Hybrid pedestrian positioning system using wearable inertial sensors and ultrasonic ranging

Pedestrian positioning system(PPS)using wearable inertial sensors has wide applications towards various emerging fields such as smart healthcare,emergency rescue,soldier positioning,etc.The performance of traditional PPS is limited by the cumulative error of inertial sensors,complex motion modes of pedestrians,and the low robustness of the multi-sensor collaboration structure.This paper presents a hybrid pedestrian positioning system using the combination of wearable inertial sensors and ultrasonic ranging(H-PPS).A robust two nodes integration structure is developed to adaptively combine the motion data acquired from the single waist-mounted and foot-mounted node,and enhanced by a novel ellipsoid constraint model.In addition,a deep-learning-based walking speed estimator is proposed by considering all the motion features provided by different nodes,which effectively reduces the cumulative error originating from inertial sensors.Finally,a comprehensive data and model dual-driven model is presented to effectively combine the motion data provided by different sensor nodes and walking speed estimator,and multi-level constraints are extracted to further improve the performance of the overall system.Experimental results indicate that the proposed H-PPS significantly improves the performance of the single PPS and outperforms existing algorithms in accuracy index under complex indoor scenarios.

Ultrasonic Sensor-Based Embedded System for Vehicular Collusion Detection and Alert

The efficacy of an automated collision detection system is contingent upon the caliber and volume of data at its disposal. In the event that the data is deficient, incongruous, or erroneous, it has the potential to generate erroneous positive or negative outcomes, thereby compromising the system’s credibility. The occurrence of false positives is observed when the system erroneously identifies genuine activity as collusion. The phenomenon of false negatives arises when the system is unable to identify instances of genuine collusion. Collusion detection systems are required to handle substantial volumes of data in real time, capable of analyzing relationships between different objects. The intricate nature of collusion can pose difficulties in devising and executing efficient systems for its detection. The present study proposes an automated anti-collision system that utilizes sensor devices to detect objects and activate an alert mechanism in the event that the vehicle approaches the object in close proximity. The study introduces a novel methodology for mitigating vehicular accidents by implementing a combined system that integrates collision detection and alert mechanisms. The proposed system comprises an ultrasonic sensor, a microprocessor, and an alarm system. The sensor transmits a signal to the microcontroller, which in turn sends a signal to the warning unit. The warning unit is designed to prevent potential accidents by emitting an audible warning signal through a buzzer. Additionally, the distance information is displayed on an LCD screen. The Proteus Design Suite is utilized for simulation purposes, while Arduino.cc is employed for implementation.

Non-Contact Velocity Measurement of Japanese Cedar Columns Using Air-Coupled Ultrasonics

The ultrasonic wave velocities of Japanese cedar columns were measured using a non-contact method. An air-coupled ultrasonic wave was propagated through the axial and lateral directions of wood. The velocities in the axial direction (VL) showed the minimum values around the pith. The averaged VL increased from 3600 m/s towards the outside of measurement area and attained the maximum values (=4010 m/s). The velocities in the lateral direction (VRT ) showed no tendency among measurement points. The averaged VRT was 1450 m/s. The velocities obtained using the non-contact method showed a significant positive relationship with those obtained using the contact method. The averaged ratio of VL to VRT was measured to be approximately 2.2 to 2.8. These ratios were in agreement with those from a contact method. These findings suggest that it is possible to measure the velocity in Japanese cedar columns with the non-contact method by using air-coupled ultrasonics.

Study on contactless ultrasonic sensor and seam tracking

The sensitivity of contactless ultrasonic sensor is improved from 3.3% to 26% through acoustic and electric matching technique in this paper.Along dual crest lines auto seam tracking is firstly realized with contactless ultrasonic sensing.The focused acoustic lens is accurately designed, and a sonic beam with 0.5 mm in diameter is achieved. By means of software and hardware technique the accuracy of seam tracking with ultrasonic sensing is 0.5 mm in lateral direction and 0.2 mm in longitudinal direction respectively.

Development of seam tracking system with ultrasonic sensor using self-tuning fuzzy control

One kind of the SAW seam tracking system with contactless ultrasonic sensor is presented in this paper. The new contactless ultrasonic sensor for seam tracking and the working principle of the seam tracking with the sensor are introduced. Based on the experiments, the optimal values of the fuzzy control parameters α and k 3 are defined by means of the off line adjusting method. Because the self tuning fuzzy control is adopted in the seam tracking system, the overshoot of the system is restrained, the steady state error is reduced, and the system's response speed is improved effectively. The results of the SAW seam tracking experiments show that this system's tracking accuracy is up to ±0.5 mm and the system can satisfy the requirements of the engineering application.

