Radar SLAM for Autonomous Indoor Grinding

Mandischer, Nils; Eddine, Sami Charaf; Huesing, Mathias; Corves, Burkhard

doi:10.1109/radarconf2043947.2020.9266541

Cited by 12 publications

(3 citation statements)

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“…The radiation resistance depends on the density ρ 0 of the medium and the radius a of the transmitting array element, as shown in Equation (7). The vibrational velocity of the CMUT can be determined using Equation (8).…”

Section: Submerged Environment Acoustic Testing and Characterizationmentioning

confidence: 99%

“…Various sensor-based approaches are employed in underwater robotics for obstacle detection and navigation in their immediate environment. Commonly used techniques for obstacle avoidance include sonar [3,4], cameras [5,6], or LiDAR [7][8][9]. Current underwater imaging sonar technologies such as the Farsounder-1000 (Farsounder, Warwick, RI, USA), EchoPilot FLS 3D (Daniamant, Slangerup, Denmark), and Echoscope4G (Coda Octopus, Edinburgh, UK) are used for obstacle avoidance.…”

Section: Introductionmentioning

confidence: 99%

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Investigation of Submerged MEMS Ultrasonic Sensors for Underwater Obstacle Avoidance Application

Wang,

Zhang,

Wang

et al. 2024

Remote Sensing

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Ultrasound is a powerful and versatile technology that has been applied extensively in medicine and scientific research. The development of miniature underwater robots focuses on achieving specific tasks, such as surveys and inspections in confined spaces. However, traditional sonar has limited use in micro underwater robots due to its large size and heavy power demands. Conversely, capacitive micromechanical ultrasonic transducers (CMUTs) offer various advantages, including a wide bandwidth, compact size, and integration feasibility. These attributes make CMUTs a candidate for obstacle avoidance in micro underwater robots. Hence, a novel CMUT structure using Si-Si bonding is proposed. In this design, a membrane isolation layer replaces the cavity bottom isolation layer, simplifying the process and improving bond reliability. A finite element model of the CMUT was constructed in COMSOL and numerically assessed for the CMUT’s operating frequency, collapse voltage, and submerged depth. The CMUT, manufactured using micro-electro-mechanical system (MEMS) technology, undergoes waterproofing with PDMS—A material with similar acoustic impedance to water and corrosion resistance. Underwater tests reveal the CMUT’s resonant frequency in water as approximately 2 MHz, with a −3 dB bandwidth of 108.7%, a transmit/receive beam width of 7.3°, and a standard deviation of measured distance from the true distance of less than 0.05. These outcomes suggest that CMUTs hold promise in obstacle avoidance applications for fish-shaped underwater robots.

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Section: Submerged Environment Acoustic Testing and Characterizationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Investigation of Submerged MEMS Ultrasonic Sensors for Underwater Obstacle Avoidance Application

Wang,

Zhang,

Wang

et al. 2024

Remote Sensing

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show abstract

“…Authors claim that their system shows a good ability to map walls and other relevant structures. A novel indoor scanning radar SLAM system is proposed for the automated removal of asbestos [32]. In radar pre-processing, the Otsu thresholding is used for discarding the noisy scan points and object penetration and angle of detection related low-intensity values from the scan set.…”

Section: Radar Slammentioning

confidence: 99%

Radar-based indoor navigation system for visually impaired

Akaydin¹,

Onireti²,

Ahmad³

et al. 2023

IET Conf. Proc.

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The absence of the Global Positioning System (GPS) inside buildings makes indoor navigation more difficult compared to outdoor environments. This paper provides a summary of visually impaired indoor navigation technologies to identify the needs of the visually impaired to safely navigate indoors. Radar as a sensor is preferred because it works in conditions where other systems cannot work properly and has unique features. In particular, this paper reviews different radar SLAM and ego-motion estimation approaches that can aid indoor navigation. This paper concludes with a brief insight into the future direction for a novel radar-based wearable indoor navigation system.

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