In this paper is addressed the development of an ultrasonic sensor for the material identification. This sensor had to be appropriate, in terms of computationalcost, in order to be implemented in small robots. This i...
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ISBN:
(纸本)9781467307536
In this paper is addressed the development of an ultrasonic sensor for the material identification. This sensor had to be appropriate, in terms of computationalcost, in order to be implemented in small robots. This implementation was achieved by a novel signal processing method called Peniel. The associated electronic circuit and the algorithm of this method have as main strengths their circuital simplicity and the lowcomputationalcost, respectively. These two characteristics let the sensor to be implemented in two robots of the lowcost robotic kit TEAC(2)H-RI, which was constructed as part of the master thesis of one the authors. The developed system was proved with acrylic, aluminium and glass samples. In the performed experiments those materials were identified with 100% accuracy in all of ten trials. According to the literature review, it is the first time which is achieved the implementation of the ultrasonic material identification in a robotic system.
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