Torpedo striker overview
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Torpedo Striker Overview. Attenuation. Balance. ***Normalized to one in code. Overall Falloff. Sonar Sound Generation I. Quality sound from Dr. Kepuska (exp based) Too much processing time. Sonar Sound Generation II. Less quality sound I developed (sinc based)

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Torpedo Striker Overview

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Torpedo striker overview

Torpedo Striker Overview


Attenuation

Attenuation


Balance

Balance

***Normalized to one in code


Overall falloff

Overall Falloff


Sonar sound generation i

Sonar Sound Generation I

  • Quality sound from Dr. Kepuska (exp based)

  • Too much processing time


Sonar sound generation ii

Sonar Sound Generation II

  • Less quality sound I developed (sinc based)

  • Still too much processing time

function [xg] = SonarSynthe(fs, dur, varargin);

d = dur*fs; % dur in sec

t = 0:d; % t in number of samples

h=2*pi*(8*t./fs-0.6);

xx=2*sin(h)./h+0.6;

decayz=exp(-3*t./fs);

env1=xx.*decayz;

chime=exp(-3*t./fs).*sin(2*pi*62*t./fs);

env2=env1+chime+1.5;

env3=env2.*0.3.*exp(-3*t./fs);

fc=1500;

x=sin(2*pi*fc.*t./(fs*dur));

xg=x.*env3;

figure; plot(t./fs,xg); grid on; xlabel('Time [s]'); title('Sythesised Signal');

soundsc(xg, fs);


Sonar sound generation iii

Sonar Sound Generation III

  • Linear falloff to avoid exp calculations

  • Now recognizable on DSP, but not perfect


Sonar sound generation iv

Sonar Sound Generation IV

  • Output Dr. Kepuska’s sound from Matlab as array and store in SDRAM

  • Cycle through array elements at sampling frequency for playback


Sub noise

Sub Noise

  • Background noise for continual sense of location

  • Low frequency 300Hz tone

  • y=sin(2*pi*300*t./d)


Dead beat tone

Dead Beat Tone

  • To signify a torpedo miss

  • Single 1200Hz tone like dead beat life support

  • y=sin(2*pi*1200*t./d);


Explosion noise i

Explosion Noise I

  • Random number generation for sine wave

  • Linear interpolation between random number generation

  • model


Explosion noise ii

Explosion Noise II

  • void (Explosiond)(void)

  • {

  • scalar=(statrand/35);

  • c = (long)((co-cprev)*scalar + cprev); // linear interpolation… y=mx+b

  • randfunc=cosf(2*pi*c/ 1073741823);

  • decay2=2*(te/d2)*expf(-3*(te)/fs);

  • z=decay2*randfunc;

  • z=z*40000000;

  • scalar2=(statrand2/75);

  • c2 = (long)((co2-cprev2)*scalar2 + cprev2);

  • randfunc2=cosf(2*pi*c2/ 1073741823);

  • decay2b=4*(te/d2)*expf(-3*(te+2)/fs);

  • z2=decay2*randfunc2;

  • z2=z2*40000000;

  • te=te+1;

  • statrand = statrand +1;

  • statrand2 = statrand2 +1;

  • if (statrand >= 35)

  • { statrand=1;

  • cprev=co;

  • srand(te);

  • co=rand();

  • }

  • if (statrand2 >= 75)

  • { statrand2=1;

  • cprev2=co2;

  • srand(te+1);

  • co2=rand();

  • }

  • if (te >d)

  • {

  • te =0;

  • exptrig=0;

  • }

  • z=z+z2;

  • iChannel0LeftIn = (int) z;

  • iChannel0RightIn = (int) z;

  • }


Problems

Problems

  • Processing time and real time audio

    • Overcome with simplified algorithms and stored audio in SDRAM

  • Intermittent Ping

    • Added background noise for sense of location


Concluding remarks

Concluding Remarks

  • Design of Torpedo Striker has been rewarding process

  • Special thanks to Dr. Kepuska for Sonar Sound and additional help

  • Special thanks to Za and SDRAM help


Questions

Questions?


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