Development of Measurement System for Flow and Shape Using Array Ultrasonic Sensors

In Fukushima Daiichi Nuclear Power Plant (FDNPP) accident, the fuel debris formed in the Reactor Pressure Vessel (RPV) and Primary Containment Vessel (PCV) at Unit 1 - 3. To accelerate and decide further decommissioning steps of the FDNPP, it is crucial to obtain realistic information of the debris and localize contaminated water leakage from PCV. Due to high radiation and dark environment inside the PCV, investigating instruments and techniques should necessarily to meet specification of radiation resistance, waterproofness, dust resistance and so on. This study focuses on development of ultrasonic measurement system using a couple of sectorial array sensors to localize contaminated water leakage and visualize shape of object that repre- senting fuel debris, simultaneously. In this study, Total Focusing Method (TFM) and Ultrasonic Velocity Profiler (UVP) methods are considered to visualize object shape and flow pattern around it, respectively. To demonstrate applicability and reliability of developed measurement system with sectorial array sensors, a mock-up experiment result of simulated water leakage and fuel debris shape were discussed in this paper.

Object-tracking robot using ultrasonic sensor and servo motor

This paper proposes a method that rotation angle of servo motor and distance values of ultrasonic sensor are used for tracking an object in real-time while the robot keeps regular distance.Object detection distance widens by using ultrasonic sensors and object recognition,and movement of robot is controlled by angle of servo motor and distance of ultrasonic sensors.Not adopting the existing tracking methods:camera,laser-infrared(LRF)and many ultrasonic sensors,the proposed method proves that it is possible to track object using ultrasonic sensor and servo motor.Trajectory of robot is represented and analysed according to movement of object in limited conditions.

Indoor 3D Reconstruction Using Camera, IMU and Ultrasonic Sensors

The recent advances in sensing and display technologies have been transforming our living environments drastically. In this paper, a new technique is introduced to accurately reconstruct indoor environments in three-dimensions using a mobile platform. The system incorporates 4 ultrasonic sensors scanner system, an HD web camera as well as an inertial measurement unit (IMU). The whole platform is mountable on mobile facilities, such as a wheelchair. The proposed mapping approach took advantage of the precision of the 3D point clouds produced by the ultrasonic sensors system despite their scarcity to help build a more definite 3D scene. Using a robust iterative algorithm, it combined the structure from motion generated 3D point clouds with the ultrasonic sensors and IMU generated 3D point clouds to derive a much more precise point cloud using the depth measurements from the ultrasonic sensors. Because of their ability to recognize features of objects in the targeted scene, the ultrasonic generated point clouds performed feature extraction on the consecutive point cloud to ensure a perfect alignment. The range measured by ultrasonic sensors contributed to the depth correction of the generated 3D images (the 3D scenes). Experiments revealed that the system generated not only dense but precise 3D maps of the environments. The results showed that the designed 3D modeling platform is able to help in assistive living environment for self-navigation, obstacle alert, and other driving assisting tasks.

Visualisation of air–water bubbly column flow using array Ultrasonic Velocity Profiler

In the present work, an experimental study of bubbly two-phase flow in a rectangular bubble column was performed using two ultrasonic array sensors, which can measure the instantaneous velocity of gas bubbles on multiple measurement lines. After the sound pressure distribution of sensors had been evaluated with a needle hydrophone technique, the array sensors were applied to two-phase bubble col- umn, To assess the accuracy of the measurement system with array sensors for one and two-dimensional velocity, a simultaneous measurement was performed with an optical measurement technique called particle image velocimetry （PIV）. Experimental results showed that accuracy of the measurement system with array sensors is under 10% for one-dimensional velocity profile measurement compared with PIV technique. The accuracy of the system was estimated to be under 20% along the mean flow direction in the case of two-dimensional vector mapping.

