A Novel Crosstalk Elimination Method for Sonar Ranging System in Rescue Robot

AbstractUltrasonic crosstalk can cause false distance measurements and reduce the work efficiency of sonar ranging system. To enhance the performance of sonar ranging system in rescue robot, quadrature phase shift keying (QPSK) excitation sequences modulated using chaotic codes are proposed to fire sonar sensors. In order to obtain the best echo correlation characteristics, a genetic algorithm (GA) is used to optimize the initial values of the chaotic codes. Real experiments have been implemented using a sonar ranging system consisting of eight-channel SensComp 600 series electrostatic sensors excited with 2ms QPSK sequences. Experimental results show that the optimized QPSK excitation sequences can make eight channels sonar ranging system work together without crosstalk

Chaos and bifurcation in time delayed third order phase-locked loop

In this paper, the modern nonlinear theory is applied to a third order phase locked loop (PLL) with a feedback time delay. Due to this delay, different behaviors that are not accounted for in a conventional PLL model are identified, namely, oscillatory instability, periodic doubling and chaos. Firstly, a Pade approximation is used to model the time delay where it is utilized in deriving the state space representation of the PLL under investigation. The PLL under consideration is simulated with and without time delay. It is shown that for certain loop gain (control parameter) and time delay values, the system changes its stability and becomes chaotic. Simulations show that the PLL with time delay becomes chaotic for control parameter value less than the one without time delay, i.e, the stable region becomes narrower. Moreover, the chaotic region becomes wider as time delay increases

Review of Ultrasonic Ranging Methods and Their Current Challenges

Ultrasonic ranging has been widely used in automobiles, unmanned aerial vehicles (UAVs), robots and other fields. With the appearance of micromachined ultrasonic transducers (MUTs), the application of ultrasonic ranging technology presents a more extensive trend. This review focuses on ultrasonic ranging technology and its development history and future trend. Going through the state-of-the-art ultrasonic ranging methods, this paper covers the principles of each method, the signal processing methodologies, the overall system performance as well as key ultrasonic transducer parameters. Moreover, the error sources and compensation methods of ultrasonic ranging systems are discussed. This review aims to give an overview of the ultrasonic ranging technology including its current development and challenges