Verification of Acoustic-Wave-Oriented Simple State Estimation and Application to Swarm Navigation

2021 ◽  
Vol 33 (1) ◽  
pp. 119-128
Author(s):  
Tomoha Kida ◽  
◽  
Yuichiro Sueoka ◽  
Hiro Shigeyoshi ◽  
Yusuke Tsunoda ◽  
...  
Keyword(s):  
State Estimation ◽  
Disaster Response ◽  
High Speed ◽  
Behavioral Control ◽  
Group Behavior ◽  
Sound Waves ◽  
Swarm Robots ◽  
Swarming Behavior ◽  
High Speed Image Processing ◽  
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Cooperative swarming behavior of multiple robots is advantageous for various disaster response activities, such as search and rescue. This study proposes an idea of communication of information between swarm robots, especially for estimating the orientation and direction of each robot, to realize decentralized group behavior. Unlike the conventional camera-based systems, we developed robots equipped with a speaker array system and a microphone system to utilize the time difference of arrival (TDoA). Sound waves outputted by each robot was used to estimate the relative direction and orientation. In addition, we attempt to utilize two characteristics of sound waves in our experiments, namely, diffraction and superposition. This paper also investigates the accuracy of state estimation in cases where the robots output sounds simultaneously and are not visible to each other. Finally, we applied our method to achieve behavioral control of a swarm of five robots, and demonstrated that the leader robot and follower robots exhibit good alignment behavior. Our methodology is useful in scenarios where steps or obstacles are present, in which cases camera-based systems are rendered unusable because they require each robot to be visible to each other in order to collect or share information. Furthermore, camera-based systems require expensive devices and necessitate high-speed image processing. Moreover, our method is applicable for behavioral control of swarm robots in water.

scholarly journals Development of Real-Time Time Gated Digital (TGD) OFDR Method and Its Performance Verification

Sensors ◽  
2021 ◽  
Vol 21 (14) ◽  
pp. 4865
Author(s):  
Kinzo Kishida ◽  
Artur Guzik ◽  
Ken’ichi Nishiguchi ◽  
Che-Hsien Li ◽  
Daiji Azuma ◽  
...  
Keyword(s):  
Real Time ◽  
Optical Fibers ◽  
High Speed ◽  
Oil And Gas ◽  
Scattered Light ◽  
Oil And Gas Industry ◽  
High Signal ◽  
Chirp Pulse ◽  
Sound Waves ◽  
Industry Applications

Distributed acoustic sensing (DAS) in optical fibers detect dynamic strains or sound waves by measuring the phase or amplitude changes of the scattered light. This contrasts with other distributed (and more conventional) methods, such as distributed temperature (DTS) or strain (DSS), which measure quasi-static physical quantities, such as intensity spectrum of the scattered light. DAS is attracting considerable attention as it complements the conventional distributed measurements. To implement DAS in commercial applications, it is necessary to ensure a sufficiently high signal-noise ratio (SNR) for scattered light detection, suppress its deterioration along the sensing fiber, achieve lower noise floor for weak signals and, moreover, perform high-speed processing within milliseconds (or sometimes even less). In this paper, we present a new, real-time DAS, realized by using the time gated digital-optical frequency domain reflectometry (TGD-OFDR) method, in which the chirp pulse is divided into overlapping bands and assembled after digital decoding. The developed prototype NBX-S4000 generates a chirp signal with a pulse duration of 2 μs and uses a frequency sweep of 100 MHz at a repeating frequency of up to 5 kHz. It allows one to detect sound waves at an 80 km fiber distance range with spatial resolution better than a theoretically calculated value of 2.8 m in real time. The developed prototype was tested in the field in various applications, from earthquake detection and submarine cable sensing to oil and gas industry applications. All obtained results confirmed effectiveness of the method and performance, surpassing, in conventional SM fiber, other commercially available interrogators.