Damage Detection in CFST Column by Simulation of Ultrasonic Waves Using STFT-Based Spectrogram and Welch Power Spectral Density Estimate

Structural health monitoring employs different tools and techniques to provide a prediction for damages that occur in various structures.Damages such as debond and cracks in concrete-filled steel tube column(CFST)are serious defects that threaten the integrity of the structural members.Ultrasonic waves monitoring applied to the CFST column is necessary to detect damages and quantify their size.However,without appropriate signal processing tools,the results of the monitoring process could not be crucial.In this research,a monitoring process based on a Multiphysics numerical simulation study was carried out.Two signal processing tools:short time Fourier transform(STFT)and Welch Power Spectral Density Estimate(PSD)were used to analyse the captured raw signals.The STFT spectrogram was effective in identifying the different size of damage based on a graphical interpretation.The results show that the increasing of frequency of the excited signal give a better results.The increase in peak magnitude values in Welch PSD was found to be proportionate to the change in damage length whereas the damage depth has a less effect.The results for the crack size identification were less promising than those of debond damage because of the different type of the signal’s propagation path.Simulation process conducted by COMSOL software has proved the validity of the adopted signal processing techniques in detecting such damages in CFST columns.

Design and Implementation of an Ultrasonic Heat Meter Based on MSP430F437

Flowing with the reform of the hot water heating method in China, heat meter will enter into households in the near future. A portable ultrasonic heat meter is designed in this paper. The meter uses chip microprocessor MSP430F437 as the data process core, and uses ultrasonic flow sensor to measure flow rate of the hot water, and capture input and output temperatures of the hot water using the thermal resistance sensor Ptl000, and then household energy consumption is calculated via temperature difference between input temperature and output temperature of the hot water multiplied by volume of hot water that is calculated though flow rate integration of hot water. In order to test the performance of the proposed heat meter, experiments is carried out. Both the temperature and flow measurement results satisfy the requirements of accuracy and the heat meter is effective in the heat measurement.

Development of an Accurate Low-cost Ultrasonic Localization System for Autonomous Mobile Robots in Indoor Environments

An accurate low-cost ultrasonic localization system is developed for automated mobile robots in indoor environments,which is essential for automatic navigation of mobile robots with various tasks.Although ultrasonic sensors are more cost-effective than other sensors such as Laser Range Finder(LRF)and vision,but they are inaccurate and directionally ambiguous.First,the matched filter is used to measure the distance accurately.For resolving the computational complexity of the matched filter,a new matched filter algorithm with simple computation is proposed.Then,an ultrasonic localization system is proposed which consists of three ultrasonic receivers and two or more transmitters for improving position and orientation accuracy was developed.Finally,an extended Kalman filter is designed to estimate both the static and dynamic positions and orientations.Various simulations and experimental results show that the proposed system is effective.

The Design Liquid-level Monitoring System of Adopting the Ultrasonic Sensing Technology

Utilizing the technology of Ultrasonic wave,relevant test arithmetic and the PC to carry on monitoring,controlling and cen-tralized management of the liquid-level in the liquid container. It can prevent from keeping in touch with the examined liquid,not only has increased the continuous working time of the system greatly,simplifying maintenance of the sensor conveniently,can also realize overhauling in producing and boost the productivity and management level. The working principle,hardware structure of the instrument and the design method are presented,and the selection of sensor and MCU is discussed in detail in this paper. MCU are used to control the emission and receiving. Then the liquid-level are calculated,which makes the design more intelligent.

Low palladium content CeO_(2)/ZnO composite for acetone sensor with sub-second response prepared by ultrasonic method

In practical applications,noble metal doping is often used to prepare high performance gas sensors,but more noble metal doping will lead to higher preparation costs.In this study,CeO_(2)/ZnO-Pd with low palladium content was prepared by ultrasonic method with fast response and high selectivity for acetone sensing.With the same amount of palladium added,the selectivity coefficient of CeO_(2)/ZnO-Pd is 1.88 times higher than that of the stirred sensor.Compared with the pure PdO-doped CeO_(2)/ZnO-PdO material,the content of Pd in CeO_(2)/ZnO-PdO is about 30%of that in CeO_(2)/ZnO-PdO,but the selectivity coefficient for acetone is 2.56 times higher.The CeO_(2)/ZnO-Pd sensor has a higher response(22.54)to 50×10^(−6) acetone at 300℃and the selectivity coefficient is 2.57 times that of the CeO_(2)/ZnO sensor.The sensor has a sub-second response time(0.6 s)and still has a 2.36 response to 330×10^(−9) of acetone.Ultrasonic doping makes Pd particles smaller and increases the contact area with gas.Meanwhile,the composition of n-p-n heterojunction and the synergistic effect of Pd/PdO improve the sensor performance.It shows that ultrasonic Pd doping provides a way to improve the utilization rate of doped metals and prepare highly selective gas sensors.

