research-article

SPiDR: ultra-low-power acoustic spatial sensing for micro-robot navigation

Authors:

Nirupam RoyAuthors Info & Claims

MobiSys '22: Proceedings of the 20th Annual International Conference on Mobile Systems, Applications and Services

Pages 99 - 113

https://doi.org/10.1145/3498361.3539775

Published: 27 June 2022 Publication History

Abstract

This paper presents the design and implementation of SPiDR, an ultra-low-power spatial sensing system for miniature mobile robots. This acoustic sensor produces a cross-sectional map of the field-of-view using only one speaker/microphone pair. While it is challenging to have enough spatial diversity of signal with a single omnidirectional source, we leverage sound's interaction with small structures to create a 3D-printed passive filter, called a stencil, that can project spatially coded signals on a region at a fine granularity. The system receives a linear combination of the reflections from nearby objects and applies a novel power-aware depth-map reconstruction algorithm. The algorithm first estimates the approximate locations of the objects in the scene and then iteratively applies fractional multi-resolution inversion. SPiDR consumes only 10mW of power to generate a depth-map in real-world scenario with over 80% structural similarity score with the scene.

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Index Terms

SPiDR: ultra-low-power acoustic spatial sensing for micro-robot navigation
1. Computer systems organization
  1. Embedded and cyber-physical systems
    1. Sensors and actuators

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MobiSys '22: Proceedings of the 20th Annual International Conference on Mobile Systems, Applications and Services

June 2022

668 pages

ISBN:9781450391856

DOI:10.1145/3498361

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Portland State University
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Portland State University
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Stony Brook University
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KAIST

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https://dl.acm.org/doi/10.1145/3666025.3699356
He JXiong JHu WFeng CYao EWang XLiu CChen XOkoshi TKo JLiKamWa R(2024)CW-AcousLen: A Configurable Wideband Acoustic MetasurfaceProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661882(29-41)Online publication date: 3-Jun-2024
https://dl.acm.org/doi/10.1145/3643832.3661882
Fu YZhang YLu YQiu LChen YWang YWang MLi YRen JZhang YOkoshi TKo JLiKamWa R(2024)Adaptive Metasurface-Based Acoustic Imaging using Joint OptimizationProceedings of the 22nd Annual International Conference on Mobile Systems, Applications and Services10.1145/3643832.3661863(492-504)Online publication date: 3-Jun-2024
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Rostami MLiu ASundaresan K(2024)Scalable Acoustic IoT through Composable Distributed Beamforming Tags2024 23rd ACM/IEEE International Conference on Information Processing in Sensor Networks (IPSN)10.1109/IPSN61024.2024.00008(39-50)Online publication date: 13-May-2024
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