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<dc:title>Accurate estimation of airborne ultrasonic time-of-flight for overlapping echoes</dc:title>
<dc:creator>González Sarabia, Esther</dc:creator>
<dc:creator>Llata García, José Ramón</dc:creator>
<dc:creator>Robla Gómez, María Sandra</dc:creator>
<dc:creator>Torre Ferrero, Carlos</dc:creator>
<dc:creator>Pérez Oria, Juan María</dc:creator>
<dc:contributor>Universidad de Cantabria</dc:contributor>
<dc:subject>Airborne ultrasounds</dc:subject>
<dc:subject>Accurate time of flight</dc:subject>
<dc:subject>Dynamic response model</dc:subject>
<dc:subject>Hidden echo detection</dc:subject>
<dc:subject>Hidden echo time of flight</dc:subject>
<dc:subject>Overlapping echoes</dc:subject>
<dc:subject>Robotics</dc:subject>
<dc:subject>Autonomous navigation</dc:subject>
<dc:description>In this work, an analysis of the transmission of ultrasonic signals generated by piezoelectric sensors for air applications is presented. Based on this analysis, an ultrasonic response model is obtained for its application to the recognition of objects and structured environments for navigation by autonomous mobile robots. This model enables the analysis of the ultrasonic response that is generated using a pair of sensors in transmitter-receiver configuration using the pulse-echo technique. This is very interesting for recognizing surfaces that simultaneously generate a multiple echo response. This model takes into account the effect of the radiation pattern, the resonant frequency of the sensor, the number of cycles of the excitation pulse, the dynamics of the sensor and the attenuation with distance in the medium. This model has been developed, programmed and verified through a battery of experimental tests. Using this model a new procedure for obtaining accurate time of flight is proposed. This new method is compared with traditional ones, such as threshold or correlation, to highlight its advantages and drawbacks. Finally the advantages of this method are demonstrated for calculating multiple times of flight when the echo is formed by several overlapping echoes.</dc:description>
<dc:description>This work has been supported by the Spanish Government projects DPI2006-15313 and DPI2012-36959.</dc:description>
<dc:date>2014-01-09T13:56:32Z</dc:date>
<dc:date>2014-01-09T13:56:32Z</dc:date>
<dc:date>2013-11</dc:date>
<dc:type>info:eu-repo/semantics/article</dc:type>
<dc:type>publishedVersion</dc:type>
<dc:identifier>1424-8220</dc:identifier>
<dc:identifier>DPI2006-15313</dc:identifier>
<dc:identifier>DPI2012-36959</dc:identifier>
<dc:identifier>http://hdl.handle.net/10902/4117</dc:identifier>
<dc:identifier>10.3390/s131115465</dc:identifier>
<dc:language>eng</dc:language>
<dc:rights>Atribución 3.0 España</dc:rights>
<dc:rights>http://creativecommons.org/licenses/by/3.0/es/</dc:rights>
<dc:rights>openAccess</dc:rights>
<dc:publisher>MDPI</dc:publisher>
<dc:source>Sensors, 2013, 13(11), 15465-15488</dc:source>
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<dc:contributor>Universidad de Cantabria</dc:contributor>
<dc:creator>González Sarabia, Esther</dc:creator>
<dc:creator>Llata García, José Ramón</dc:creator>
<dc:creator>Robla Gómez, María Sandra</dc:creator>
<dc:creator>Torre Ferrero, Carlos</dc:creator>
<dc:creator>Pérez Oria, Juan María</dc:creator>
<dc:date>2013-11</dc:date>
<dc:description lang="es_ES">In this work, an analysis of the transmission of ultrasonic signals generated by piezoelectric sensors for air applications is presented. Based on this analysis, an ultrasonic response model is obtained for its application to the recognition of objects and structured environments for navigation by autonomous mobile robots. This model enables the analysis of the ultrasonic response that is generated using a pair of sensors in transmitter-receiver configuration using the pulse-echo technique. This is very interesting for recognizing surfaces that simultaneously generate a multiple echo response. This model takes into account the effect of the radiation pattern, the resonant frequency of the sensor, the number of cycles of the excitation pulse, the dynamics of the sensor and the attenuation with distance in the medium. This model has been developed, programmed and verified through a battery of experimental tests. Using this model a new procedure for obtaining accurate time of flight is proposed. This new method is compared with traditional ones, such as threshold or correlation, to highlight its advantages and drawbacks. Finally the advantages of this method are demonstrated for calculating multiple times of flight when the echo is formed by several overlapping echoes.</dc:description>
<dc:identifier>http://hdl.handle.net/10902/4117</dc:identifier>
<dc:language>eng</dc:language>
<dc:publisher>MDPI</dc:publisher>
<dc:source>Sensors, 2013, 13(11), 15465-15488</dc:source>
<dc:subject>Sin materia</dc:subject>
<dc:subject lang="es_ES">Airborne ultrasounds</dc:subject>
<dc:subject lang="es_ES">Accurate time of flight</dc:subject>
<dc:subject lang="es_ES">Dynamic response model</dc:subject>
<dc:subject lang="es_ES">Hidden echo detection</dc:subject>
<dc:subject lang="es_ES">Hidden echo time of flight</dc:subject>
<dc:subject lang="es_ES">Overlapping echoes</dc:subject>
<dc:subject lang="es_ES">Robotics</dc:subject>
<dc:subject lang="es_ES">Autonomous navigation</dc:subject>
<dc:title lang="es_ES">Accurate estimation of airborne ultrasonic time-of-flight for overlapping echoes</dc:title>
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