International Journal of Clothing Science and Technology

A study on the beam pattern of ultrasonic sensor integrated to textile structure

Senem Kursun Bahadir Fatma Kalaoglu Sebastien Thomassey Irina Cristian Vladan Koncar

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Article information:
To cite this document:
Senem Kursun Bahadir Fatma Kalaoglu Sebastien Thomassey Irina Cristian Vladan Koncar, (2011),"A
study on the beam pattern of ultrasonic sensor integrated to textile structure", International Journal of
Clothing Science and Technology, Vol. 23 Iss 4 pp. 232 - 241
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IJCST
23,4

A study on the beam pattern

of ultrasonic sensor integrated
to textile structure

232

Senem Kursun Bahadir

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University of Lille-North of France, Lille, France

ENSAIT, Roubaix, France and
Textile Engineering Department, Istanbul Technical University, Istanbul, Turkey

Fatma Kalaoglu
Textile Engineering Department, Istanbul Technical University, Istanbul, Turkey

Sebastien Thomassey
University of Lille-North of France, Lille, France and
ENSAIT, Roubaix, France

Irina Cristian
The Gheorghe Asachi Technical University of Iasi, Iasi, Romania, and

Vladan Koncar
University of Lille-North of France, Lille, France and
ENSAIT, Roubaix, France
Abstract
Purpose During the past decades, several researchers have introduced devices that use sonar
systems to detect and/or to determine the object location or to measure the distance to an object using
reflected sound waves. The purpose of this paper is to use sonar sensor with textile structure and to
test it for detection of objects.
Design/methodology/approach In this study, a sonar system based on intelligent textiles
approach for detection of objects has been developed. In order to do this, ultrasonic sensor has been
integrated to textile structures by using conductive yarns. Furthermore, an electronic circuit has been
designed; PIC 16F877 microcontroller unit has been used to convert the measured signal to meaningful
data and to assess the data. The algorithm enabling the objects detection has also been developed.
Finally, smart textile structure integrated with ultrasonic sensor has been tested for detection of objects.
Findings Beam shape is presented related to identified object and compared with the actual one
given in sensors datasheet in order to test the efficiency of the proposed method of detection. The
achieved results showed that the determined beam pattern matches with the actual one given in its
datasheet. Therefore, it can be concluded that the integration of sensor was successful.
Originality/value This is the first time in the literature that a sonar sensor was integrated into
textile structure and tested for detection of objects.
Keywords Sensors, Textiles, Intelligent agents, Ultrasonic devices, Microcontrollers
Paper type Research paper
International Journal of Clothing
Science and Technology
Vol. 23 No. 4, 2011
pp. 232-241
q Emerald Group Publishing Limited
0955-6222
DOI 10.1108/09556221111136494

1. Introduction
Advanced researches in the electronic industry have led sensor and computing
technologies to miniaturize and reduce cost. Owing to the miniaturization and reduction

