Local position and attitude measurement methods are necessary for the navigation of autonomous robots and the other applications. In this paper, a 3D attitude measurement method is proposed. This method uses the sprea...Local position and attitude measurement methods are necessary for the navigation of autonomous robots and the other applications. In this paper, a 3D attitude measurement method is proposed. This method uses the spread spectrum modulated ultrasonic wave for the measurement of the pseudo-distance of each pathway between transmitter and receiver elements that are arranged in an array. The relative attitude between transmitter and receiver unit could be calculated from the relationship between these pseudo-distances. The use of spread spectrum modulation enables the high accuracy, noise tolerance, and coexistence of multiple transmitter devices by code division multiple access (CDMA) between transmitter and receiver elements. A pair of transmitter and receiver prototype for proposed method was manufactured, and the fundamental performance was examined in experiments. As a result, accuracy of σ=0.78 mm in the pseudo-distance measurement of each pathway between transmitter and receiver elements was confirmed, and about 0.01 rad resolution in the attitude measurement was also confirmed.展开更多
In this paper, as the active position measurement system, a novel method for a two-dimensional localization system using M-sequence signal is proposed. The feature of this system is to realize a position measurement o...In this paper, as the active position measurement system, a novel method for a two-dimensional localization system using M-sequence signal is proposed. The feature of this system is to realize a position measurement only by scanning the encoded laser beams from fixing points to a measurement field, and by observing it. First, both the system configuration and encoding method were practically considered, and an order and an initial value of M-sequence signal were selected for encoding. This method is based on discrete angle measurement therefore the resolution has its own limitation. To overcome this limitation, analogue phase shift detecting method was introduced. System design was performed and applied to position measurement experiments. The experimental results show that the measurement error of the analogue method is 1/3 of that of the discrete method.展开更多
In this paper, a measurement method for cross-sectional temperature distribution is addressed. A novel method based on an acoustic CT technique is proposed. Specifically, the temperature distributions are estimated us...In this paper, a measurement method for cross-sectional temperature distribution is addressed. A novel method based on an acoustic CT technique is proposed. Specifically, the temperature distributions are estimated using the time of flight data of several ultrasonic propagation paths. The times of the flight data contain both temperature and wind effect, and the method to select only temperature component is introduced. A filtered back projection method is applied to reconstruct the temperature distributions from the time of flight data. An experimental system was designed and fabricated to realize simultaneous temperature and wind velocity distribution measurements. Through this system, the effectiveness of the proposed measurement method is confirmed.展开更多
基金A part of this topic was presented at the SICE-ICCAS International Joint Conference[1](Busan, October 2006)
文摘Local position and attitude measurement methods are necessary for the navigation of autonomous robots and the other applications. In this paper, a 3D attitude measurement method is proposed. This method uses the spread spectrum modulated ultrasonic wave for the measurement of the pseudo-distance of each pathway between transmitter and receiver elements that are arranged in an array. The relative attitude between transmitter and receiver unit could be calculated from the relationship between these pseudo-distances. The use of spread spectrum modulation enables the high accuracy, noise tolerance, and coexistence of multiple transmitter devices by code division multiple access (CDMA) between transmitter and receiver elements. A pair of transmitter and receiver prototype for proposed method was manufactured, and the fundamental performance was examined in experiments. As a result, accuracy of σ=0.78 mm in the pseudo-distance measurement of each pathway between transmitter and receiver elements was confirmed, and about 0.01 rad resolution in the attitude measurement was also confirmed.
文摘In this paper, as the active position measurement system, a novel method for a two-dimensional localization system using M-sequence signal is proposed. The feature of this system is to realize a position measurement only by scanning the encoded laser beams from fixing points to a measurement field, and by observing it. First, both the system configuration and encoding method were practically considered, and an order and an initial value of M-sequence signal were selected for encoding. This method is based on discrete angle measurement therefore the resolution has its own limitation. To overcome this limitation, analogue phase shift detecting method was introduced. System design was performed and applied to position measurement experiments. The experimental results show that the measurement error of the analogue method is 1/3 of that of the discrete method.
文摘In this paper, a measurement method for cross-sectional temperature distribution is addressed. A novel method based on an acoustic CT technique is proposed. Specifically, the temperature distributions are estimated using the time of flight data of several ultrasonic propagation paths. The times of the flight data contain both temperature and wind effect, and the method to select only temperature component is introduced. A filtered back projection method is applied to reconstruct the temperature distributions from the time of flight data. An experimental system was designed and fabricated to realize simultaneous temperature and wind velocity distribution measurements. Through this system, the effectiveness of the proposed measurement method is confirmed.
