{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2022,8,18]],"date-time":"2022-08-18T07:17:05Z","timestamp":1660807025901},"reference-count":19,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2011,10,24]],"date-time":"2011-10-24T00:00:00Z","timestamp":1319414400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2012,10]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>Matched filtering optimally estimates the arrival time for a sonar sensor by correlating received signals with templates. This paper presents a sonar ring with continuous matched filtering on 48 receiver channels sampled at 500kHz. The design dynamically switches the matched filter templates to account for pulse shape variations with range. To achieve real-time, low-latency and optimal performance, processing is implemented on an field-programmable gate array (FPGA) transmitting sonar pulses (2 periods of a 45kHz sine wave) at repetition rate of 30-Hz to 5.7-m range. The paper describes the removal of secondary peaks of the correlation output of matched filtering and template selection. Results include sonar maps, accuracy measurements and localization of weak targets.<\/jats:p>","DOI":"10.1017\/s0263574711001093","type":"journal-article","created":{"date-parts":[[2011,10,24]],"date-time":"2011-10-24T08:21:38Z","timestamp":1319444498000},"page":"891-912","source":"Crossref","is-referenced-by-count":3,"title":["A sonar ring with continuous matched filtering and dynamically switched templates"],"prefix":"10.1017","volume":"30","author":[{"given":"Damien C.","family":"Browne","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Lindsay","family":"Kleeman","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2011,10,24]]},"reference":[{"key":"S0263574711001093_ref14","unstructured":"14. Tungadi F. and Kleeman L. , \u201cTime Synchronisation and Calibration of Odometry and Range Sensors for High-Speed Mobile Robot Mapping,\u201d Australasian Conference on Robotics and Automation, 2008 (2008)."},{"key":"S0263574711001093_ref10","unstructured":"10. Longbottom Roy , \u201cRoy Longbottom's PC benchmark collection,\u201d available at: http:\/\/www.roylongbottom.org.uk\/ (Jul. 2010)."},{"key":"S0263574711001093_ref8","doi-asserted-by":"publisher","DOI":"10.1177\/027836499501400401"},{"key":"S0263574711001093_ref9","unstructured":"9. Kleeman L. and Ohya A. , \u201cThe Design of a Transmitter with a Parabolic Conical Reflector for a Sonar Ring,\u201d Australasian Conference on Robotics and Automation 2006 (2006)."},{"key":"S0263574711001093_ref15","doi-asserted-by":"crossref","unstructured":"15. Tungadi F. and Kleeman L. , \u201cLoop Exploration for Slam with Fusion of Advanced Sonar Features and Laser Polar Scan Matching,\u201d In: Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2009 (IROS 2009) (Oct. 2009) pp. 388\u2013394.","DOI":"10.1109\/IROS.2009.5354697"},{"key":"S0263574711001093_ref11","first-page":"3068","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation, 2002 (ICRA '02)","author":"Ming","year":"2002"},{"key":"S0263574711001093_ref7","first-page":"699","volume-title":"Proceedings of the IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2003","author":"Kleeman","year":"2003"},{"key":"S0263574711001093_ref12","unstructured":"12. MURATA, Estd01 Data Sheet (MURATA, Japan, 2006)."},{"key":"S0263574711001093_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354228"},{"key":"S0263574711001093_ref16","unstructured":"16. 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Fazli S. and Kleeman L. , \u201cA Low Sample Rate Real Time Advanced Sonar Ring,\u201d Proceedings of Australasian Conference on Robotics and Automation 2004 (2004)."},{"key":"S0263574711001093_ref13","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.907487"},{"key":"S0263574711001093_ref6","first-page":"1872","volume-title":"Proceedings of IEEE\/RSJ International Conference on Intelligent Robots and Systems, 2004 (IROS 2004)","author":"Fazli","year":"2004"},{"key":"S0263574711001093_ref2","unstructured":"2. Browne D. , \u201cBearing Calculation of a Single Emitter Sonar Ring,\u201d Technical Report 1 (Department of Electrical and Computer System Engineering, Monash University, Australia, June 2011)."},{"key":"S0263574711001093_ref3","doi-asserted-by":"publisher","DOI":"10.1007\/BF01784024"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574711001093","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,4,24]],"date-time":"2019-04-24T22:31:51Z","timestamp":1556145111000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574711001093\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2011,10,24]]},"references-count":19,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2012,10]]}},"alternative-id":["S0263574711001093"],"URL":"https:\/\/doi.org\/10.1017\/s0263574711001093","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2011,10,24]]}}}