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cost of electronics, the field of e-textiles and wearable electronics is more and more
extending. Thus, far, new sensing elements, functional fibers, flexible technologies, new
chemical sensors, microelectromechanical systems actuators, etc. are now becoming a
part of our environment by embedding them into textiles.
Textiles have an indispensable role in our everyday life and recently, e-textiles start
to take a great role in the wearable computing, health monitoring, smart human-machine
interface, etc. (Katragadda and Xu, 2008). They generally made by integrating
rigid/flexible electronics (sensors, actuators and cameras) to textile structures by using
conductive materials like polymers, yarns, etc. (Post and Orth, 1997; Parker et al., 2002;
Luthy et al., 2002; Weber et al., 2003; Jung et al., 2003; Park et al., 2002).
In wearable sensor framework; although researchers have focused on using
accelerometers, temperature, pressure sensors for activity detection like respiratory,
electrocardiogram, body heat, contact pressure, other wearable sensors for physiological
data have also been widely used. Furthermore, in nowadays general research trend is
toward to use wireless communication, thus global positioning system, radio-frequency
identification technologies are combined with these wearable e-systems (Kim et al., 2008;
Mathie et al., 2004; Ling and Stephen, 2004; Krause et al., 2006; Morris and Paradiso,
2002; Oliver et al., 2006a, b; Ermes et al., 2008; Wade and Asada, 2007; Taccini et al., 2004;
Subramanya et al., 2006; Maurer et al., 2006).
In our wearable e-textile system, sonar sensor was used to detect the objects and to
measure the distance to an object in the environment. This is the first time in the literature
that sonar sensor was integrated to textile structure and tested for detection of objects.
Sonar is a kind of device used for detecting, locating, determining objects or
measuring the distance through the use of reflected sound waves. The frequencies used
in sonar systems change from infrasonic to ultrasonic.
The term ultrasonic refers to frequencies above that of audible sounds, which humans
could not hear and it nominally indicates anything over 20,000 Hz (Cheol-Hong et al.,
2007). In the nature, bats, dolphins and some other species communicate and navigate in
the range of 20-100 kHz (Sethu Selvi et al., 2008).
In industrial applications, ultrasonic sensors are widely used for distance measurement,
proximity detection, object localization, mobile robot guidance, etc. (Ohtani and Baba,
2006; Llata et al., 2008) and recently for the process control of liquids to measure the
concentrations, levels and flows through the use of reflected sound waves. They are widely
preferred in robotic applications because of their low price, high efficiency and relatively
simple structure (Berndhenning et al., 2000; Jongkyu et al., 2010; Puttmer, 2006).
In our case, this ultrasonic sensor integrated e-textile structure can be considered for the
applications like directional navigation where the visual sense is restricted such as lacking
a wide field of view or visually impaired people or the overloaded drivers, cockpits, etc.
2. Ultrasonic signal processing
2.1 Distance measurement by ultrasonic sensor
In sonar systems, electrical impulse is converted into sound waves and the sonar
equipment as shown in Figure 1 picks up the echoes of reflected sound waves. An
ultrasonic sensor wave is a sound speed of about c 344 m/s in 208C air at sea level.
Distance measurement in ultrasonic sensor is based on the time of flight principle
(Peter and Schweinzer, 2006). That means, the distance to an object is identified by the
measurement of the time from transmission of a pulse to reception. In other words,

Beam pattern of
ultrasonic sensor

233

IJCST
23,4

cted

le
Ref

e
wav

ect

Obj

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234

eive

r/rec

de
Sen

ave
al w

in
Orig

ance

Dist

Figure 1.
Principle of active sonar

the distance (L) to an object is calculated by equation (1) (t: arrival time after reflection)
(Cheol-Hong et al., 2007):
L c * t=2 m

2.2 Object direction measurement

There is a difficulty in measuring the azimuth of an object by using a single ultrasonic
sensor. Figure 2 shows a drawing of the geometrical relationship in measuring azimuth
of objects where they are vertically arranged at the same distance to sensor. Let us
define O1, O2, O3 and O4 as objects and L1, L2, L3, and L4 as the distances measured,
respectively, from the objects O1, O2, O3 and O4. The azimuth of objects can be
expressed by using triangle rule as following:
For object 2 :
For object 3 :

u12 cos21 L1=L2

21

u13 cos L1=L3

2
3

Since object 4 is outside of the sensors detection range, the azimuth value of this object
cannot be determined by sensor.
3. Experiments
3.1 Materials and integration of sensor methodology
In this study, LV-MaxSonarw-EZ3e (Maxbotix Inc., 2010) ultrasonic sensor was chosen
due to its small dimensions and low power requirements, 2.5 to 5.5 V supply with low
(2 mA) typical current draw. Figure 3 shows the ultrasonic sensor with its circuit.
This ultrasonic sensor enables us to detect objects or to measure the distance through the
use of reflected sound waves and it gives information from six to 254 in.
To integrate the ultrasonic sensor into textile structure, 100 per cent stainless steel
yarn with a lineal resistance of , 15 V/m was used to form electric circuit in the woven

Beam pattern of
ultrasonic sensor

y
Ultrasonic sensor

14
Sensor
detection region

L2

O1
L12

L4

O2

L1

L3

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235

12 13

Objects
L13

O3

O4

Figure 2.
Geometrical relationship
in measuring azimuth
of objects by using
ultrasonic sensor

