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TECHNICAL BRIEFS

Accuracy Considerations in a 3-D Ultrasonic Positioning System Based on the Difference in Time of Flights

[+] Author and Article Information
Nishant Unnikrishnan, Probir Kumar Ray, Ajay Mahajan, Tsuchin Chu

Department of Mechanical Engineering and Energy Processes, Southern Illinois University at Carbondale, Carbondale, IL 62901

J. Dyn. Sys., Meas., Control 124(4), 688-693 (Dec 16, 2002) (6 pages) doi:10.1115/1.1514057 History: Received September 01, 2001; Revised March 01, 2002; Online December 16, 2002
Copyright © 2002 by ASME
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References

Wehn,  H. W., and Belanger,  P. R., 1997, “Ultrasound-Based Robot Position Estimation,” IEEE Trans. Rob. Autom., 13(5), pp. 682–692.
Figueroa,  F., and Mahajan,  A., 1994, “A Robust Method to Determine the Coordinates of a Wave Source for 3-D Position Sensing,” ASME J. Dyn. Syst., Meas., Control 116, pp. 505–511.
Mahajan,  A., and Figueroa,  F., 1999, “An Automatic Self Installation & Calibration Method for a 3D Position Sensing System Using Ultrasonics,” Rob. Auton. Syst., 28(4), pp. 281–294.
Mahajan,  A., and Walworth,  M., 2001, “3D Position Sensing Using the Difference in Time-of-Flights to Various Receivers from a Single Transmitter of Wave Energy,” IEEE Trans. Rob. Autom., 17(1), pp. 91–94.
Figueroa,  J. F., and Lamancusa,  J., 1992, “A method for Accurate Detection of Time-of-Arrival Analysis and Design of an Ultrasonic Ranging System,” J. Acoust. Soc. Am., 91(1), pp. 486–494.
Ciarcia,  S., 1984, “An Ultrasonic Ranging System,” BYTE, 9, pp. 113–123.
Gatland,  I. R., Kahischeuer,  R., and Mencara,  H., 1992, “Experiments Utilizing an Ultrasonic Rangefinder,” Am. J. Phys., 60(5), pp. 451–454.
Western,  A. B., and Crummett,  W. P., 1986, “Ultrasonic Ranging Module Interface and Air Track Kinetics for the Apple II,” Am. J. Phys., 54(10), pp. 894–897.
Duschesne,  B., Fisher,  C. W., and Gray,  C. G., 1991, “Inexpensive and Accurate Position tracking with an Ultrasonic Ranging Module and a Personal Computer,” Am. J. Phys., 59(11), pp. 998–1002.
Biber, C. Ellin, S., Shenk, E., and J. Stempeck, 1996, “The Polaroid Ultrasonic Ranging System,” Audio Engineering Society Preprint (A-8).
Morel,  J. B., 1987, “Acoustic Ranging on Air Table,” Mech. Eng. (Am. Soc. Mech. Eng.), 109(8), pp. 72–73.

Figures

Grahic Jump Location
Optical table setup and signals
Grahic Jump Location
Signals from misaligned receivers
Grahic Jump Location
Signals from non-equidistant receivers
Grahic Jump Location
Error by thresholding measurement due to different Terror terms
Grahic Jump Location
ΔT measurement and the associated error
Grahic Jump Location
Normalized receiver signal for error estimation
Grahic Jump Location
ΔTaccurate measurement using corresponding peak

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