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

    Fingerprint

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

    Cite this

    @article{07049c26401d4ce8a4b490ac6e66a3d5,
    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}",
    note = "Project code: AUT4329",
    year = "1995",
    doi = "10.1016/0957-4158(95)00007-R",
    language = "English",
    volume = "5",
    pages = "433--440",
    journal = "Mechatronics",
    issn = "0957-4158",
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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

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    N2 - 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.

    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

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    JO - Mechatronics

    JF - Mechatronics

    SN - 0957-4158

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    ER -