Ultrasonic location of a moving target.

By
Andreas Holzeder

School of Electrical and Mechanical Engineering
Faculty of Computing and Engineering
University of Ulster


2007


Release of Document:
Final A: 14/12/2007

- i -

Contents - ii -

Contents

Chapter 1. Basic Concepts ...................................................................................1
1.1 What is Ultrasonics?...............................................................................1
1.2 Influences on Sound Propagation...........................................................2
1.3 Ultrasonic Generation Piezo Effect.....................................................4
Chapter 2. Project Overview................................................................................6
2.1 Aims and Proceedings of the Project......................................................6
2.2 Timetable.................................................................................................8
2.3 Comments on the Time Table ..............................................................11
Chapter 3. Research ...........................................................................................13
3.1 Ultrasonic Sensors ................................................................................13
3.1.1 Architecture of a Receiving Sensor .................................................14
3.1.2 Architecture of a Transmitting Sensor ...........................................14
3.1.3 Measurements of the Ultrasonic Sensors .......................................15
3.1.4 Results of the Measurements ..........................................................18
3.2 Transmitting Circuit.............................................................................19
3.2.1 Microcontroller driven Transmitting Circuit..................................20
3.2.2 Transistor driven Transmitting Circuit..........................................20
3.2.3 ST232 driven Transmitting Circuit.................................................21
3.2.4 Coil-Transistor driven Transmitting Circuit..................................22
3.2.5 Transformer driven Transmitting Circuit ......................................23
3.2.6 Classification of the Transmitting Circuits ....................................23
3.3 Receiver Circuit.....................................................................................23
Chapter 4. Development of the Location System..............................................24
4.1 Microcontroller ......................................................................................24
4.2 Transmission Unit ................................................................................24
4.3 Receiving Unit.......................................................................................25
4.4 Connection to the PC ............................................................................25
4.5 Result Screening ...................................................................................25
Chapter 5. Evaluation ........................................................................................26
Chapter 6. Conclusion ........................................................................................27

List of Figures - iii -

List of Figures

Figure 1-1: Principle band of frequencies.....................................................................1
Figure 1-2: Refracted ray caused by two different mediums.......................................2
Figure 1-3: Diffraction of sound waves through an opening .......................................3
Figure 1-4: Graphical symbol of a piezo-element. ........................................................4
Figure 1-5: Transmitter Principle.................................................................................5
Figure 1-6: Receiver Principle.......................................................................................5
Figure 2-1: Schematic representation of the project. ...................................................7
Figure 2-2: Work plan 2007...........................................................................................8
Figure 2-3: Work plan 2008 / 1......................................................................................9
Figure 2-4: Work plan 2008 / 2....................................................................................10
Figure 3-1: Equivalent circuit diagram of the receiving sensor [6]...........................14
Figure 3-2: Equivalent circuit of the transmitting sensor.........................................14
Figure 3-3: Test set-up to measure the resonance frequency....................................15
Figure 3-4: Principle scheme for a microprocessor transmitting circuit...................20
Figure 3-5: Principle function of the transistor driven circuit. .................................21
Figure 3-6: Principal function of the ST232 transmitting circuit. ............................22
Figure 3-7: Principle function of the coil transmitting circuit...................................22

Figure A-1: PSpice model of the microcontroller transmitting circuit........................ I
Figure A-2: PSpice model of the transistor transmitting circuit [10]. .......................II
Figure A-3: ST232 driven transmitting circuit [11]. ................................................. III
Figure A-4: PSpice model of the coil-transistor driven transmitting circuit [12].... IV
Figure A-5: PSpice model of a transformer driven transmitting-circuit.................... V


List of Tables - iv -

List of Tables

Table 1-1: Velocity of propagation depending on the air temperature .......................4
Table 3-1: Different types of ultrasonic sensors [8]. ..................................................13
Table 3-2: Sensor Measurement Results ....................................................................18
Table 3-3: Maximum driving voltage of the transmitting sensors [8].......................19
Abstract - v -

Abstract

In the first part I will research about existing ultrasonic distance
measurement systems. Additionally these systems will be built up and classified
via laboratory tests.

In the second part I will describe how to build an ultrasonic distance
measurement system which can locate a moving target. The system consists of two
transmitting units, a receiving unit and a microcontroller. The exact position of the
target can be displayed on a normal PC.

