Project1: Implement algorithm using microphone array

PC Implementation - Work in groups of 2

• Start with this simulation model of the 4 microphones. Extract to your Home Directory and run MicSourceLocator.vi. This can be the starting point for your application.
  • Source Localization
    • Compute angle of arrival for each pair
    • Compute source location by computing the intersection of the 2 lines given (x,y,theta) of each pair
    • Compute all possible intersections (Web)
  • Bandpass signal on all channels
  • Spectrogram
  • Store previous buffer and do level detection to handly an Asynchronous Source
• Test with microphone array microphone array. Connect the line out from the PC to a speaker and generate a chirp on the sound card using Chirp2SoundCard.vi.
  • In the DAQ Assistant, make sure the Analog Inputs are from the USB-6210, differential, +/- 1 V. Make sure you wire the Stop control into the DAQ Assistant
  • To test with "Real Simulated Data", use these waveforms to troubleshoot.
• When everything is working, clean up your block diagram to look something like this. This will make porting your code to the robot easier.

Robot Implementation - Work in groups of 2

Projects for smaller groups:

• Compute angle of arrival on Robot platform
• PC to Robot communication using Shared Variable
• Robot position control (x,y,theta)
• Main PC Controller to compute source location from 5 robots
  • Manual Position
  • Automated controller
• Robot/FPGA implementation of Cross Correlation
• Thin client communication to Robot

System Integration - Everybody

• Get all of the individual pieces to work together on all 5 robots