Localization and place recognition using an ultra-wide band (UWB) radar

This paper presents an approach to mobile robot localization, place recognition and loop closure using a monostatic ultra-wide band (UWB) radar system. The UWB radar is a time-of-flight based range measurement sensor that transmits short pulses and receives reflected waves from objects in the environment. The main idea of the poposed localization method is to treat the received waveform as a signature of place. The resulting echo waveform is very complex and highly depends on the position of the sensor with respect to surrounding objects. On the other hand, the sensor receives similar waveforms from the same positions.Moreover, the directional characteristics of dipole antenna is almost omnidirectional. Therefore, we can localize the sensor position to find similar waveform from waveform database. This paper proposes a place recognitionmethod based on waveform matching, presents a number of experiments that illustrate the high positon estimation accuracy of our UWB radar-based localization system, and shows the resulting loop detection performance in a typical indoor office environment and a forest.

UWB radar sensor networks: Detection algorithms design and experimental analysis

In the last years radar sensor networks for localization and tracking in indoor environment have generated more and more interest, especially for anti-intrusion security systems. These networks often use Ultra Wide Band (UWB) technology, which consists in sending very short (few nanoseconds) impulse signals. This approach guarantees high resolution and accuracy and also other advantages such as low price, low power consumption and narrow-band interference (jamming) robustness. In this thesis the overall data processing (done in MATLAB environment) is discussed, starting from experimental measures from sensor devices, ending with the 2D visualization of targets movements over time and focusing mainly on detection and localization algorithms. Moreover, two different scenarios and both single and multiple target tracking are analyzed.

FDTD study of an UWB radar technique for breast tumor detection

A finite difference time domain (FDTD) method is applied to investigate capabilities of an ultra-wide band (UWB) radar system to detect a breast tumor. The first part of the investigations concerns FDTD simulations of a phantom formed by a plastic container with liquid and a small reflecting target. The second part focuses on a three-dimensional numerical breast model with a small tumor. FDTD simulations are carried out assuming a planar incident wave. Various time snap shots of the electromagnetic field are recorded to learn about the physical phenomenon of reflection and scattering in different layers of the phantom.

Learned ultra-wideband RADAR sensor model for augmented LIDAR-based traversability mapping in vegetated environments

In vegetated environments, reliable obstacle detection remains a challenge for state-of-the-art methods, which are usually based on geometrical representations of the environment built from LIDAR and/or visual data. In many cases, in practice field robots could safely traverse through vegetation, thereby avoiding costly detours. However, it is often mistakenly interpreted as an obstacle. Classifying vegetation is insufficient since there might be an obstacle hidden behind or within it. Some Ultra-wide band (UWB) radars can penetrate through vegetation to help distinguish actual obstacles from obstacle-free vegetation. However, these sensors provide noisy and low-accuracy data. Therefore, in this work we address the problem of reliable traversability estimation in vegetation by augmenting LIDAR-based traversability mapping with UWB radar data. A sensor model is learned from experimental data using a support vector machine to convert the radar data into occupancy probabilities. These are then fused with LIDAR-based traversability data. The resulting augmented traversability maps capture the fine resolution of LIDAR-based maps but clear safely traversable foliage from being interpreted as obstacle. We validate the approach experimentally using sensors mounted on two different mobile robots, navigating in two different environments.

Experiments on through-wall imaging using ultra wideband radar

Through-wall imaging (TWI) may provide vital information on interior environment in cases when physically entering such environment would pose danger to the person involved. The concept of ultra wideband radar (UWB radar) is an emerging technology, which offers high spatial resolution, as opposed to narrow band radars. Thus, TWI applications using UWB radar have become a growing field of research with several applications in the civil and defense areas such as rescue and surveillance. For this study, a prototype system of UWB radar to TWI has been built. Analyses and result to several kinds of experiments have been presented, that is, detection and visualization of metallic targets behind wooden board wall and concrete blocks wall. The results are encouraging and show the advantages of using UWB radar for TWI. (C) 2011 Wiley Periodicals, Inc. Microwave Opt Technol Lett, 54:339-344, 2012; View this article online at wileyonlinelibrary.com. DOI 10.1002/mop.26543

Statistical mapping of real environments with uwb radars

In this master thesis I evaluated the performance of a Ultra-Wide Bandwidth (UWB) radar system for indoor environments mapping. In particular, I used a statistical Bayesian approach which is able to combine all the measurements collected by the radar, including system non-idealities such as the error on the estimated antenna pointing direction or on the estimated radar position. First I verified through simulations that the system was able to provide a sufficiently accurate reconstruction of the surrounding environment despite the limitations imposed by the UWB technology. In fact, the emission of UWB pulses is limited in terms of transmitted power by international regulations. Motivated by the promising results obtained through simulations, I successively carried out a measurement campaign in a real indoor environment using a UWB commercial device. The obtained results showed that the UWB radar system is capable of providing an accurate reconstruction of indoor environments also adopting not directional antennas.