In the third part I will show how the existing systems can be improved by
considering different environmental influences.

Nomenclature - vi -

Nomenclature

Symbols

Symbol Unit Description

v(T) m/s Velocity of propagation by temperature T [K]
) (
o
T v
m/s Velocity of propagation at T = 273 K (0C)
T K Current temperature
- Atmospheric absorption coefficient


Copyright Notice - vii -

Note on Access to Contents

IT IS A CONDITION OF USE OF THIS THESIS THAT ANYONE WHO
CONSULTS IT MUST RECOGNISE THAT THE COPYRIGHT RESTS WITH THE
AUTHOR AND THAT NO QUOTATION FROM THE THESIS AND NO
INFORMATION DERIVED FROM IT MAY BE PUBLISHED UNLESS THE
SOURCE IS PROPERLY ACKNOWLEDGED.

- 1 -

Chapter 1. Basic Concepts
1.1 What is Ultrasonics?

Ultrasonics or ultrasound is a cyclic sound pressure with a frequency between
20 kHz and an upper limit of 1 GHz.

16 Hz 20 kHz 1 GHz
Infrasonics audible sound ultrasonics hypersonics

Figure 1-1: Principle band of frequencies

The principle of ultrasonics is taken from nature. For example, bats use
ultrasonics to locate there prey and to navigate at night. They transmit acoustic
noise with a frequency of about 40 90 kHz.
Nowadays ultrasonics is used both in industrial object detection and destruction of
biological cells, like bacteria. [1]
In the application field of ultrasonics it is possible to differentiate [2] between:

Low power applications:
Output < 0.5 W/cm
2

Frequency > 100 kHz

High power applications:
Output > 0.5 W/cm
2

Frequency < 100 kHz
Basic Concepts - 2 -

1.2 Influences on Sound Propagation

When it comes to using ultrasonic distance measurement applications, it is
essential to know about sound propagation and possible influences.
The propagation of ultrasonic depends on metrological conditions and acoustical
characteristics (impedance) of the ground.
In the following, the most important influences are listed:

Absorption

Absorption means, that a part of the sound energy is absorbed by molecular friction
on the way through the atmosphere. The atmospheric absorption coefficient
depends on the air temperature and the air-pressure.
High frequencies are more absorbed than deep frequencies. [2] An authorized
calculation method of the atmospheric absorption coefficient is specified in
ISO 9613 1. [3]

Refraction

If a sound wave passes from one medium o f transmission, M1, to another medium,
M2, and if the speed of sound for M1 does not equal the speed of sound for M2, then
this happens, the ray is refracted (Figure 1-2) and the direction of wave
propagation changes. [4]
Air (M1)
Water (M2)

Figure 1-2: Refracted ray caused by two different mediums

In addition to this, the presence of wind affects the propagation of sound:
against the wind bad sound propagation
with the wind good sound propagation. [5]
Basic Concepts - 3 -

Diffraction

The amount of diffraction that occurs depends on the size of the obstacle relative to
the length of the wave. Diffraction is more efficient, when the wavelength of the
sound wave is larger than the size of the obstacle. Furthermore the diffraction
depends on the frequency. A sound with long low frequency waves is more
diffracted than a sound with short high frequency waves. [4]
Figure 1-3 shows the diffraction of sound waves through an opening.


Figure 1-3: Diffraction of sound waves through an opening


Reflection on the ground

If sound waves hit the ground, they are reflected. The reflection depends on the
different acoustic characteristics of the ground. If the ground has a low / high
impedance, then the ground absorbs much / little of the acoustic energy. This
means that sound is better reflected on acoustic flat surfaces, than on acoustic
swirl surfaces. [4]

Basic Concepts - 4 -

Velocity of propagation

The velocity of propagation of sound is v(T0) = 332.0 m/s at T0 = 0C. It increases by
the square root of the absolute temperature.
Formula 1-1 shows the exact relation between the temperature and the velocity of
propagation.

) (
273
) (
o
T v
K
T
T v = [5]
Formula 1-1: Velocity of propagation depending on the temperature

Table 1-1 shows some examples for the relationship between temperature and the
velocity of propagation (with medium air).

