An ultrasonic multi-sensor system for object locating applications

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)

Abstract

The multi-sensor system is based on commercial capacitive ultra-sonic sensors integrated into the tool structure of an intelligent manipulator system. Each sensor measures the distance from the sensor head to the observed object based on the time-of-flight principle (TOF).
Based on the distance measurements the position, orientation and in some cases also shape parameters of the manipulated object are estimated. Only regular shaped objects are considered, e.g. objects with cylindrical or spherical surfaces. In addition, an estimate for the resulting performance of the sensor system in the form of parameter variances/covariances is obtained. This can be utilized in designing the geometric configuration of the multi-sensor system or the sensing operations. It is shown that a poor configuration may have a drastic effect on the uncertainty.

Original languageEnglish
Pages (from-to)433-440
JournalMechatronics
Volume5
Issue number4
DOIs
Publication statusPublished - 1995
MoE publication typeA1 Journal article-refereed

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Sensor data fusion
Ultrasonics
Sensors
Capacitive sensors
Ultrasonic sensors
Distance measurement
Manipulators

Cite this

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title = "An ultrasonic multi-sensor system for object locating applications",
abstract = "The multi-sensor system is based on commercial capacitive ultra-sonic sensors integrated into the tool structure of an intelligent manipulator system. Each sensor measures the distance from the sensor head to the observed object based on the time-of-flight principle (TOF). Based on the distance measurements the position, orientation and in some cases also shape parameters of the manipulated object are estimated. Only regular shaped objects are considered, e.g. objects with cylindrical or spherical surfaces. In addition, an estimate for the resulting performance of the sensor system in the form of parameter variances/covariances is obtained. This can be utilized in designing the geometric configuration of the multi-sensor system or the sensing operations. It is shown that a poor configuration may have a drastic effect on the uncertainty.",
author = "Markku J{\"a}rviluoma and Tapio Heikkil{\"a}",
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}

An ultrasonic multi-sensor system for object locating applications. / Järviluoma, Markku; Heikkilä, Tapio.

In: Mechatronics, Vol. 5, No. 4, 1995, p. 433-440.

Research output: Contribution to journalArticleScientificpeer-review

TY - JOUR

T1 - An ultrasonic multi-sensor system for object locating applications

AU - Järviluoma, Markku

AU - Heikkilä, Tapio

N1 - Project code: AUT4329

PY - 1995

Y1 - 1995

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AB - The multi-sensor system is based on commercial capacitive ultra-sonic sensors integrated into the tool structure of an intelligent manipulator system. Each sensor measures the distance from the sensor head to the observed object based on the time-of-flight principle (TOF). Based on the distance measurements the position, orientation and in some cases also shape parameters of the manipulated object are estimated. Only regular shaped objects are considered, e.g. objects with cylindrical or spherical surfaces. In addition, an estimate for the resulting performance of the sensor system in the form of parameter variances/covariances is obtained. This can be utilized in designing the geometric configuration of the multi-sensor system or the sensing operations. It is shown that a poor configuration may have a drastic effect on the uncertainty.

U2 - 10.1016/0957-4158(95)00007-R

DO - 10.1016/0957-4158(95)00007-R

M3 - Article

VL - 5

SP - 433

EP - 440

JO - Mechatronics

JF - Mechatronics

SN - 0957-4158

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ER -