In this paper, we present mathematical analyses to consider the effect of material properties on the sensitivity of the Microelectromechanical systems (MEMS) piezoelectric hydrophone and improve the sensitivity by choosing the proper material. The selected structure in the present paper is a piezoelectric hydrophone able to work at low frequencies. The piezoelectric hydrophones are widely used ...

This paper presents the advanced sonar sensor model capable of building an underwater terrain map based on the Bayes filter in the manner of the occupancy grid. The proposed sonar sensor model basically considers the losses of received ultrasound intensity according to the underwater absorption and reflection on a terrain surface. The Bayes filter including the advanced sonar sensor model is ap...

This paper proposes the underwater terrain map building method based on the occupancy grids by using 3D point cloud from the polar sonar sensor system. Because it is expensive to use current 3D underwater sonar sensors, the low-cost 3D sensor systems are needed for the generalized purposes. So the polar-styled sonar sensor system was designed and implemented. It was constructed on the rotating ...

With the advent of inexpensive oo-the-shelf sonar ranging units sonar has become a common sensor on mobile robotic platforms. Many diierent algorithms have been proposed to obtain environmental layout and other structural information by integrating sonar measurements from multiple positions and/or sensors. Given perfect distance measurements and telemetry, this integration can be fairly simple....

With the advent of inexpensive o -the-shelf sonar ranging units sonar has become a common sensor on mobile robotic platforms. Many di erent algorithms have been proposed to obtain environmental layout and other structural information by integrating sonar measurements from multiple positions and/or sensors. Given perfect distance measurements and telemetry, this integration can be fairly simple....

With the advent of inexpensive oo-the-shelf sonar ranging units sonar has become a common sensor on mobile robotic platforms. Many diierent algorithms have been proposed to obtain environmental layout and other structural information by integrating sonar measurements from multiple positions and/or sensors. Given perfect distance measurements and telemetry, this integration can be fairly simple....

This work explores techniques for sonar sensor fusion in the context of environmental feature detection and identification for navigation tasks. By detecting common features in indoor environments and using them as landmarks, a robot can navigate reliably, recovering its pose when necessary. Preliminary results on a multiple hypothesis testing procedure for feature localization and identificati...

Fields of distributed passive and multistatic active sonar sensors provide a surveillance capability against quiet submarine threats in ASW scenarios. A significant challenge of heterogeneous, multi-sensor systems is the successful fusion of information from the various sensors to enable robust target detection, classification, localization, and tracking. Sensor fusion and tracking algorithms m...

A conventional sonar ring measures the range to objects based on the first echo and is widely used in indoor mobile robots. In contrast, advanced sonar sensing can produce accurate range and bearing (incidence angle) measurements to multiple targets using multiple receivers and multiple echoes per each receiver at the expense of intensive computation. This paper presents an advanced sonar ring ...