A twin spiral planar antenna for UWB medical radars

A planar-spiral antenna to be used in an ultrawideband (UWB) radar system for heart activity monitoring is presented. The antenna, named “twin,” is constituted by two spiral dipoles in a compact structure. The reflection coefficient at the feed point of the dipoles is lower than −8 dB over the 3–12 GHz band, while the two-dipoles coupling is about −20 dB. The radiated beam is perpendicular to the plane of the spiral, so the antenna is wearable and it may be an optimal radiator for a medical UWB radar for heart rate detection. The designed antenna has been also used to check some hypotheses about the UWB radar heart activity detection mechanism. The radiation impedance variation, caused by the thorax vibrations associated with heart activity, seems to be the most likely explanation of the UWB radar operation.

Signal Processing Techniques for Chipless UWB RFID Thermal Threshold Detector Detection.

This letter presents signal processing techniques to detect a passive thermal threshold detector based on a chipless time-domain ultrawideband (UWB) radio frequency identification (RFID) tag. The tag is composed by a UWB antenna connected to a transmission line, in turn loaded with a biomorphic thermal switch. The working principle consists of detecting the impedance change of the thermal switch. This change occurs when the temperature exceeds a threshold. A UWB radar is used as the reader. The difference between the actual time sample and a reference signal obtained from the averaging of previous samples is used to determine the switch transition and to mitigate the interferences derived from clutter reflections. A gain compensation function is applied to equalize the attenuation due to propagation loss. An improved method based on the continuous wavelet transform with Morlet wavelet is used to overcome detection problems associated to a low signal-to-noise ratio at the receiver. The average delay profile is used to detect the tag delay. Experimental measurements up to 5 m are obtained.

A concept for hip prosthesis identification using ultra wideband radar

Ultra wideband (UWB) radar has been extensively investigated both theoretically and practically for the identification buried artifacts. Ground probe radar (GPR) concentrates on the identification of lightly buried land mines, unexploded ordnance (UXO) and archeological targets. The same technology is proposed in a similar context for the rapid identification of in vivo implanted metallic prostheses. The technique is based on resonance based target identification and the paper investigates UWB scattering from a metallic hip prosthesis in free space as a first step in the identification process.

Ultra-Wideband Communications - An idea whose time has still yet to come? [Wireless Corner]

This paper presents a critical analysis of ultrawideband (UWB) and considers the turbulent journey it has had from the Federal Communications Commission's bandwidth allocation in 2002 to today. It analyzes the standards, the standoffs, and the stalemate in standardization activities and investigates the past and present research and commercial activities in realizing the UWB dream. In this paper, statistical evidence is presented to depict UWB's changing fortunes and is utilized as an indicator of future prominence. This paper reviews some of the opinions and remarks from commentators and analyzes predictions that were made. Finally, it presents possible ways forward to reignite the high-data-rate UWB standardization pursuit.

Studio di fattibilità di applicazione di radar UWB per controlli non distruttivi

Studio di fattibilità sull'utilizzo della tecnologia radar Ultra Wideband per il controllo non distruttivo di manufatti in materiale composito in fibra di carbonio. La tecnologia radar UWB permette, a differenza dei radar convenzionali, una maggiore risoluzione e un maggior quantitativo di informazioni estraibili dal segnale ricevuto come eco. Nella prima parte del lavoro ci si è concentrati sulla individuazione dell'eventuale presenza del difetto in lastre di materiale composito di differenti dimensioni. Le lastre vengono "illuminate" da un fascio di onde radar UWB dal cui eco si estraggono le informazioni necessarie per determinare la presenza o meno del difetto. Lo scopo è progettare le basi di un algoritmo che, qualora la lastra in esame presenti una certa difettologia, informi l'utente della presenza dell'anomalia. Nella seconda parte si è passati a scansionare la lastra con un radar UWB in modo tale da costruire un'immagine della stessa grazie alle informazioni ricevute dai segnali eco. Per fare questo è stata necessaria dapprima la costruzione di un movimentatore ad hoc in grado di muovere il radar lungo due dimensioni (per permetterne la scansione del piano della lastra). Il movimentatore, autocostruito, è gestibile da Matlab attraverso cavo USB. L'algoritmo di controllo gestisce sia la movimentazione che l'acquisizione dei segnali ricevuti e quindi la creazione del database, punto di partenza per la creazione dell'immagine della lastra. Rispetto alla prima fase del lavoro dove si cercava di sapere se ci fosse o meno il difetto, ora, si è in grado di determinare dimensione e posizione dello stesso.