L14

N
GND
+5
B

TX

RX
AN
PW

Orange
dot

M
L

fabric. Besides, to form non-conductive area in the woven fabric, polyester microfibers
with a yarn count of 330 dtex were used. To prevent the short circuits, fabric sample
was designed as double-woven fabric and conductive yarns were hidden in the middle
layer of structure as shown in Figure 4.
The position of conductive yarns in the woven fabric was decided in order to match
with the ground, common-collector voltage (Vcc) and analog voltage output of a given
sensor device (Figure 5). Furthermore, to construct electrical circuit and to connect
sensor with fabric, loops were formed among conductive yarns and snap fasteners
were sewn onto these loops (Figure 6).
3.2 Experimental set up
Measurements were performed using TekoPIC Programming Experimental Set Kit as
shown in Figure 6(a). Our system includes power supply, ultrasonic sensor integrated

Figure 3.
LV-MaxSonarw-EZ3e
(Maxbotix Inc.)
ultrasonic sensor

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236

Figure 4.
3D representation of the
double-woven cloth
(TexGen software)

tive
duc
Con arn
y

Figure 5.
Sample overview:
conductive yarns
corresponding with sensor
ground, Vcc and analog
voltage output pins

2.54 mm
7.62 mm

N
GND
+5
TX

Conductive yarn
Conductive yarn
Conductive yarn

RX
AN
PW

Orange
dot

D
L

Objects

Power supply

LCD display

Reset

Trigger input

Counter and
interface and clock

Ultrasonic transmitter
and ultrasonic receiver

Microcontroller in
ultrasonic sensor circuit

Interface

PIC16F877
microcontroller

Figure 6.
(a) Experiment set-up;
(b) block diagram
of system

Microcontroller 16F877

TekoPIC
experimental kit
VAN
Vcc
GND (V = 0)

(a)

Test sample

LCD display

(b)

to textile structure, microcontroller and a liquid crystal display (LCD) panel. To control
the system, 16F877 peripheral interface microcontroller was used. Its code was written
in the PIC C language by using MPLABwIDE software and then, to compile to assembler
the HI-TECH Cw Compiler was used. LCD screen was used to display the distance values
to an object. The block diagram of system is shown in Figure 6(b). As soon as the sensor
is triggered, ultrasound will be transmitted and if any object is presented within working
range, the ultrasound will be reflected back. A counter using 40 KHz clock frequency

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measures the time taken by sensor from transmission of a pulse to reception. For
continuous distance measurement, sensor is triggered at a regular time interval and
accordingly, counter should be reset (Niranjan et al., 2004).
Finally, by this control system, we have conducted a study to determine the
working range of sensor between 50 cm and 2.5 m.
4. Results
To determine the beam pattern of given ultrasonic sensor, experiments were conducted
as shown in Figure 7, according to proposed experiment set-up above. First, consider the
ultrasonic sensor is positioned at (0, 0) and to detect the border of working range, object is
positioned to a distance starting from (0, 50) to (x, 250) in cm. Measurements were
repeated in every 5 cm starting from 50 to 250 cm of y-axis. Then, the actual position of
object at the border of working range was compared with the one measured by the sensor.
Table I shows the comparison of actual distance and measured distance to an object.
According to this table results, beam pattern of ultrasonic sensor integrated to textile
structure was determined as shown in Figure 8(a). Furthermore, determined beam
pattern of sensor was compared with the sensors beam pattern in its datasheet
(Figure 8(b)). It is clear from the figure that the beam pattern that we determined in our
study is similar to the sensors beam pattern given in its datasheet (Maxbotix Inc., 2010).
Furthermore, achieved results show that the error between actual and measured
distance increases as the distance to an object increases. If the object is in the range of
50-100 cm, the error will be 0-5 per cent and if the object is in the range of 200-250 cm,
then the error will increase to 13-15 per cent (Figure 9).

Beam pattern of
ultrasonic sensor

237

5. Conclusion
In this study, for the first time in the literature, ultrasonic sensor is successfully
integrated to textile structure. To integrate the sensor, a double-woven fabric was
designed and to satisfy electrical connection in the fabric, 100 per cent stainless steel
yarn was used as a conductive yarn. Then to observe the working range of sensor, fabric
was connected with a control system that includes: power supply, microcontroller
x (cm)

Object

d
(0.0)
Sensor

y (cm)
50

100

150

200

250

Figure 7.
Experimental procedure
to determine border of
working range of sensor

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238

Table I.
Results of experiments at
the border of working
range of sensor
in one direction

