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Dolphin-inspired combined maneuvering and pinging for short-distance echolocation
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Image of FIG. 1.

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FIG. 1.

Time-frequency analysis of three types of sonar.

Image of FIG. 2.

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FIG. 2.

Actual vs. estimated angle from array normal to target.

Image of FIG. 3.

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FIG. 3.

Trajectory of the ITD-sonar installed BAUV vehicle (in the direction of 1–4) in the ATF at a depth of (Mm. 1). The figure axes represent pixels. The blue circles represent the center of the vehicle, with the green lines indicating sonar-pointing vehicle (axis) direction and the red lines indicating the vehicle velocity vectors in relative scale. P (plastic cylinder), R (rock cylinder), O (oil-filled cylinder), and M (metal shell) are targets. The sonar head in the vehicle, visible beyond the fins, is pointing either toward the northeast corner or toward the north end of the tank. The distance between the two rear bottom corners of the tank is .

Image of FIG. 4.

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FIG. 4.

Time series of processed echo returns as a function of calculated distance and clock time of the ping (ping rate is ). Arrows indicate targets.



The following multimedia file is available:

Video recording of the motion of the present biosonar paired with the biorobotic BAUV vehicle freely swimming and maneuvering among the four targets in the NUWC Acoustic Test Facility. This is an.avi file of size . [URL: http://dx.doi.org/10.1121/1.2960936.1]


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The biorobotic emulation of swimming and flying animals carrying out short-distance echolocation while maneuvering is considered. A simple and lightweight sonar for use on a small, maneuverable underwater vehicle for short-distance echolocation is explored. This sonar has four sensors and uses broadband, high-frequency signals to echolocate. The frequency-time characteristics of these signals are compared to those of bats and dolphins. The biosonar is paired with a biologically inspired, maneuverable, underwater vehicle, the combined use of sensors and maneuverability being analogous to animal behavior. Homing experiments have been carried out in an acoustic test facility where identification and localization of multiple targets is based on fusion of acoustic returns from multiple pings.


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752b84549af89a08dbdd7fdb8b9568b5 journal.articlezxybnytfddd
Scitation: Dolphin-inspired combined maneuvering and pinging for short-distance echolocation