Real Time 3-Dimensional Ultrasonic Imaging System

这项研究的目的是建立一个实时的，三- 三维超声成像装置，可用于水下 机器人 它将采用结合扩频系统和 稀疏数组 首先，将建造一个装置来测量 相干时间的水下信道和使用作为一般 目的成像系统。 然后，相干测量的结果 将被结合到扩频信号的设计中。 信号设计的结果将通过计算机仿真进行测试 物理测量。 后续调查将包括 对信号编码、空间编码技术和 这种超声装置固有的性能限制。 一 在这项赠款下的成功发展将有助于推动国家 视觉传感器的艺术有用的机器人在视觉受损 环境，尤其是水下。

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.