Temperature T [ C] Velocity of propagation v(T) [m/s]
30.0 349.8
20.0 343.9
15.0 341.0
0.0 332.0
-10.0 325.8
-20.0 319.6
Table 1-1: Velocity of propagation depending on the air temperature
1.3 Ultrasonic Generation Piezo Effect

Ultrasonics is generated with an electro-acoustic converter by using the piezo-
electrical effect, which is also called magnetostrictive effect. The piezo-effect means
that an object is deformed elastically when it is magnetized and that an object is
magnetized when it is eleastically deformed.


Figure 1-4: Graphical symbol of a piezo-element.
Basic Concepts - 5 -

If the acoustic converter is fed with high frequency alternating current, so that the
crystal element (acoustic converter) begins to oscillate mechanically via using the
resonance effect, it is used as transmitter.

Ultrasonic

Figure 1-5: Transmitter Principle

On the other hand, electrical voltage is produced, when the converter is
mechanically deformed, e.g. if an acoustic signal hits the piezo-element.


0V
Ultrasonic

Figure 1-6: Receiver Principle

The frequency of the oscillation depends on the construction and the technology of
the piezo-element. [2]
- 6 -

Chapter 2. Project Overview
2.1 Aims and Proceedings of the Project

1. First aim:

To find out by means of an internet research, how to build a low cost circuit
and make measurements with different ultrasonic sensors.

Proceeding:
Read some background information about ultrasonics.
Find out and order different low cost ultrasonic transmitters and
receivers.
Research how to build a transmitter and a receiver circuit.
Build different types of electrical circuits and do some laboratory
measurements to classify the ultrasonic sensors and electrical circuits.

2. Second aim:

To build an indoor ultrasonic distance measurement system which locates a
moving target. The system consists of a receiving unit, which is placed on the
target, and two transponder units, which are assembled in the corners of the
ceiling of the test room. The respective position of the target is displayed on a
normal PC. Figure 2-1 shows the schematic representation of the project.
Project Overview - 7 -

Target
C PC
Transmitter
Ultrasonic
Signal
RF Signal
Target
C PC
Transmitter
Ultrasonic
Signal
RF Signal

Figure 2-1: Schematic representation of the project.
Proceeding:
Build a test room with two transmitters and one receiver.
Implement a radio frequency transmission chip in the receiver circuit.
Connect the microprocessor with the PC
Write a program to display the current position of the target.


3. Third aim
Improve the target locating system by considering different environmental
influences.

Proceeding:
Consider the temperature and humidity influence.
Build a circuit which correct environmental influences.
Evaluate of the whole system.
Project Overview - 8 -

2.2 Timetable

As it is necessary to have an approximate time plan for the project, the
following section shows the first draft of the timetable. Depending on the results of
the first steps of my work, this timetable might be slightly changed in the course of
the project.
Explanations on further comments on the different steps of the project are given
under point 2.3 Comments on the Time Table.


Figure 2-2: Work plan 2007
Project Overview - 9 -


Figure 2-3: Work plan 2008 / 1
Project Overview - 10 -


Figure 2-4: Work plan 2008 / 2
Project Overview - 11 -

2.3 Comments on the Time Table

1. Research
1.1. Ultrasonic Sensors
Research of different types of ultrasonic sensors has to be done.
Furthermore should the sensors be modeled in PSpice.
1.2. Transmitter Circuit
Research of different types of transmitter circuits has to be done.
Furthermore should the transmitting circuits be modeled in PSpice.
1.3. Receiver Circuit
Research of different types of receiver circuits has to be done.
Furthermore should the receiving circuits be modeled in PSpice.
1.4. Documentation
Documentation of the research done so far.

