NDLI: Ultrasonic visibility tests and estimation of specular target plane orientation through a robotic scanning

Content Provider	IEEE Xplore Digital Library
Author	Spedicato, L. Giannoccaro, N.I. Messina, A. Lay Ekuakille, A.
Copyright Year	2014
Description	Author affiliation: Dipt. di Ing. dell'Innovazione, Univ. del Salento, Lecce, Italy (Spedicato, L.; Giannoccaro, N.I.; Messina, A.; Lay Ekuakille, A.)
Abstract	In this paper, the authors present an ultrasonic scanner of own design consisting of a smart robotic arm which is accurately programmed to let an ultrasonic sensor track a linear path. They use both a narrow and a wide beam sensor with a view to evaluating the relating regions of detection. After acquiring and processing the ultrasonic echo signals reflected from a target panel, the realized mechatronics system permits to obtain a distance measure for each end-effector position. The set of distance values is connected to the scan, that is a plot obtained by displaying dots at the appropriate range along the direction perpendicular to the followed path. In consequence of physical considerations, a geometrical model of the conical region of detection was confirmed and several tests were carried out in order to compare predicted data with experimental ones. This comparison also permitted to appreciate the visibility angle of each sensor and to verify the obstacle ability to reflect back the acoustic energy taking the eventual effect of lateral lobes into consideration. Moreover, some tests were conducted by spreading ultrasonic waves toward an inclined plane and the scans were opportunely regarded to estimate the panel orientation. This recently introduced approach was based on line fitting and it could be applied to wall-following problems in robotics.
Sponsorship	IEEE Spain Sect. IE/PEL Joint Chapt.
Starting Page	1
Ending Page	6
File Size	1534623
Page Count	6
File Format	PDF
ISBN	9781479938667
DOI	10.1109/SSD.2014.6808843
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-02-11
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	obstacle avoidance wall-following data processing Robot sensing systems Acoustics ultrasonic scanners
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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