High-speed image processing on digital smart pixel array

2002 ◽  
Vol 38 (12) ◽  
pp. 590 ◽  
Author(s):  
H. Kawai ◽  
A. Baba ◽  
M. Shibata ◽  
Y. Takeuchi ◽  
T. Komuro ◽  
...  
Keyword(s):  
Image Processing ◽  
High Speed ◽  
Pixel Array ◽  
Smart Pixel ◽  
High Speed Image Processing ◽  
Smart Pixel Array

Illustration of Centralized Command and Control for Flocking Behavior

2014 ◽  
Vol 5 (2) ◽  
pp. 1-22
Author(s):  
Sami Oweis ◽  
Subramaniam Ganesan ◽  
Ka C Cheok
Keyword(s):  
Obstacle Avoidance ◽  
Command And Control ◽  
Flow Chart ◽  
Controlled Systems ◽  
Swarm Robots ◽  
Group A ◽  
Swarming Behavior ◽  
And Control ◽  
Flocking Behavior ◽  
Ground Systems

Flocking is a term that describes the behavior of a group of birds (a “flock”) in flight, or the swarming behavior of insects. This paper presents detailed information about how to use the flocking techniques to control a group of embedded controlled systems - ‘'Boids''- such as ground systems (robotic vehicles/ swarm robots). Each one of these systems collectively moves inside/outside of a building to reach a target. The flocking behavior is implemented on a server-based control, which processes each of the boids' properties e.g. position, speed & target. Subsequently, the server will assign the appropriate move to a specific boid. The calculated information will be used locally to control and direct the movements/flocking for each boid in the group. A simulation technique and detailed flow chart is presented. In addition to Reynolds three original rules for flocking, two other rules- targeting obstacle avoidance - are presented-. Our result shows that the obstacles' avoiding rule was utilized to ensure that the flock didn't collide with obstacles in each of the boids' paths.

Realization of high-speed adaptive quantum state estimation

2019 ◽  
Vol 58 (7) ◽  
pp. 072001
Author(s):  
Saki Nohara ◽  
Ryo Okamoto ◽  
Koichi Yamagata ◽  
Akio Fujiwara ◽  
Shigeki Takeuchi
Keyword(s):  
State Estimation ◽  
Quantum State ◽  
High Speed ◽  
Quantum State Estimation

scholarly journals HIGH SPEED PHOTOMICROGRAPHY OF LIVING CELLS SUBJECTED TO SUPERSONIC VIBRATIONS

1931 ◽  
Vol 15 (2) ◽  
pp. 147-153 ◽  
Author(s):  
E. Newton Harvey ◽  
Alfred L. Loomis
Keyword(s):  
High Frequency ◽  
High Speed ◽  
Living Cells ◽  
Air Bubbles ◽  
Sound Waves ◽  
Camera System ◽  
Fluid Movement ◽  
High Frequency Sound ◽  
Frequency Sound ◽  
New Type

A new type of camera system is described capable of taking 1200 pictures a second through a microscope objective. Photographs showing the destruction of Arbacia eggs by high frequency sound waves indicate that the disintegration occurs in less than 1/1200 second. Eggs drawn out into spindle or tadpole shapes suggest that rapid movements of the fluid tearing the eggs may be responsible for the disintegration. Although no cavitated air bubbles show in the photographs, other experiments make it likely that the rapid fluid movement is the result of submicroscopic cavitation.

Real-time lock-in imaging by a newly developed high-speed image-processing charge coupled device video camera

2003 ◽  
Vol 74 (3) ◽  
pp. 1393-1396 ◽  
Author(s):  
Kentarou Nishikata ◽  
Yoshihide Kimura ◽  
Yoshizo Takai ◽  
Takashi Ikuta ◽  
Ryuichi Shimizu
Keyword(s):  
Image Processing ◽  
Real Time ◽  
High Speed ◽  
Video Camera ◽  
Charge Coupled Device ◽  
Lock In ◽  
High Speed Image Processing
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