2. Hardware
2.1. Transmitter Circuit
Build different types of transmitter circuits to make measurements and
compare with the PSpice models.
2.2. Receiver Circuit
Build different types of receiver circuits to make measurements and
compare with the PSpice models.
2.3. Test Stand
Build a test stand in which the transmitter circuits and the receiver circuits
can be classified.
2.4. RF Module
Select an RF Module and implement it in the receiver circuit.
2.5. Connection C to PC
Build an RS 232 to parallel connection between the microcomputer and the
PC.
2.6. Test Room Installation
Select a test room and install the transmitter, receiver, microprocessor and
PC.
2.7. Moving Target
Find or build a moving target to do testing.
Project Overview - 12 -

2.8. Improve System
Install additional components to correct environmental influences.

3. Software
3.1. Microcontroller
Get familiar with the PIC microprocessor and implement some code
examples for later work.
3.2. Transmitter
Write a program on the microprocessor to run the transmitter circuit.
3.3. Receiver
Write a program, that processes the incoming data from the receiver circuit.
3.4. Program on the PC
Write a program on the PC to display the current location of the target.
3.5. Improvement
Improve the different parts of program code, e.g. by using some digital
filters.

4. Measurements
Do some measurements with the transmitter and receiver circuits to make a
classification of the circuits.

5. Documentation
Documentation of essential data has to be done - reports have to be written.

- 13 -

Chapter 3. Research
3.1 Ultrasonic Sensors

In order to get a better understanding of how ultrasonic sensors perform,
three different types of transmitter-receiver pairs had to be bought. All sensors
were ordered from the same company to rule out differences depending on the
respective manufacturer.
The following low cost sensors were ordered:


Type:

Prowave
400ST/R160

Prowave
400ST/R100

Prowave
400ET/R080
Diameter [mm] 16 10 8
Centre Frequency [kHz] 40 40 40
Bandwidth
Transmitter/Receiver
[kHz]
2.0/2.5 2.5/3.0 1.5/2.0
Transmitting Sound
Pressure [dB]
at 40kHz per 10Vrms at
30cm
120 112 100
Receiving Sensitivity
[dB]
at 40kHz
-65 -70 -80
Max. Driving Voltage
[Vrms]
20 10 15
Total Beam Angle []
55 72 125
Table 3-1: Different types of ultrasonic sensors [8].
Research - 14 -

With the aim of simulating the transmitter circuits and the receiver circuits in
PSpice [14], an equivalent circuit diagram of the transmitter and receiver was
built.

3.1.1 Architecture of a Receiving Sensor

An ultrasonic sensor consists of a piezo-element. The receiving circuit can be
represented with the following equivalent circuit diagram:
Ls
Cs
Rs
Rd

Figure 3-1: Equivalent circuit
diagram of the receiving sensor [6]

with:
Cd = Clamping Capacity
Ls = Equivalent Inductor
Rs = Equivalent Resistor
Cs = Equivalent Capacity

3.1.2 Architecture of a Transmitting Sensor

A usual receiving sensor differs from the equivalent circuit diagram of the
transmitting sensor. In the latter one, there are two additional resistors:
Rd Cd Cs
Rs
Ls
Rc

Figure 3-2: Equivalent circuit of
the transmitting sensor

with:
Cd = Clamping Capacity
Ls = Serial Inductor
Rs = Serial Resistor
Cs = Serial Capacity
Rd = Parallel Resistor
Rc = Cascaded Resistor

Research - 15 -

3.1.3 Measurements of the Ultrasonic Sensors

In order to design well-working transmitting and receiving circuits, a
simulation program (pSpice) was used. To simulate the ultrasonic sensors in pSpice
correctly, the component values of the equivalent circuit diagram had to be
determined. For this reason, a combination of measurements, calculations and
adjustments were done.

Measurements:

First of all, the clamping capacity Cd was measured. This was done by using
a capacitance measuring device. The measured capacitance had nearly the same
value as the one given by the data sheet (capacitance at 1 kHz).

In the second measurement, the resonance frequencies of the receivers were
determined.

The following test set-up was built:

Function
Generator
V~
V
1
V
1
V
2
V
2
R
test
US-Sensor

Figure 3-3: Test set-up to measure the resonance frequency

Research - 16 -

Settings:
Source: Sinus waveform, 1Vrms, variable frequency
Test resistor: Rtest = 99.8

To get the resonance frequencies of the ultrasonic sensor (US-sensor), the
frequency of the function generator was changed from 35 kHz up to 45 kHz. The
voltage V1, which is the voltage from the function generator, and the voltage V2,
which is the voltage over the test resistor, were displayed on the same oscilloscope.
By varying the frequency of the function generator, two frequencies could be found,
for which the voltage V1 and voltage V2 had no phase difference. These frequencies
are the resonance frequencies of the US-sensor. The lower resonance frequency is
named fs and the higher resonance frequency is named fp.

