Conference PaperPDF Available

A Transputer Based Sonar Range finding

May 1997

Conference: The Journal of The Faculty of Science
At: United Arab Emirates University

Authors:

Khaled Elleithy

University of Bridgeport

Samir Hussain Abdul-Jauwad

King Fahd University of Petroleum and Minerals

In this paper a Polaroid Rangefiniding Sonar Modeule is interfaced to an Inmos compatible link using an Inmos C011 link adapter. An OCCAM interface is used fro timing the sonar pulses. The design allows the Transputer to measure distances to an accuracy of the tenth of the an inch. The sonar is useful in many applications as detecting objects for a collision a avoidance system on a robotic cart.

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Conference Paper

Full-text available

شبيه سازي نويز محيطي دريا و سيگنال تشعشعي شناورهاي دريايي در باند صوتي براي آرايه اي از هيدروفون ها

May 2003

Mahmood Karimi

Active) ‫ﻓﻌﺎﻝ‬ ‫ﻏﻴﺮ‬ ‫ﻭ‬ (Passive) ‫ﻛﺮﺩ‬ ‫ﺗﻘﺴﻴﻢ‬. ‫ﺍﺯ‬ ‫ﻏﻴﺮﻓﻌﺎﻝ‬ ‫ﺳﻮﻧﺎﺭﻫﺎﻱ‬ ‫ﺩﺭ‬ ‫ﺩﺭﻳﺎﻳﻲ‬ ‫ﺷﻨﺎﻭﺭﻫﺎﻱ‬ ‫ﺗﺸﻌﺸﻌﻲ‬ ‫ﺳﻴﮕﻨﺎﻝ‬) ‫ﻛﺸﺘﻲ‬ ‫ﻣﺎﻧﻨﺪ‬ ‫ﺯﻳﺮﺩﺭﻳﺎﻳﻲ‬ ‫ﻭ‬ ‫ﻫﺎ‬ ‫ﻫﺎ‬ (‫ﺳﺎﻳﺮ‬ ‫ﺍﺳﺘﺨﺮﺍﺝ‬ ‫ﻭ‬ ‫ﺷﻨﺎﻭﺭ‬ ‫ﺁﺷﻜﺎﺭﺳﺎﺯﻱ‬ ‫ﺑﺮﺍﻱ‬ ‫ﺻﻮﺗﻲ‬ ‫ﺑﺎﻧﺪ‬ ‫ﺩﺭ‬ ‫ﻣﻲ‬ ‫ﺍﺳﺘﻔﺎﺩﻩ‬ ‫ﺷﻨﺎﻭﺭ‬ ‫ﻧﻮﻉ‬ ‫ﻭ‬ ‫ﻣﺴﻴﺮ‬ ،‫ﻋﻤﻖ‬ ،‫ﺟﻬﺖ‬ ‫ﻣﺎﻧﻨﺪ‬ ‫ﺷﻨﺎﻭﺭ‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮﻁ‬ ‫ﺍﻃﻼﻋﺎﺕ‬ ‫ﺷﻮﺩ‬. ِ ‫ﺳﻮﻧﺎﺭ‬ ‫ﻏﻴﺮﻓﻌﺎﻝ‬ ‫ﺳﻮﻧﺎﺭﻫﺎﻱ‬ ‫ﺍﻧﻮﺍﻉ‬ ‫ﺍﺯ‬ ‫ﻳﻜﻲ‬ ‫ﻛﻒ‬ ‫ﻏﻴﺮﻓﻌﺎﻝ‬ ‫ﺧﻮﺍﺏ‬ ... [Show full abstract] (Bottom mounted passive sonar) ‫ﺁﺭﺍﻳﻪ‬ ‫ﺁﻥ‬ ‫ﺩﺭ‬ ‫ﻛﻪ‬ ‫ﺍﺳﺖ‬ ‫ﺳﻨﺴﻮﺭﻫﺎ‬ ‫ﺍﺯ‬ ‫ﺍﻱ‬ ‫ﻫﻴﺪﺭﻭﻓﻮﻥ‬ ‫ﻳﺎ‬ ‫ﺻﻮﺗﻲ‬ ‫ﻱ‬ ‫ﺩﺭ‬ ‫ﻫﺎ‬ ‫ﻣﻲ‬ ‫ﺩﺍﺩﻩ‬ ‫ﻗﺮﺍﺭ‬ ‫ﺩﺭﻳﺎ‬ ‫ﻛﻒ‬ ‫ﻣﻲ‬ ‫ﺍﺳﺘﻔﺎﺩﻩ‬ ‫ﺷﻨﺎﻭﺭﻫﺎ‬ ‫ﺗﺸﻌﺸﻌﻲ‬ ‫ﺻﻮﺗﻲ‬ ‫ﺳﻴﮕﻨﺎﻝ‬ ‫ﺩﺭﻳﺎﻓﺖ‬ ‫ﺑﺮﺍﻱ‬ ‫ﺳﻨﺴﻮﺭﻫﺎ‬ ‫ﺁﺭﺍﻳﺔ‬ ‫ﺍﻳﻦ‬ ‫ﺍﺯ‬ ‫ﻭ‬ ‫ﺷﻮﻧﺪ‬ ‫ﺷﻮﺩ‬. ‫ﺍﻳﻦ‬ ‫ﻣﻲ‬ ‫ﺍﻳﺠﺎﺩ‬ ‫ﺷﻨﺎﻭﺭ‬ ‫ﺩﺭ‬ ‫ﻟﺮﺯﺵ‬ ‫ﻭ‬ ‫ﺻﻮﺕ‬ ‫ﻣﻮﻟﺪ‬ ‫ﻋﻮﺍﻣﻞ‬ ‫ﺳﺎﻳﺮ‬ ‫ﻧﻴﺰ‬ ‫ﻭ‬ ‫ﺁﺏ‬ ‫ﺩﺭ‬ ‫ﺷﻨﺎﻭﺭ‬ ‫ﭘﺮﻭﺍﻧﺔ‬ ‫ﭼﺮﺧﺶ‬ ‫ﺍﺛﺮ‬ ‫ﺩﺭ‬ ‫ﺳﻴﮕﻨﺎﻝ‬ ‫ﺷﻮﺩ‬. ‫ﻛﻪ‬ ‫ﺳﻴﮕﻨﺎﻟﻲ‬ ‫ﺍﻟﺒﺘﻪ‬ ‫ﺳﻨﺴﻮﺭﻫﺎ‬ ‫ﺍﻳﻦ‬ ‫ﻣﻲ‬ ‫ﺩﺭﻳﺎﻓﺖ‬ ‫ﻣﺤﻴﻄﻲ‬ ‫ﻧﻮﻳﺰ‬ ‫ﺑﺎ‬ ‫ﻛﻨﻨﺪ‬ (Ambient noise) ‫ﺍﺳﺖ‬ ‫ﺁﻣﻴﺨﺘﻪ‬ ‫ﺩﺭﻳﺎ‬. ‫ﺳﻴﮕﻨﺎﻝ‬ ‫ﺍﻳﻦ‬ ‫ﺩﺭ‬ ‫ﻧﻮﻳﺰ‬ ‫ﺑﺎ‬ ‫ﺁﻣﻴﺨﺘﻪ‬ ‫ﻫﺎﻱ‬ ‫ﺍﻟﮕﻮﺭﻳﺘﻢ‬ ‫ﺷﻜﻞ‬ ‫ﻣﺎﻧﻨﺪ‬ ‫ﺳﻮﻧﺎﺭ‬ ‫ﺩﺭ‬ ‫ﺷﺪﻩ‬ ‫ﺗﻌﺒﻴﻪ‬ ِ ‫ﮔﻮﻧﺎﮔﻮﻥ‬ ‫ﻫﺎﻱ‬ ‫ﭘﺮﺗﻮ‬ ‫ﺩﻫﻲ‬ (Beamforming) ‫ﻛﺎﻟﻴﺒﺮﺍﺳﻴﻮﻥ‬ ، (Calibration) ، ‫ﺁﺷﻜﺎﺭﺳﺎﺯﻱ‬ (Detection) ‫ﺩﺳﺘﻪ‬ ، ‫ﺑﻨﺪﻱ‬ (Classification) ‫ﺟﻬﺖ‬ ، ‫ﻳﺎﺑﻲ‬ (DOA estimation) ‫ﺭﺩﮔﻴﺮﻱ‬ ‫ﻭ‬ (Tracking) ‫ﻣﻮﺭﺩ‬ ‫ﻣﻲ‬ ‫ﻗﺮﺍﺭ‬ ‫ﺍﺳﺘﻔﺎﺩﻩ‬ ‫ﻫﺪﻑ‬ ‫ﻳﺎ‬ ‫ﻫﺪﻑ‬ ‫ﺑﻪ‬ ‫ﻣﺮﺑﻮﻁ‬ ‫ﻣﺨﺘﻠﻒ‬ ‫ﺍﻃﻼﻋﺎﺕ‬ ‫ﻭ‬ ‫ﮔﻴﺮﻧﺪ‬ ‫ﻣﻲ‬ ‫ﺍﺳﺘﺨﺮﺍﺝ‬ ‫ﺁﻧﻬﺎ‬ ‫ﺍﺯ‬ ‫ﻫﺎ‬ ‫ﺷﻮﺩ‬. ‫ﺍﻟﮕﻮﺭﻳﺘﻢ‬ ‫ﺑﺎﻳﺪ‬ ‫ﻏﻴﺮﻓﻌﺎﻝ‬ ‫ﺳﻮﻧﺎﺭ‬ ‫ﺳﻴﺴﺘﻢ‬ ‫ﻳﻚ‬ ‫ﺳﺎﺧﺖ‬ ‫ﻭ‬ ‫ﻃﺮﺍﺣﻲ‬ ‫ﻫﻨﮕﺎﻡ‬ ‫ﺩﺭ‬ ‫ﺷﺶ‬ ‫ﻫﺎﻱ‬ ‫ﻭ‬ ‫ﻃﺮﺍﺣﻲ‬ ‫ﺩﻗﺖ‬ ‫ﺑﻪ‬ ‫ﺑﺎﻻ‬ ‫ﺩﺭ‬ ‫ﺷﺪﻩ‬ ‫ﺫﻛﺮ‬ ‫ﮔﺎﻧﺔ‬ ‫ﭘﻴﺎﺩﻩ‬ ‫ﻋ‬ ‫ﻭ‬ ‫ﺷﻮﻧﺪ‬ ‫ﺳﺎﺯﻱ‬ ‫ﺑﺮﺭﺳﻲ‬ ‫ﻣﻮﺭﺩ‬ ‫ﺁﻧﻬﺎ‬ ‫ﻤﻠﻜﺮﺩ‬ ‫ﺗﺴﺖ‬ ‫ﻭ‬ ‫ﻫﺎ‬ ‫ﺍﻟﮕﻮﺭﻳﺘﻢ‬ ‫ﺍﺻﻼﺡ‬ ‫ﺑﻪ‬ ‫ﻧﺴﺒﺖ‬ ‫ﻫﻢ‬ ‫ﺁﻥ‬ ‫ﺍﺯ‬ ‫ﭘﺲ‬ ‫ﻭ‬ ‫ﮔﻴﺮﺩ‬ ‫ﻗﺮﺍﺭ‬ ‫ﻣﺘﻌﺪﺩ‬ ‫ﻫﺎﻱ‬ ‫ﻫﺎ‬ ‫ﺷﻮﺩ‬ ‫ﺍﻗﺪﺍﻡ‬) ‫ﻟﺰﻭﻡ‬ ‫ﺻﻮﺭﺕ‬ ‫ﺩﺭ‬ .(‫ﺍﻟﮕﻮﺭﻳﺘﻢ‬ ‫ﺗﺴﺖ‬ ‫ﻭ‬ ‫ﺑﺮﺭﺳﻲ‬ ‫ﺑﺮﺍﻱ‬ ‫ﻃﺒﻴﻌﻲ‬ ‫ﻃﻮﺭ‬ ‫ﺑﻪ‬ ‫ﺩﺍﺩﻩ‬ ‫ﺑﺎ‬ ‫ﺑﺎﻳﺪ‬ ‫ﺭﺍ‬ ‫ﻧﻴﺎﺯ‬ ‫ﺍﻳﻦ‬ ‫ﻭ‬ ‫ﺩﺍﺭﻳﻢ‬ ‫ﻧﻴﺎﺯ‬ ‫ﺩﺍﺩﻩ‬ ‫ﺑﻪ‬ ‫ﻫﺎ‬ ‫ﻫﺎﻱ‬