Binaural Sonar System for Simultaneous Sensing of Distance and Direction of Extended Barriers
Bibliographic record
Abstract
Bat navigation via echolocation has inspired numerous acoustic-based obstacle sensing techniques. In this paper, we use a low-cost, small size, single frequency active binaural system for simultaneous detection of distance and direction of extended obstacles using the time of flight cue. For a binaural system and given size of the transducer, the minimum tolerable separation distance between the emitter and receiver as well as best frequency range for effectively sensing a barrier of any orientation will be assessed by simulation. With the given size of transducers of 6.30 mm in radius and for a working distance of 1 m, the minimum separation distance between the emitter and receiver should not be less than 5 cm and the emitter frequency should not exceed higher than 20 kHz. It will be shown in this article that higher frequency limits the lateral distance detection ability of the system. We experimentally verified the technique for detecting a wall of any orientation with respect to the system’s axis. The approach developed in this paper could be useful for mobile robotics, indoor navigation, and personalized navigation, where a compact configuration is of interest.
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How this classification was reachedexpand
Full frame machine prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. The Gemma side is a direct model label for every work in the frame, read from the title-only record. The Codex side is a classifier learned from the 10,348 direct Codex labels and calibrated to design-weighted sample rates; fields without enough sample support carry no Codex call. Candidate is the union of the two sides; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels.
Distilled classifier scores by category (both heads)
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.001 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.001 |
| Open science | 0.001 | 0.001 |
| Research integrity | 0.001 | 0.000 |
| Insufficient payload (model declined to judge) | 0.002 | 0.001 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one source (direct Gemma or distilled Codex), not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".