Using sonar ears for robotic navigation
| dc.contributor | Graduate Program in Electrical and Electronic Engineering. | |
| dc.contributor.advisor | Bozma, H. Işıl. | |
| dc.contributor.author | Erdem, Mustafa. | |
| dc.date.accessioned | 2023-03-16T10:17:28Z | |
| dc.date.available | 2023-03-16T10:17:28Z | |
| dc.date.issued | 2010. | |
| dc.description.abstract | This thesis presents work on previously developed hardware module for in-air ultrasound measurements and analysis. Redesigned hardware and firmware enable real-time ultrasound echo measurements which are then transmitted to a computer for signal analysis and distance computation. The ultrasound modules and the computer are connected with a bus structure using a special communication protocol. Two alternative con gurations are considered. In the first, a single transmitter and a single receiver placed on a pan-and-tilt head enable time-of- flight measurements. The maximum of the received signal amplitudes at two different frequencies are measured and are analyzed. In the second setup, where a single transmitter transducer is flanked by two ultrasound receiver modules on each side, again placed on a pan-and-tilt head, constitute the two ears of the robot. The system dynamics is setup as to move the system's line of sight so that it falls on a detected target. | |
| dc.format.extent | 30cm. | |
| dc.format.pages | xv, 71 leaves; | |
| dc.identifier.other | EE 2010 E73 | |
| dc.identifier.uri | https://digitalarchive.library.bogazici.edu.tr/handle/123456789/12766 | |
| dc.publisher | Thesis (M.S.)-Bogazici University. Institute for Graduate Studies in Science and Engineering, 2010. | |
| dc.relation | Includes appendices. | |
| dc.relation | Includes appendices. | |
| dc.subject.lcsh | Sonar. | |
| dc.subject.lcsh | Signal theory (Telecommunication) | |
| dc.title | Using sonar ears for robotic navigation |
Files
Original bundle
1 - 1 of 1