With the same test set-up the equivalent resistor Rs was measured.
Settings:
Source: sinus waveform, 1Vrms, variable frequency
Test resistor: Rtest = 99.8

In order to measure Rs, the generator was slowly swept through the crystal series
resonant frequency. When a pronounced peak was noted, the frequency was
maintained. Then the voltage V2, peak over the test resistor Rtest and the voltage of
the function generator V1,peak was measured. Furthermore, the phase angle
between V1,peak and V2,peak was measured.

Research - 17 -

Calculations:

With the following calculation the value of Rs could be found.

) cos(
, 2
, 1

=
test
peak
test peak
R
V
R V
Rs [7]

To calculate the value of the equivalent capacity Cs, the following formula was
used:

Cp
f
f f
Cs
s
s p

= 2 [6]
The equivalent inductor Ls was calculated with the following formula:

2 2
) ( ) 2 (
1
s
f Cs
Ls

=

[6]

Adjustments:

After all values were determined, a Matlab calculation was written. The
results of the Matlab calculation were plotted into two graphs: the impedance over
the frequency and the phase angle over the frequency. These plots were compared
with the graphs given in the datasheet [8] of all sensors.
The frequency response of the measured components of the receiver matched well
with the frequency response given in the datasheet.
However, the frequency response from the transmitting sensor did not. So the
values of the resistor Rd and the cascaded resistor Rc were adjusted by comparing
the graph of the Mablab calculation with the graph given in the data sheet.

Research - 18 -

3.1.4 Results of the Measurements
In the following, the results of the measurements are represented:

Sensor Values Equivalent Circuit Diagram
Receiver
400ST/R160
Cp =2.12nF
Ls = 74mH
Rs = 380
Cs = 231pF


Receiver
400ST/R100
Cp = 1.9nF
Ls = 90mH
Rs = 2500
Cs = 180pF


Receiver
400ET/R080
Cp = 1.7nF
Ls = 97mH
Rs = 300
Cs = 177pF


Transmitter
400ST/R160
Cd = 2.27nF
Ls = 124mH
Rs = 800
Cs = 126pF
Rd = 15000


Transmitter
400ST/R100
Cd = 1.6nF
Ls =130mH
Rs =1500
Cs = 125pF
Rd = 25000


Transmitter
400ET/R080
Cd = 1.7nF
Ls = 106mH
Rs = 100
Cs = 148pF
Rd = 40000
Rc = 200


Table 3-2: Sensor Measurement Results
C
d
C
s
R
s
L
s
L
s
C
s
R
s
R
d
L
s
C
s
R
s
R
d
R
d
C
d
C
s
R
s
L
s
R
c
L
s
C
s
R
s
R
d
C
d
C
s
R
s
L
s
Research - 19 -

3.2 Transmitting Circuit

In this section, different types of transmitting circuits are described. The
input of all circuits is a 40 kHz PWM signal produced by a microcontroller.
The aim of the transmitting circuits is to supply the transmitting sensors with
enough power, so that ultrasonic waves are sent out.

When producing an ultrasonic signal with the farthest possible range, the following
points are important [2]:
The higher the voltage variation, the higher is the amplitude of the
produced ultrasonic wave.
The higher the amplitude of an ultrasonic signal, the higher is the distance
in which an ultrasonic signal can be detected.

However, it has to be noted that the voltage variation is limited by the maximum
diving voltage of the US-sensors.

The maximum constant driving voltage of the sensors is:


Type:

Prowave
400ST/R160

Prowave
400ST/R100

Prowave
400ET/R080
Max. Driving Voltage
[Vrms]
20 10 15
Table 3-3: Maximum driving voltage of the transmitting sensors [8].
Research - 20 -

3.2.1 Microcontroller driven Transmitting Circuit

The simplest way to run the transmitting sensor is to connect it with the
PWM signal from the microcontroller, while the second pin of the transmitting
sensor is connected with the ground.
Figure 3-4 shows how a US-sensor is driven.


US-Sensor
GND
PWM signal

Figure 3-4: Principle scheme for a microprocessor transmitting circuit.

As far as the transmission power is concerned, this circuit represents the worst
way of drive a transmitting sensor.
The transmitting sensor is driven with 2.5 Vrms.

