warnings are thrown because of trying to create differentiations multiple times.
 +
 +**ToDo**
 +  * The axis estimation method <AoRSARA> needs the attribute "ReferencePoint". The method <AoRGamage> works also without defining this attribute. This inconsistency should be eliminated. Change the code of AoRSARA to make the attribute "ReferencePoint" optional.
 +
 +-----------------
 +== Nimue Platform 0.98 - 2020-07 ==
 +-----------------
 +
 +
 +**Added**
 +     * Interpolation filter to fill NaN values based on a set of methods.
 + 
 +-----------------
 +== Nimue Platform 0.97 - 2020-06 ==
 +-----------------
 +
 +**Added**
 +     * The method "percent" added to the CalcModelElement <Event> to add events based on phase and the position at the given percentage of the width of the phase.
 +     * Upgrade to Apache Netbeans 12 Platform
 +     * new filter "resamling"
 +
 +**Fixed**
 +   * Refactoring FilterLabel to be able to add new properties without additional changes in LabelSetFilter class.
  
 ----------------- -----------------
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 **Planed** **Planed**
-   * The json export and also processing save as json, do both not save derivatives but shoud.+   * The json export and also processing save as json, do both not save derivatives but should.
  
 =====Applications based on this platform===== =====Applications based on this platform=====
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 This application is a generic motion data modelling and analysing tool and currently used for the projects [[https://www.karlsruhe.dhbw.de/forschung-transfer/schwerpunkte-aktivitaeten/monmobrob.html|MobMonRob]] and [[https://www.karlsruhe.dhbw.de/forschung-transfer/schwerpunkte-aktivitaeten/ergobot.html|Ergobot]] in the [[https://www.karlsruhe.dhbw.de/rahmlab|RaHM-Lab]] at the [[https://www.karlsruhe.dhbw.de|DHBW Karlsruhe]] for robot motion analysis. This application is a generic motion data modelling and analysing tool and currently used for the projects [[https://www.karlsruhe.dhbw.de/forschung-transfer/schwerpunkte-aktivitaeten/monmobrob.html|MobMonRob]] and [[https://www.karlsruhe.dhbw.de/forschung-transfer/schwerpunkte-aktivitaeten/ergobot.html|Ergobot]] in the [[https://www.karlsruhe.dhbw.de/rahmlab|RaHM-Lab]] at the [[https://www.karlsruhe.dhbw.de|DHBW Karlsruhe]] for robot motion analysis.
  
-7. **JDataAquisition:**+7. [[http://jdataaquisition.orat.de/doku.php|JDataAquisition]]:
  
-This application is a genereic data aquisition tool and currently used or the projects [[https://www.karlsruhe.dhbw.de/forschung-transfer/schwerpunkte-aktivitaeten/monmobrob.html|MobMonRob]] and [[https://www.karlsruhe.dhbw.de/forschung-transfer/schwerpunkte-aktivitaeten/ergobot.html|Ergobot]] in the [[https://www.karlsruhe.dhbw.de/rahmlab|RaHM-Lab]] at the [[https://www.karlsruhe.dhbw.de|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 [[https://www.vicon.com/software/tracker/|Vicon Tracker software]]. It also includes a framework to collect data from the [[https://www.ros.org/|robot operation system (ROS)]].+This application is a generic data aquisition tool and currently used for the projects [[https://www.karlsruhe.dhbw.de/forschung-transfer/schwerpunkte-aktivitaeten/monmobrob.html|MobMonRob]][[https://www.karlsruhe.dhbw.de/forschung-transfer/schwerpunkte-aktivitaeten/ergobot.html|Ergobot]] and KIRK in the [[https://www.karlsruhe.dhbw.de/rahmlab|RaHM-Lab]] at the [[https://www.karlsruhe.dhbw.de|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 [[https://www.vicon.com/software/tracker/|Vicon Tracker software]]. It also includes a framework to collect data from the [[https://www.ros.org/|robot operation system (ROS)]].
  
start.1589373792.txt.gz · Zuletzt geändert: 2020/05/13 14:43 von oliver

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