Measurement no.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41

Position of object
(x, y)

Actual distance
(d) (cm)

Measured distance
(d) (cm)

jErrorj

jErrorj%

(19, 50)
(20, 55)
(22, 60)
(23, 65)
(24, 70)
(26, 75)
(25, 80)
(26, 85)
(27, 90)
(27, 95)
(28, 100)
(29, 105)
(30, 110)
(31, 115)
(31, 120)
(30, 125)
(29, 130)
(30, 135)
(32, 140)
(33, 145)
(36, 150)
(37, 155)
(38, 160)
(37, 165)
(41, 170)
(33, 175)
(35, 180)
(37, 185)
(40, 190)
(40, 195)
(34, 200)
(37, 205)
(38, 210)
(38, 215)
(35, 220)
(34, 225)
(36, 230)
(38, 235)
(41, 240)
(42, 245)
(40, 250)

53.5
58.5
63.9
68.9
74.0
79.4
83.8
88.9
94.0
98.8
103.8
108.9
114.0
119.1
123.9
128.5
133.2
138.3
143.6
148.7
154.3
159.4
164.5
169.1
174.9
178.1
183.4
188.7
194.2
199.1
202.9
208.3
213.4
218.3
222.8
227.6
232.8
238.1
243.5
248.6
253.2

54
58
62
66
72
76
82
85
90
94
97
102
106
110
115
117
120
125
128
133
137
141
146
149
154
158
160
164
168
172
175
180
185
188
190
195
200
205
210
214
217

0.5
0.5
1.9
2.9
2.0
3.4
1.8
3.9
4.0
4.8
6.8
6.9
8.0
9.1
8.9
11.5
13.2
13.3
15.6
15.7
17.3
18.4
18.5
20.1
20.9
20.1
23.4
24.7
26.2
27.1
27.9
28.3
28.4
30.3
32.8
32.6
32.8
33.1
33.5
34.6
36.2

0.96
0.89
2.98
4.28
2.70
4.26
2.17
4.37
4.22
4.82
6.59
6.36
7.03
7.64
7.21
8.98
9.91
9.61
10.87
10.56
11.19
11.52
11.22
11.89
11.94
11.28
12.75
13.07
13.48
13.59
13.74
13.59
13.31
13.89
14.71
14.31
14.09
13.88
13.75
13.91
14.29

and LCD panel. The beam pattern of sensor was determined by replacing the objects in
front of the sensor in various positions.
The achieved results showed that the determined beam pattern matches with the
actual one given in its datasheet. Therefore, it can be concluded that the integration of
sensor was successful. Nevertheless, according to our results, it should be noted that as
the distance to an object increases measurement error increases. Thus, to get right

250

Approximate beam pattern of

sensor according to its datasheet

Beam pattern of
ultrasonic sensor

20 ft
Beam pattern of sensor
between 50 cm and 250 cm
15 ft
150

239

10 ft
100
Tested area
5 ft
50
50 40 30 20 10

0
10
(cm)

20

30

40

50

Sensor position (0.0)

Sensor position (0.0)
(a)

(b)

Source: Maxbotix Inc.

Figure 8.
(a) Determined beam
pattern of ultrasonic
sensor integrated to the
woven fabric and (b) beam
pattern of sensor
according to its datasheet

300.0
250.0
Error: 13-15%
Distance (d) cm

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Distance (cm)

200

200.0
Error: 11-14%
150.0
Error: 6-11%
100.0
Error: 0-5%
50.0
0.0
(19, 50)

(28,100)

(36,150)

(34,200)

(40,250)

Distance (x, y) cm
Actual distance

Measured distance

results, some coefficients could be added into programming language considering the
errors due to the distance ranges.
6. Acknowledgements
Appreciation is extended to ENSAIT, GEMTEX Laboratory and Istanbul Technical
University, Textile-clothing Control and Research Laboratory, for their support
in supplying materials and performing experimental work. The authors also wish to
thank Cagri Bahadir for his suggestion during sensor selection.

Figure 9.
Error differentiation
between actual and
measured distance

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240

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Information Playing, Nara Institute of Science Technology, Nara, Japan, 23-24 May.
Corresponding author
Senem Kursun Bahadir can be contacted at: kursuns@itu.edu.tr
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Beam pattern of
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