Requirements for project Robot with Ultrasonic Sensor

Transcription

1 Requirements for project Robot with Ultrasonic Sensor 1. Robot 1.1. The robot shall be able to scan lines Measurements are to be taken at equidistant points along the line Line scans should be possible in both X and Y directions The most reasonable approach to making scans is moving the sensor a small distance, stop, measure and then move the sensor again, but if you manage to do measurements on the fly, feel free to do so The robot shall be able to make area scans An area scan is composed of several equidistant line scans The area scan should yield a 2D matrix of distances to the closest target at each measurement point. This mapping from a 3D cube of data to a 2D matrix is called a C-scan. 2. User interface 2.1. It must be possible for the sensor to be positioned manually. The user should be able to move it anywhere in the XY-plane within the robots frame using the controls of the program The user should be able to specify line scans using either two of the three parameters: Total length of scan, distance between sample points and number of sample points. Values can be given in samples or millimeters The user should be able to define area scans, with parameters as above given for both X and Y direction The last taken measurement should be displayed on the front panel as an A- scan. (A time series graph of the measurement) 2.5. The last performed line scan should be displayed on the front panel as an intensity graph. (A line scan yields a 2D matrix, or a B-scan. Mapping every sample to a color gives an intensity graph.) 2.6. The last performed area scan should be displayed on the front panel as an intensity graph of the C-scan. 3. Data processing 3.1. C-scan mapping. You need to find a way (or preferably evaluate several different approaches) to map your 3D data cube to a 2D C-scan Frequency domain deconvolution of the transducer s electrical impulse response. You will be given an implementation in MATLAB for this, but you need to understand what it does. This can be done offline outside of your software, or integrated into the program. 4. Experiments 4.1. A series of experiments shall be designed to evaluate the measurement systems performance. Come up with some ideas of what properties you can (and want to) evaluate, and how. Have a discussion with EW about this and we will agree on what you should do. 5. Report. The report should contain the following items:

2 5.1. Software. Explain how the software works using for example block diagrams with comments Experiments. Carefully motivate why you did each experiment, what you hoped to achieve with it, and your results Theory. Explain and motivate your choices of sampling frequency, pulse length, filters, etc. 6. Extra task. Synthetic Aperture Imaging Explain the theory behind the SAFT algorithm in the report. (You will be given an implementation.) 6.2. You will need to make a series of experiments to evaluate the SAFT algorithm. Try to think of some suitable targets and conditions for this.

3 Requirements for project Robot with Optical Sensor 1. Robot 1.1. The robot shall be able to scan lines Measurements are to be taken at equidistant points along the line Line scans should be possible in both X and Y directions The most reasonable approach to making scans is moving the sensor a small distance, stop, measure and then move the sensor again, but if you manage to do measurements on the fly, feel free to do so The robot shall be able to make area scans An area scan is composed of several equidistant line scans The area scan should yield a 2D matrix of intensities. 2. User interface 2.1. It must be possible for the sensor to be positioned manually. The user should be able to move it anywhere in the XY-plane within the robots frame using the controls of the program The user should be able to specify line scans using either two of the three parameters: Total length of scan, distance between sample points and number of sample points. Values can be given in samples or millimeters The user should be able to define area scans, with parameters as above given for both X and Y direction The last performed (or current) line scan should be displayed on the front panel as a line plot 2.5. The last performed (or current) area scan should be displayed on the front panel as an intensity graph. (An area scan yields a 2D matrix. Mapping every sample point to a color gives an intensity graph.) 3. Filtering 3.1. Without the robot operating in darkness, the sensor will capture a lot of optical noise. Some filtering approach will be necessary to compensate for this. Find a working combination of digital and analog filters, as well as output signal. 4. Experiments 4.1. A series of experiments shall be designed to evaluate the measurement systems performance. Come up with some ideas of what properties you can (and want to) evaluate, and how. Have a discussion with EW about this and we will agree on what you should do. 5. Report. The report should contain the following items: 5.1. Theory Data acquisition. Explain and motivate your choices of sampling frequency, filters, etc Hardware. Explain how your external electronics work and are connected Software. Explain how the software works using for example block diagrams with comments.

4 5.3. Experiments. Carefully motivate why you did each experiment, what you hoped to achieve with it, and your results. 6. Extra task 1. Deconvolution of point spread function in frequency domain Explain the theory behind the algorithm in the report. (You will be given an implementation.) 6.2. You will need to make a series of experiments to evaluate the algorithm. Try to think of some suitable targets and conditions for this. 7. Extra task 2. Line tracker Implement a program in LabView that can move the sensor to follow a black line on a white paper For top credits, the line tracker should be able to follow both left and right turns Explain your line-tracking algorithm in your report Show off the line tracker at the demonstration at the end of the course. You need to do only one of the extra tasks for the extra mark.

