Difference between revisions of "Ultrasonic Source Localization Notes SP2010"

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* Goal:
 
* Goal:
 
** Study the beam patterns of the ultrasonic transducers and verify using experiments.
 
** Study the beam patterns of the ultrasonic transducers and verify using experiments.
−
** Study the monopulse algorithms for source localizations.
+
** Study the monopulse algorithms for source localization.
 
*** Single receiver
 
*** Single receiver
 
*** Multiple receivers
 
*** Multiple receivers
 
** Test the algorithms for passive source localization using one pair of receiver beams.
 
** Test the algorithms for passive source localization using one pair of receiver beams.
−
** Explore different ways to rotate the receiver beams for tracking the target.
+
** Explore different ways to rotate (mechanically) the receiver beams for tracking the target.
 
** Extend the experiment to active localization.
 
** Extend the experiment to active localization.
 
** Incorporate multiple pairs of receive beams and the fusion center. (If time permits)
 
** Incorporate multiple pairs of receive beams and the fusion center. (If time permits)
 +
* Meetings
 +
** Tuesday 10 AM - 11:30 AM
 +
** Friday 10:30 AM - 12 NOON
 +
* Useful Links:
 +
**[http://www.senscomp.com/specs/40KT08%20%20spec.pdf Transmitter Specifications]
 +
**[http://www.senscomp.com/specs/40KT18%20%20spec.pdf Receiver Specifications]
 +
**[http://classes.engineering.wustl.edu/ese497/index.php/File:Beam18.pdf Overview of Beamforming]
 +
----
 +
*Status
 +
**Week 1
 +
***[01/22/10] Tested the ultrasonic transmitter and receiver sensors with oscilloscope & function generator and discussed the principles behind amplitude-based and phase-based schemes.
 +
**Week 2
 +
***[01/29/10] Mounted the ultrasonic sensors onto a PCB and prepared the setup for performing the experiments.
 +
***[01/29/10] Controlled the Lego Mindstorms motor using LabView.
 +
**Week 3
 +
***[02/02/10] Created a LabView algorithm to track the ultrasonic source.  We now have a working prototype!
 +
***[02/05/10] Discussed possible improvements to our implementation including phase offset detection.
 +
**Week 4
 +
***[02/12/10] Modified the transmit waveform into pulses to check if we can use the time difference of arrival to enhance our estimates.
 +
**Week 5
 +
***[02/19/10] We could implement the algorithm using pulses.
 +
**Week 6
 +
***[02/22/10] Started working with the new robot and we were able to control the sensor motor of the robot.
 +
**Week 7
 +
***[03/05/10] Controlled the movement of the new robot (both rotation and linear movements).
 +
***[03/05/10] Mounted the ultrasonic sensors onto a PCB and installed them on the robot.
 +
----
 +
--Videos--
 +
{{#ev:youtube|hoFE8agdgtc}}
 +
{{#ev:youtube|tgytAJmJmgM}}
 +
 +
<mediaplayer width=720 height=504>http://ese.wustl.edu/ContentFiles/Research/UndergraduateResearch/CompletedProjects/WebPages/sp10/Wiens/Andrew%20UGRPoseterSession_043010%2009.avi.MP4</mediaplayer>

Latest revision as of 16:00, 21 June 2010

  • Team Members: Andrew Wiens
  • PhD Supervisor: Sandeep Gogineni
  • Faculty Supervisor: Arye Nehorai
  • Goal:
    • Study the beam patterns of the ultrasonic transducers and verify using experiments.
    • Study the monopulse algorithms for source localization.
      • Single receiver
      • Multiple receivers
    • Test the algorithms for passive source localization using one pair of receiver beams.
    • Explore different ways to rotate (mechanically) the receiver beams for tracking the target.
    • Extend the experiment to active localization.
    • Incorporate multiple pairs of receive beams and the fusion center. (If time permits)
  • Meetings
    • Tuesday 10 AM - 11:30 AM
    • Friday 10:30 AM - 12 NOON
  • Useful Links:
  • Status
    • Week 1
      • [01/22/10] Tested the ultrasonic transmitter and receiver sensors with oscilloscope & function generator and discussed the principles behind amplitude-based and phase-based schemes.
    • Week 2
      • [01/29/10] Mounted the ultrasonic sensors onto a PCB and prepared the setup for performing the experiments.
      • [01/29/10] Controlled the Lego Mindstorms motor using LabView.
    • Week 3
      • [02/02/10] Created a LabView algorithm to track the ultrasonic source. We now have a working prototype!
      • [02/05/10] Discussed possible improvements to our implementation including phase offset detection.
    • Week 4
      • [02/12/10] Modified the transmit waveform into pulses to check if we can use the time difference of arrival to enhance our estimates.
    • Week 5
      • [02/19/10] We could implement the algorithm using pulses.
    • Week 6
      • [02/22/10] Started working with the new robot and we were able to control the sensor motor of the robot.
    • Week 7
      • [03/05/10] Controlled the movement of the new robot (both rotation and linear movements).
      • [03/05/10] Mounted the ultrasonic sensors onto a PCB and installed them on the robot.

--Videos--

<mediaplayer width=720 height=504>http://ese.wustl.edu/ContentFiles/Research/UndergraduateResearch/CompletedProjects/WebPages/sp10/Wiens/Andrew%20UGRPoseterSession_043010%2009.avi.MP4</mediaplayer>

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