1,727 research outputs found

    CABE : a cloud-based acoustic beamforming emulator for FPGA-based sound source localization

    Get PDF
    Microphone arrays are gaining in popularity thanks to the availability of low-cost microphones. Applications including sonar, binaural hearing aid devices, acoustic indoor localization techniques and speech recognition are proposed by several research groups and companies. In most of the available implementations, the microphones utilized are assumed to offer an ideal response in a given frequency domain. Several toolboxes and software can be used to obtain a theoretical response of a microphone array with a given beamforming algorithm. However, a tool facilitating the design of a microphone array taking into account the non-ideal characteristics could not be found. Moreover, generating packages facilitating the implementation on Field Programmable Gate Arrays has, to our knowledge, not been carried out yet. Visualizing the responses in 2D and 3D also poses an engineering challenge. To alleviate these shortcomings, a scalable Cloud-based Acoustic Beamforming Emulator (CABE) is proposed. The non-ideal characteristics of microphones are considered during the computations and results are validated with acoustic data captured from microphones. It is also possible to generate hardware description language packages containing delay tables facilitating the implementation of Delay-and-Sum beamformers in embedded hardware. Truncation error analysis can also be carried out for fixed-point signal processing. The effects of disabling a given group of microphones within the microphone array can also be calculated. Results and packages can be visualized with a dedicated client application. Users can create and configure several parameters of an emulation, including sound source placement, the shape of the microphone array and the required signal processing flow. Depending on the user configuration, 2D and 3D graphs showing the beamforming results, waterfall diagrams and performance metrics can be generated by the client application. The emulations are also validated with captured data from existing microphone arrays.</jats:p

    An Ultra-fast DOA Estimator with Circular Array Interferometer Using Lookup Table Method

    Get PDF
    The time-consuming phase ambiguity resolution makes the uniform circular array (UCA) interferometer not suitable for real-time direction-of-arrival (DOA) estimation. This paper introduces the lookup table (LUT) method to solve this problem. The key of the method is that we look up the ambiguity numbers instead of the eventual DOA from the table, and then the DOA is obtained by relatively small amount of calculation. This makes it possible that we are able to shrink the table size while maintain the DOA estimation accuracy. The table addresses cover all possible measured phase differences (PDs), which enables the method to be free of spatial scanning. Moreover, without adding frequency index to the lookup table, the estimator can realize wideband application. As an example, a field-programmable gate array (FPGA) based DOA estimator with the estimation time of 180 ns is presented, accompanied by the measured results. This method possesses the advantages of ultra-high speed, high accuracy and low memory usage

    Low cost radar and sonar using Open Source hardware and software

    Get PDF
    Includes abstract.Includes bibliographical references (leaves 89-91).The full range of radar types and innovations can be complex and difficult to prototype, especially for institutions that wish to perform a wide range of experiments for low financial cost. Radar and sonar system development can benefit from digital technology that is powerful for research purposes, easy to use, and inexpensive. The purpose of this thesis was the development of a sonar application using the Universal Software Radio Peripheral and the GNU Radio software framework. These are Open Source tools created for the software-defined radio community. These tools provide a powerful yet flexible means to experiment with a wide range of radio frequency applications, using a minimal amount of relatively cheap hardware. In this thesis, these tools were modified from their original telecommunications purpose, to produce a sonar system that could eventually be scaled to a prototype radar system using the same device and software framework

    How Rapid is Rapid Prototyping? Analysis of ESPADON Programme Results

    Get PDF
    New methodologies, engineering processes, and support environments are beginning to emerge for embedded signal processing systems. The main objectives are to enable defence industry to field state-of-the-art products in less time and with lower costs, including retrofits and upgrades, based predominately on commercial off the shelf (COTS) components and the model-year concept. One of the cornerstones of the new methodologies is the concept of rapid prototyping. This is the ability to rapidly and seamlessly move from functional design to the architectural design to the implementation, through automatic code generation tools, onto real-time COTS test beds. In this paper, we try to quantify the term “rapid†and provide results, the metrics, from two independent benchmarks, a radar and sonar beamforming application subset. The metrics show that the rapid prototyping process may be sixteen times faster than a conventional process