5 Requirements for project Synthetic Aperture Imaging using Airborne Ultrasound 1. Robot 1.1. The robot moves using a single stepper motor. Make hardware connections and software to control the robot using a stepper motor driver circuit The robot shall be able to scan lines Measurements are to be taken at equidistant points along the line The line scan should yield a 2D matrix of data The most reasonable approach to making scans is moving the sensor a small distance, stop, measure and then move the sensor again, but if you manage to do measurements on the fly, feel free to do so. 2. User interface 2.1. The user should be able to specify line scans using either two of the three parameters: Total length of scan, distance between sample points and number of sample points. Values can be given in samples, motor-steps or millimeters The last taken measurement should be displayed on the front panel as an A- scan. (A time series graph of the measurement) 2.3. The last performed line scan should be displayed on the front panel as an intensity graph. (A line scan yields a 2D matrix, or a B-scan. Mapping every sample to a color gives an intensity graph.) 3. Synthetic Aperture Imaging You will be given an implementation of the SAFT algorithm in MATLAB. Use it to process your data Read about the method and understand how it works. 4. Experiments 4.1. A series of experiments shall be designed to evaluate the measurement systems performance. Come up with some ideas of what properties you can (and want to) evaluate, and how. Have a discussion with EW about this and we will agree on what you should do You will need to make a series of experiments to evaluate the SAFT algorithm. Try to think of some suitable targets and conditions for this. 5. Report. The report should contain the following items: 5.1. Software. Explain how the software works using for example block diagrams with comments Experiments. Carefully motivate why you did each experiment, what you hoped to achieve with it, and your results Theory. Explain and motivate your choices of sampling frequency, pulse length, filters, etc SAFT Explain how the algorithm works and its limitations Show how varying parameters in the algorithm affects its performance. 6. Extra task: Theoretical beam pattern analysis.

6 6.1. A transducer array consists of several equidistant transducers, sending and receiving together. The signals from all transducers are summed. This can be done with a single transducer if it is moved between all the array positions and data is summed afterwards. This is called a synthetic aperture. Calculate the beam pattern of you synthetic array Show how the beam pattern changes with different spatial sampling distances Make experiments to measure the true beam pattern of your array. 8. Bonus task: Deconvolution of the electrical impulse response in frequency domain This is not a compulsory task, but it will make the results from your experiments much prettier. You will be given MATLAB code for it.

7 Requirements for project Wind Measurements Using Ultrasound 1. Stepper motor 1.1. The sensors should move using a single stepper motor. Make hardware connections and software to control the stepper motor using a driver circuit. 2. Software 2.1. The software should be able to rotate the sensors. The user should give parameters such as speed and step size, in degrees or motor steps One full measurement consists of turning the sensor from a start point to end point. This can be a full rotation, or part thereof. During the sweep echo response should be measured at several positions along the way It is sensible to stop the motion for each measurement, but if you manage to do measurements on the fly, feel free to do so The most resent echo response should be plotted on the front panel The distance to a target should be calculated from each echo response The distances should be plotted against angle, preferably in a polar, or radar plot. 3. Measuring frequency 3.1. The feedback loop will have a distorted sine wave as output. The frequency of the wave will be dependent of the wind passing between the transducers. This frequency should be measured Try a few different approaches in finding the frequency of the wave. Some might be: In software. Sample the signal and do calculations, possibly in MATLAB. Several options are possible, such as spectrum estimates, or counting highs and lows Converting the signal to digital using one of several methods, and counting flanks in hardware on the DAQ-card Much of the problem with finding the frequency of the wave is that what you want to measure is a small change in a large quantity. Find ways of removing this offset. 4. Experiments 4.1. A series of experiments shall be designed to evaluate the measurement systems performance. Come up with some ideas of what properties you can (and want to) evaluate, and how. Have a discussion with EW about this and we will agree on what you should do. 5. Report. The report should contain the following items: 5.1. Software. Explain how the software works using for example block diagrams with comments Hardware. Explain the hardware connections you have made, how and why they work Theory. Explain and motivate your choices of sampling frequency, filters, etc Experiments. Carefully motivate why you did each experiment, what you hoped to achieve with it, and your results.

8 6. Extra task. Another approach to frequency measurement/estimation Chose another approach to measure the frequency of the loop Compare the two methods you have used, both in theory and make experiments to verify your thought Write your findings in the report.

9 Requirements for project Ultrasonic Sonar 1. Stepper motor 1.1. The sensors should move using a single stepper motor. Make hardware connections and software to control the stepper motor using a driver circuit. 2. Software 2.1. The software should be able to rotate the sensors. The user should give parameters such as speed and step size, in degrees or motor steps One full measurement consists of turning the sensors one full rotation, and measuring frequency at some positions along the way. The software should calculate wind speed and direction after one such full measurement The measured frequencies in the current full measurement should be plotted on the front panel against angle. 3. Measuring frequency 3.1. The feedback loop will have a distorted sine wave as output. The frequency of the wave will be dependent of the wind passing between the transducers. This frequency should be measured Try a few different approaches in finding the frequency of the wave. Some might be: In software. Sample the signal and do calculations, possibly in MATLAB. Several options are possible, such as spectrum estimates, or counting highs and lows Converting the signal to digital using one of several methods, and counting flanks in hardware on the DAQ-card Much of the problem with finding the frequency of the wave is that what you want to measure is a small change in a large quantity. Find ways of removing this offset. 4. Experiments 4.1. Measure beam pattern for various array sizes and distances between array elements A series of experiments shall be designed to evaluate the performance of your measurement system. Come up with some ideas of what properties you can (and want to) evaluate, and how. Have a discussion with EW about this and we will agree on what you should do. 5. Report. The report should contain the following items: 5.1. Software. Explain how the software works using for example block diagrams with comments Hardware. Explain the hardware connections you have made, how and why they work Theory. Explain and motivate your choices of sampling frequency, filters, etc Experiments. Carefully motivate why you did each experiment, what you hoped to achieve with it, and your results. 6. Extra task: Beam pattern analysis.

10 6.1. Perform a theoretical analysis of the beam patterns assuming that the transmitters are point sources and that harmonic excitation is used (i.e. a single frequency) Plot how a varying the distance between array elements will change the beam pattern. Compare with your measurements.