基于单片机的超声波测距系统设计

基于超声波测距的渡越时间检测原理,实现对近距离障碍物无接触的实时测量,本文提出一种基于STC89C52RC单片机实现温度补偿的超声波测距的设计方法。该超声波测距系统工作稳定,同时具有低成本、高精度、微型化等优点,可应用在道路限高、液位测量、倒车雷达预警、机器人自动避障、工业场地等应用场合,具有一定实际应用价值。

一种用于高压电气设备局放超声检测的新型EFPI传感器

文章介绍了一种新型结构的光纤EFPI超声传感器,可内置于变压器、GIS等高压电气设备,这种新型结构的光纤EFPI超声传感器可在不同温度、不同压强条件下,进行局部放电超声信号的检测。新型传感器采用全石英焊接工艺,在F-P腔上开孔,使绝缘介质进入F-P腔,平衡了石英膜片两侧由于温度和绝缘介质密度不同产生的压强差,并在石英膜片内表面上局部镀铝膜,提高膜片内表面的光反射率,提升了传感器的灵敏度。通过用新型传感器在不同温度、不同距离下进行测试,验证了传感器的温度、频率、灵敏度等性能。新型光纤EFPI超声传感器为检测高压电气设备内部局部放电提供了一种新的检测方法。实际应用中也取得了非常好的效果。

基于超声波的GIS盆式绝缘子螺栓松动程度监测方法

GIS中的重要组成部分盆式绝缘子主要通过法兰螺栓进行固定,但螺栓松动会导致盆式绝缘子受力不均甚至气体泄漏等问题,严重影响GIS运行的可靠性和安全性。文中提出了一种GIS盆式绝缘子法兰螺栓松动程度的超声波监测方法,利用压电传感器进行超声信号的激励与接收,并将压电传感器安装在待测螺栓所连接的法兰两侧,根据超声响应信号的能量衰减率来判断螺栓松动程度。通过实验研究了不同工况下超声响应信号能量及其衰减率的变化规律。结果表明,随着螺栓松动程度的增加,响应信号幅值逐渐下降,信号能量衰减率逐渐增大,单个螺栓松动且松动等级为3时信号能量衰减率可达40.8%;同时发现距离松动螺栓最近的压电传感器接收信号能量衰减率最大。该方法可实现GIS盆式绝缘子法兰螺栓松动程度监测,具有一定的工程应用价值。

基于宽频振动传感器的电力设备状态监测方法可行性分析

宽频振动信号包括1 Hz~20 kHz的低频振动信号和20~500 kHz的高频超声信号。近年来,利用振动信号对变压器、电容器、电抗器等电力设备进行状态检测的手段日益成熟,超声信号也可以很好地检测出电力设备中的局部放电并定位,均已有较为成熟的应用。文中提出了基于宽频振动传感器的电力设备状态监测方法,并使用该传感器同时测量了脉冲振动源的振动以及油纸绝缘针板电极局部放电的超声,借助仿真对超声时延进行了修正,对局部放电进行了识别,并与脉冲电流法所得结果进行了对比。结果表明,所提出的监测方法可以很好地监测到振动和超声,并实现局部放电的识别,该方法应用于电力设备状态监测是可行的。

基于柔性超声传感器的阵列式管道壁厚监测系统

当前应用于油气管道壁厚监测的各类超声传感器均为传统刚性结构,针对其超声能量受损、测量范围受限及不易阵列化的问题,设计了一种基于柔性超声传感器的阵列式管道壁厚监测系统。该系统利用柔性电路板及背衬实现传感器阵列化集成,以STM32为主控芯片的硬件电路实现了各通道传感器超声的激励与数据的采集。同时,上位机对接收到的测量数据进行分析处理,从而实现对管道壁厚的监测。实验结果表明,该系统具有良好的测量效果,精度可达0.02 mm。

抽水蓄能电站螺栓应力监测方法

螺栓承受轴向载荷时,伸长量和应力变化规律遵循广义胡克定律。现有的监测方法都是通过伸长量的变化监测螺栓的应力水平,进而评价螺栓的安全状况。随着微变形测试方法的发展,利用声学、光学、电学等监测手段均广泛应用于抽水蓄能电站螺栓的应力水平监测。本文简述了目前应用最为广泛的几种监测应力方法的原理和应用特点。