3.2.2 Transistor driven Transmitting Circuit

Another possibility to drive the transmitting sensors is to use two transistors
and two CMOS 4000 chips. Basically, the transmitting circuit consists of four
inverters (e.g. CMOS 4069), two transistors (e.g. 2SC1815) and one NAND gate
(e.g. CMOS 4011). The PWM signal from the microprocessor controls the first
transistor. With the help of the NAND gate an inverted PWM signal is generated.
The inverted PWM signal is connected with the base of the second transistor. Each
transistor controls the flow of 9 volt and is connected via the inverters to one pin of
the US Sensors. Additionally, one capacitor is integrated between one of the
inverter pair and one pin of the US-sensor (Figure A-2).
Figure 3-5 shows the principle function of the transistor driven transmitting
circuit. This circuit triggers the US-sensor at all edge of the PWM signal with a
short-time voltage variation of 18 volt.
Research - 21 -



US-Sensor PWM signal

Figure 3-5: Principle function of the transistor driven circuit.

As far as the transmission power is concerned, this variant represents a much
better way of driving a transmitting sensor.

3.2.3 ST232 driven Transmitting Circuit

The ST232 driven transmission circuit is similar to the transistor driven
transmitting circuit. The ST232 is a two-driver-two-receiver device following
EIA/TIA-232 and V.28 communication standard. It is particularly suitable for
applications for which 12 volt is not available. The ST232 uses a single five volt
power supply and only four external capacitors [9]. The difference between the
transistor circuit (chapter 3.2.2) and the ST232 transmitting circuit is that the
ST232 drives the US-Sensor with 12 volt instead of 9 volt. Furthermore, the
inverted PWM signal is produced by the microcontroller.
Research - 22 -

Figure 3-6 shows the principal function of the ST232 circuit.

PWM signals
US-Sensor

Figure 3-6: Principal function of the ST232 transmitting circuit.

3.2.4 Coil-Transistor driven Transmitting Circuit

Another way of drive a transmitting circuit is to use a coil-transistor unit.
This transmitting circuit uses the self-induction effect, which takes place when an
electric circuit with a coil is opened. The induction voltage is about 10 times higher
than the supply voltage of the circuit. In the evaluation process the circuit was
supplied with two different voltages (5 volt and 12 volt). Here peak voltages of
about 60 volt with 5 volt and 110 volt with 12 volt power supply were reached.

PWM signal
US-Sensor
Coil
Transistor

Figure 3-7: Principle function of the coil transmitting circuit

With 12 volt supply power a maximum driving voltage of 17 Vrms was achieved.
Research - 23 -


3.2.5 Transformer driven Transmitting Circuit

In this chapter a transmitting circuit with a transformer as main component
is discussed. At moment only a basic simulation in PSpice was performed (Figure
A-5). The main problem by simulating the used transformer in PSpice is that a self
turned transformer would be used. This means, that it is not possible to simulate
the exact transformer which would be used.
Further investigations will be done in the next weeks.

3.2.6 Classification of the Transmitting Circuits

In this chapter it is discussed, which transmitting circuit is the best to drive a
US-sensor. For the time being, the coil-transistor transmitting circuit seems to be
the best way to drive a US-sensor. A final decision can not be made before the
transformer research process, to drive a transmitter circuit, is finished.

3.3 Receiver Circuit

In the previous chapter, different circuits to drive an US-sensor were
discussed. In this chapter, different types of circuits to receive an ultrasonic signal
will be discussed. The rehashed signal out of the receiving circuit will be sent to the
microprocessor which processes the signal.

Different receiver circuits are:

Resistive load connected in parallel to the ultrasonic receiver.
Amplifier circuits with different types of analog filters.
Amplifier circuits and a digital filtering with the microprocessor.
Receivers built in Manhattan-style.

- 24 -

Chapter 4. Development of the Location System
4.1 Microcontroller

For the receiving and for the transmitting circuit a microcontroller is needed.
For this, a PIC Microcontroller 16F877 is used.