    Fast, Accurate Thin-Structure Obstacle Detection for Autonomous Mobile Robots

    Full text link
    Safety is paramount for mobile robotic platforms such as self-driving cars and unmanned aerial vehicles. This work is devoted to a task that is indispensable for safety yet was largely overlooked in the past -- detecting obstacles that are of very thin structures, such as wires, cables and tree branches. This is a challenging problem, as thin objects can be problematic for active sensors such as lidar and sonar and even for stereo cameras. In this work, we propose to use video sequences for thin obstacle detection. We represent obstacles with edges in the video frames, and reconstruct them in 3D using efficient edge-based visual odometry techniques. We provide both a monocular camera solution and a stereo camera solution. The former incorporates Inertial Measurement Unit (IMU) data to solve scale ambiguity, while the latter enjoys a novel, purely vision-based solution. Experiments demonstrated that the proposed methods are fast and able to detect thin obstacles robustly and accurately under various conditions.Comment: Appeared at IEEE CVPR 2017 Workshop on Embedded Visio

    Design and Development of Intelligent Navigation Control Systems for Autonomous Robots that Uses Neural Networks and Fuzzy Logic Techniques and Fpga For Its Implementation

    Get PDF
    This research compares the behavior of three robot navigation controllers namely: PID, Artificial Neural Networks (ANN), and Fuzzy Logic (FL), that are used to control the same autonomous mobile robot platform navigating a real unknown indoor environment that contains simple geometric-shaped static objects to reach a goal in an unspecified location. In particular, the study presents and compares the design, simulation, hardware implementation, and testing of these controllers. The first controller is a traditional linear PID controller, and the other two are intelligent non-linear controllers, one using Artificial Neural Networks and the other using Fuzzy Logic Techniques. Each controller is simulated first in MATLAB® using the Simulink Toolbox. Later the controllers are implemented using Quartus ll® software and finally the hardware design of each controller is implemented and downloaded to a Field-Programmable Gate Array (FPGA) card which is mounted onto the mobile robot platform. The response of each controller was tested in the same physical testing environment using a maze that the robot should navigate avoiding obstacles and reaching the desired goal. To evaluate the controllers\u27 behavior each trial run is graded with a standardized rubric based on the controllers\u27 ability to react to situations presented within the trial run. The results of both the MATLAB® simulation and FPGA implementation show the two intelligent controllers, ANN and FL, outperformed the PID controller. The ANN controller was marginally superior to the FL controller in overall navigation and intelligence

    Design and Implementation of a FPGA and DSP Based MIMO Radar Imaging System

    Get PDF
    The work presented in this paper is aimed at the implementation of a real-time multiple-input multiple-output (MIMO) imaging radar used for area surveillance. In this radar, the equivalent virtual array method and time-division technique are applied to make 16 virtual elements synthesized from the MIMO antenna array. The chirp signal generater is based on a combination of direct digital synthesizer (DDS) and phase locked loop (PLL). A signal conditioning circuit is used to deal with the coupling effect within the array. The signal processing platform is based on an efficient field programmable gates array (FPGA) and digital signal processor (DSP) pipeline where a robust beamforming imaging algorithm is running on. The radar system was evaluated through a real field experiment. Imaging capability and real-time performance shown in the results demonstrate the practical feasibility of the implementation

    Time-efficient fault detection and diagnosis system for analog circuits

    Get PDF
    Time-efficient fault analysis and diagnosis of analog circuits are the most important prerequisites to achieve online health monitoring of electronic equipments, which are involving continuing challenges of ultra-large-scale integration, component tolerance, limited test points but multiple faults. This work reports an FPGA (field programmable gate array)-based analog fault diagnostic system by applying two-dimensional information fusion, two-port network analysis and interval math theory. The proposed system has three advantages over traditional ones. First, it possesses high processing speed and smart circuit size as the embedded algorithms execute parallel on FPGA. Second, the hardware structure has a good compatibility with other diagnostic algorithms. Third, the equipped Ethernet interface enhances its flexibility for remote monitoring and controlling. The experimental results obtained from two realistic example circuits indicate that the proposed methodology had yielded competitive performance in both diagnosis accuracy and time-effectiveness, with about 96% accuracy while within 60 ms computational time.Peer reviewedFinal Published versio
    corecore