Naira Bekauri

Biological inspired and biomimetism are important research directions in engineering and technology as well in artificial computational methods and algorithms. The paper focuses on biomimetic sonar head, with four degree of freedom. The biomimetism is referred at the level of anatomy (one mouth tow ears) and at the level of functions (one emitter two receivers). By imposing a target point T basic procedures to drive the servomotors are presented, both pseudocode and Matlab programming scripts. Experiments are driven for three classes of targets. To estimate the range to various obstacles, basic procedures for signal emissions and receiving are presented. Experimental records are used for estimations of the distance between sonar head and various positions of targets. At the end of the first set of experiments all necessary functions are valid. Experiments show also some drawbacks of the arrangements of ultrasonic sensors, but this problem will be solved in the near future.