Ruggedized Ultrasound Sensing in Harsh Conditions: eRTIS in the wild
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arXiv
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| Autori principali: | , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866910001531977728 |
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| author | Laurijssen, Dennis Jansen, Wouter Aerts, Arne Daems, Walter Steckel, Jan |
| author_facet | Laurijssen, Dennis Jansen, Wouter Aerts, Arne Daems, Walter Steckel, Jan |
| contents | We present eRTIS, a rugged, embedded ultrasound sensing system for use in harsh industrial environments. The system features a broadband capacitive transducer and a 32-element MEMS microphone array capable of 2D and 3D beamforming. A modular hardware architecture separates sensing and processing tasks: a high-performance microcontroller handles excitation signal generation and data acquisition, while an NVIDIA Jetson module performs GPU-accelerated signal processing. eRTIS supports external synchronization via a custom controller that powers and coordinates up to six devices, either simultaneously or in a defined sequence. Additional synchronization options include bidirectional triggering and in-band signal injection. A sealed, anodized aluminum enclosure with passive cooling and IP-rated connectors ensures reliability in challenging conditions. Performance is demonstrated in three field scenarios: harbor mooring, off-road robotics, and autonomous navigation in cluttered environments, demonstrates that eRTIS provides robust sensing in situations where optical systems degrade. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_10029 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Ruggedized Ultrasound Sensing in Harsh Conditions: eRTIS in the wild Laurijssen, Dennis Jansen, Wouter Aerts, Arne Daems, Walter Steckel, Jan Systems and Control We present eRTIS, a rugged, embedded ultrasound sensing system for use in harsh industrial environments. The system features a broadband capacitive transducer and a 32-element MEMS microphone array capable of 2D and 3D beamforming. A modular hardware architecture separates sensing and processing tasks: a high-performance microcontroller handles excitation signal generation and data acquisition, while an NVIDIA Jetson module performs GPU-accelerated signal processing. eRTIS supports external synchronization via a custom controller that powers and coordinates up to six devices, either simultaneously or in a defined sequence. Additional synchronization options include bidirectional triggering and in-band signal injection. A sealed, anodized aluminum enclosure with passive cooling and IP-rated connectors ensures reliability in challenging conditions. Performance is demonstrated in three field scenarios: harbor mooring, off-road robotics, and autonomous navigation in cluttered environments, demonstrates that eRTIS provides robust sensing in situations where optical systems degrade. |
| title | Ruggedized Ultrasound Sensing in Harsh Conditions: eRTIS in the wild |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2509.10029 |