Difference between revisions of "Ultrasonic Source Localization Notes SP2010"
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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.
- Week 1
--Videos--
<mediaplayer width=720 height=500>http://ese.wustl.edu/ContentFiles/Research/UndergraduateResearch/CompletedProjects/WebPages/sp10/Wiens/Andrew%20UGRPoseterSession_043010%2009.avi.MP4</mediaplayer>