毕业设计前期材料

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常州大学
毕业设计（论文）前期材料
（2014届）
学生王佳丽学号10446406
学院怀德学院专业班级电子102
题目一种智能调光LED楼宇照明灯的设计与实现
类
校内指导教师焦竹青专业技术职务
材料目录
二○一四年三月
XX大学毕业设计（论文）任务书
怀德学院电子信息工程专业电子102 班王佳丽同学：
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电子信息工程系（教研室）指导教师焦竹青
系（教研室）主任主管院长
学号：10446406
常州大学
毕业设计（论文）开题报告
（2014届）
题目一种智能调光LED楼宇照明灯的设计与实现
学生王佳丽
学院怀德学院专业班级电子102
校内指导教师焦竹青专业技术职务
二○一四年三月
学号：09446413
常州大学
毕业设计（论文）外文翻译
（2014届）
外文题目Real-time ultrasonic distance
译文题目实时超声波测距
外文出处/ae437
学生王佳丽
学院怀德学院专业班级电子1022 校内指导教师焦竹青专业技术职务
二○一四年三月
2009 IEEE International Conference on Robotics and Automation
Kobe International Conference Center
Kobe, Japan, May 12-17, 2009
Real-time ultrasonic distance measurements for autonomous mobilerobots using cross correlation by single-bit signal processing
Shinnosuke Hirata, Minoru Kuribayashi Kurosawa, and Takashi Katagiri
Abstract—Distance measurement using an ultrasonic waveis suitable for environment recognition in autonomous mobilerobots. Ultrasonic distance measurement with the pulse-echomethod is based on determining the time-of-flight (TOF) of thereflected echoes. The pulse-echo method with pulse pression,the cross-correlation method, can improve the distanceresolution and the signal-to-noise ratio (SNR) of the reflectedecho. However, cross correlation of the
cross-correlation methodrequires the high-cost digital signal processing. A sensor signalprocessing method of cross correlation using a delta-sigmamodulated single-bit digital signal has been proposed. Crosscorrelation by single-bit signal processing reduces the
calculationcost of cross correlation. Furthermore, cross correlationby single-bit signal processing improves the time resolution ofdigital signal processing. In this paper, the distance resolutionof cross correlation by single-bit signal processing is evaluatedby puter simulations and experiments of ultrasonicdistance measurement. Distance measurement from the hightime-resolution cross-correlation function obtained by singlebitsignal processing realized high distance resolution fromexperimental results, despite the low calculation costs.
I.I NTRODUCTION
Autonomous mobile robots require many kinds and largenumbers of sensors to measure the distance, the velocity, andthe scale of objects for environment recognition. The signalprocessing of each sensor requires real-time environmentrecognition with high accuracy and resolution, despite thelimited putational ability in the signal processing foreach sensor. Distance measurements using anultrasonicwave are widely used in industrial applications because an
ultrasonic wave is easily reflected by structures. Additionaladvantages of ultrasonic sensors include their low purchasecost, small size, and simple hardware. Therefore, ultrasonicdistancemeasurements have been studied and used for environmentrecognition in autonomous
mobile robots[1]-[3].The method of ultrasonic distance measurement
is basedon the pulse-echo method, which determines the
time-offlight(TOF) of an ultrasonic wave[4]. The TOF is the intervalfrom transmission of an ultrasonic pulse to reception of anecho reflected from an object. The distance of the object isestimated from the product of the TOF and the propagation
velocity of an ultrasonic wave. For effective improvement ofthedistance resolution and the signal-to-noise ratio (SNR)of the received signal, pulse pression has been employedin the pulse-echo method[5]. A frequency-modulated (FM)signal or a signal coding by pseudo-random sequence istypically transmitted in the pulse-echo method with pulsepression, the cross-correlation
method[2][3][5]-[7]. Inthe case of a linear-frequency-modulated (LFM) signal, areceived signal is correlated with a reference LFM signal.The TOF of the received LFM signal is estimated from the
maximum peak time in the cross-correlation function of thereceived signal and the reference LFM signal.
A calculation of cross correlation, consisting of huge iterations
of multiplications and accumulations, requires the highcostdigital signal processing. Therefore, real-time distancemeasurements by the
cross-correlation method are difficultbecause of the limited putational ability of autonomousmobile robots. To reduce the calculation costs of cross correlation,a sensor signal processing method using a
delta-sigmamodulated single-bit digital signal has been
proposed[8]-[10]. Cross correlation by single-bit signal processing of theproposed method consists of a recursive cross-correlationoperation of single-bit signals and a smoothing operationacplished by a moving average filter[10]. The calculationcosts of cross correlation are reduced by the recursive crosscorrelationoperation of single-bit signals.
In the cross-correlation method, resolution of the TOF ofthe received LFM signal is typically improved by interpolationof the
cross-correlation function with the phase orimprovement of the time resolution of digital signal processing.In the case of interpolation of the cross-correlationfunction with the phase, a lookup table of arctangent andplex cross-correlation operation is required. In the caseof improving the time resolution of digital signal processing,the calculation costs of cross correlation are increased. However,the calculation costs of cross correlation by single-bitsignal processing are constant and independent of the samplingfrequency of digital signal processing. Therefore, crosscorrelation by single-bit signal processing is an effectivemethod
for improving the time resolution of digital signalprocessing despite the putational ability of autonomousmobile robots.
In the present study, the cross-correlation function obtainedby single-bit signal processing was examined byputer simulations and ultrasonic distance measurements.Furthermore, the distance resolution of ultrasonic distancemeasurement of the proposed method was evaluated basedon the experimental results.
Fig.1.Design of cross correlation by single-bit signal processing, consisting of a recursive cross-correlation operation and a smoothing operation.
II. CROSS CORRELATION BY SINGLE-BIT
SIGNAL PROCESSING
Cross correlation by single-bit signal processing of theproposed method consists of a recursive cross-correlationoperation of single-bit signals and a smoothing operationacplished by the FIR low-pass filter,
as illustrated in Fig.
1.In the proposed method, an LFM signal is transmittedby a loudspeaker. The received signal of a microphone isconverted into a single-bit received signal x1(t) by a deltasigmamodulator. The transmitted LFM signal is convertedinto a single-bit reference signal h1(i) of N samples by adigital parator. The cross-correlation function C1(t) ofthe received signal x1(t) and the reference signal h1(i) isexpressed as。