Real Time 3-Dimensional Ultrasonic Imaging System

本研究的目的是制造一种可用于水下机器人的实时、三维超声成像装置。它将采用扩频系统和稀疏阵列相结合的技术。首先，将构建一个测量水下通道相干时间的装置，并将其用作通用成像系统。然后，相干测量的结果将被纳入扩频信号的设计中。信号设计的结果将通过计算机仿真和物理测量进行测试。随后的研究将包括对信号编码、空间编码技术的改进，以及这种超声设备固有的性能限制。在这笔拨款下的成功开发将有助于推进视觉传感器的艺术状态，对视觉受损环境中的机器人有用，特别是水下。

The purpose of this research is to create a real-time, three- dimensional ultrasonic imaging device that can be used by an underwater robot. It will employ techniques combining spread spectrum systems and sparse arrays. First, a device will be constructed to measure the coherence time for the underwater channel and for use as a general purpose imaging system. Then, the results of the coherence measurements will be incorporated into the design of the spread spectrum signals. The result of the signal design will be tested via computer simulation and physical measurement. Subsequent investigations will include refinements on signal coding, spatial coding techniques, and the performance limitations inherent in such an ultrasonic device. A successful development under this grant will help to advance the state of the art of vision sensors useful for robots in vision-impaired environments, particularly underwater.