Project Overview

This research was conducted over the Fall 2010 semester at Washington University by Raphael Schwartz and Zachary Knudsen to fulfill the requirements of ESE 497 Undergraduate Research. The project was overseen by Dr. Arye Nehorai, Phani Chavali, and Ed Richter of the Department of Electrical and Systems Engineering. It was done in continuation of our Spring 2010 project.

In Fall 2010 our work was presented at Washington University's Undergraduate Research Symposium with the following abstract:

 

We present a robotic array of microphones for localizing an acoustic source. We use an adaptive algorithm to autonomously control the positions of the robots with the microphones, in order to optimize the source localization performance. We implemented the robotic control and localization algorithms on National Instrumentsí sbRIO robot kits. The sbRIO platform has an inbuilt processor and the capability to communicate with a central computer over a wireless local area network. These capabilities allowed us to design a more flexible control algorithm that increased the degrees of freedom of our system, which further improved the localization performance.† In particular, our robots move freely in a 2D space and the pairs of microphones can rotate independently of the robots' orientations.† The control algorithm was based on a heuristic approach for coordinating robot movements in a 2D plane. Experiments demonstrate that the control algorithm improves the localization accuracy.† Labview and Matlab are used for the implementation of our system.

 

 

Acknowledgements

 

We would like to thank all of the following people for their involvement with this project. Without their dedicated effort this project would not have been possible.

Dr. Arye Nehorai, Phani Chavali, Ed Richter, Patricio S. La Rosa, Joshua York, Chase LaFont, Matt Meshulam, and Brian Blosser.

Raphael Schwartz and Zachary Knudsen

Robotic Sensing: Adaptive Robotic Control for Acoustic Source Localization