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Title
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Bio-inspired sonar antennae: enhancing directivity patterns for localization
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Author
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Abstract
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| We present results of a biologically inspired method to enhance a sonar transducer's directivity pattern for localization purposes. We show that an artificial pinna structure mounted over a transducer introduces features in its head related transfer function that are more interesting for localization than those in the basic piston-like directivity pattern of common ultrasonic transducers. We measured the directivity pattern of several transducer-pinna assemblies using a biologically inspired robotic bat head. We compare the measured head related transfer function of a larger (empty set10mm) electromechanical film sensor with that of a much smaller commercially available electret condenser microphone, both with and without pinna. We investigate the added spatial filtering of a tragus or a ripple pattern in the pinna structure. We build monaural elevation template sets from the measured head related transfer functions and use an intertemplate distance metric to show that mounting a pinna structure over the receiving transducers makes these templates more suitable for localization. |
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Language
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English
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Source (book)
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2nd IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
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Publication
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Arizona
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2008
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ISBN
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978-1-4244-2882-3
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DOI
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10.1109/BIOROB.2008.4762836
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Volume/pages
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p. 366-371
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ISI
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000270540400061
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Full text (Publisher's DOI)
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