Tasks of the microcontroller in the receiving circuit:
Detect an incoming ultrasonic signal.
Trigger the RF module to send an acknowledgement to the
transmitter.
Tasks of the microcontroller in the transmitting circuits:
Produce a 40 kHz PWM signal.
Clock the time from sending a US-signal to the arriving of an RF-
signal.
Send the time over an RS232 interface to a PC.

The microcontroller is programmed in the programming language C.

4.2 Transmission Unit

The best performing transmitting circuit of the research process would be
taken and built twice.
Development of the Location System - 25 -

4.3 Receiving Unit

The best performing receiving circuit of the research process will be used for
the further proceeding.

4.4 Connection to the PC

Since the actual location of the moving target should be displayed on a
normal PC, a connection from the microcontroller to the PC should be built.
For this the existing RS232 interface on the Millennium Board [13] evaluation
board is used to connect the microcontroller with the RS232-interface of the PC.

4.5 Result Screening

To screen the actual location of the moving target on the PC, a user interface
needs to be built with the programming language Visual Basic.



- 26 -

Chapter 5. Evaluation

In this chapter the whole system is evaluated.
The evaluation parameters are:

Maximum distance which could be measured with this system.
Accuracy of the distance measurement.
Influences of the room temperature and the humidity.
Measurements of the maximum beam angle.
Improvement suggestions.
- 27 -

Chapter 6. Conclusion

In the first 12 weeks of the project was the theory of ultrasonic location
systems elaborated and existing ultrasonic location systems classified.
Ultrasonic sensors were bought and equivalent circuit diagrams for the US-sensors
were designed. Furthermore, different transmitting circuits to drive the ultrasonic
sensors have been researched and modeled in PSpice.
The research process of the receiving circuits is nearly finished.

In the next 18 weeks different types of transmitting and receiving circuits will be
built and classified.
Furthermore an ultrasonic location system will be built, which would be able to
locate a moving target.

In the end of the project the existing ultrasonic system will be evaluated and
improved.

- 28 -

References

[1]
Bruneau, M., 2006, Fundamentals of Acoustics, ISTE Ltd., London

[2]
Gooberman, G.L., 1968, Ultrasonics Theory and Application, The English
Universities Press LTD, London.

[3]
ISO 9613-1: 1993 06 01, Acoustics Attenuation of sound during propagation
outdoors Calculation of the absorption of sound by the atmosphere.

[4]
Speaks, C., E., Ph.D., 1999, Introduction to Sound, Acoustics for the Hearing and
Speech Sciences, Singular Publishing Group, Inc.,Third Edition, San Diego /
London.

[5]
Winstandley, J.W., M.Sc., A. Insp.P., 1952, Textbook on Sound, Longmans, Green
and Co. London, New York, Toronto.

[6]
Neubig, B., Briese, W., 1997, Das groe Quarzkochbuch, Feldkirchen: Franzis-
Verlag.

[7]
Hayward, W., 1996, Introduction to Radio Frequency Design, TriQuint
Semiconductor, Beaverton,Oregon.

[8]
Prowave, 2007, ultrasonic datasheet of 400ST /R160 400ST /R100 400ET/R080,
Available at: http://www.prowave.com.tw/english/item/ut.htm, accessed: 11.11.2007

References - 29 -

[9]
Product page of STMicroelectronics, 2007, Datasheet ST232. Available at:
http://www.st.com/stonline/products/families/analog_and_mixed_signal/interface_ic
s/related_info/05int_1.htm, accessed: 13.12.2007

[10]
Student project page, 2007, circuit diagram transistor driven transmitting circuit.
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[11]
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[12]
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[13]
Product page of Bluebird Electronics, 2007, Millennium Evaluation Board.
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- 30 -

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- I -

Appendix A. Schematics

A.1.1Microcontroller driven transmitting circuit


Figure A-1: PSpice model of the microcontroller transmitting circuit.



Schematics - II -

A.2Transistor driven transmitting circuit


Figure A-2: PSpice model of the transistor transmitting circuit [10].

Schematics - III -

A.3ST232 driven transmitting circuit


Figure A-3: ST232 driven transmitting circuit [11].
Schematics - IV -

A.4Coil driven transmitting circuit


Figure A-4: PSpice model of the coil-transistor driven transmitting circuit
[12].



Schematics - V -

A.5Transistor driven transmitting circuit


Figure A-5: PSpice model of a transformer driven transmitting-circuit.