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26 March 2015 Development of a frequency-modulated ultrasonic sensor inspired by bat echolocation
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Bats have evolved to sense using ultrasonic signals with a variety of different frequency signatures which interact with their environment. Among these signals, those with time-varying frequencies may enable the animals to gather more complex information for obstacle avoidance and target tracking. Taking inspiration from this system, we present the development of a sonar sensor capable of generating frequency-modulated ultrasonic signals. The device is based on a miniature mobile computer, with on board data capture and processing capabilities, which is designed for eventual autonomous operation in a robotic swarm. The hardware and software components of the sensor are detailed, as well their integration. Preliminary results for target detection using both frequency-modulated and constant frequency signals are discussed.
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Krzysztof Kepa and Nicole Abaid "Development of a frequency-modulated ultrasonic sensor inspired by bat echolocation", Proc. SPIE 9429, Bioinspiration, Biomimetics, and Bioreplication 2015, 942913 (26 March 2015);

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