1. The 16th International Conference ELECTRONICS‘2012 Real-time control system for various applications using sensor fusion algorithm Authors: Edgaras Artemciukas, Rimantas Plestys, Konstantin Gerasimov, Evaldas Zulkas, Linas Pasviestis, Arunas Andziulis, Aigars Krauze 2012, Palanga (18-20 June)

2. 2 Fig. 1. Typical applications

3. 3 Table 1. Digital microelectromechanical sensor parameters Digital sensor Measurement range Digital interfaces Axis number Output data rate, Hz Power supply Accelerometer ADXL345 ±2, ±4, ±8, ±16 g SPI, I 2 C332003.6 V, 145 µA Gyroscope ITG-3200 ±2000 °/secI2CI2C32503.6 V, 6.5 mA Fig. 2. Digital accelerometer, gyroscope and magnetometer

4. 4 Fig. 3. Arduino prototyping platform

5. 5 Fig. 4. Model of real-time control system prototype (1) (2)

6. 6 Fig. 5. Sensor fusion algorithm

7. 7 Fig. 6. (a) Prototype of real-time remote control system and visualization of virtual 3D objects; real-time control of 3D object: (b) – horizontal state; (c) – x-axis roll to the left and right (d) a) b) c) d) Arduino Microcontroller Accelerometer ADXL345 Gyroscope ITG-3200 3D object control in real-time Sensor readings

8. 8 Fig. 7. Experiment results

9. 9 Fig. 8. a) inertial computer mouse prototype; b) UAV stabilization system; c) Augmented reality system a) b) c)

10. 10 Horizontal ir vertical position change

11.  The authors would like to thank the LATLIT programme project LLII-061 for the support while writing and publishing the manuscript. 11

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