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<p class=MsoNormal><b><span style='font-size:18.0pt;font-family:"Arial","sans-serif"'>I
built a head-mounted LiDAR array that lets you see the world like a dolphin via
vibrations sent through your jaw.<o:p></o:p></span></b></p>
<p class=MsoNormal style='box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span class=byline><span style='font-size:12.0pt;
font-family:"Arial","sans-serif";border:none windowtext 1.0pt;padding:0in'>by</span></span><span
class=apple-converted-space><span style='font-size:12.0pt;font-family:"Arial","sans-serif";
border:none windowtext 1.0pt;padding:0in'> </span></span><span
class=author><span style='font-size:12.0pt;font-family:"Arial","sans-serif";
border:none windowtext 1.0pt;padding:0in'><a
href="http://www.southernfriedscience.com/author/southern-fried-scientist/"><span
style='color:windowtext'>Andrew David Thaler</span></a><o:p></o:p></span></span></p>
<p class=MsoNormal><span class=author><span style='font-size:12.0pt;font-family:
"Arial","sans-serif";border:none windowtext 1.0pt;padding:0in'>July 24, 2018<o:p></o:p></span></span></p>
<p class=MsoNormal><span style='font-size:12.0pt;font-family:"Arial","sans-serif"'><a
href="http://www.southernfriedscience.com/i-built-a-head-mounted-lidar-array-that-lets-you-see-the-world-like-a-dolphin-via-vibrations-sent-through-your-jaw/">http://www.southernfriedscience.com/i-built-a-head-mounted-lidar-array-that-lets-you-see-the-world-like-a-dolphin-via-vibrations-sent-through-your-jaw/</a><o:p></o:p></span></p>
<p class=MsoNormal><span style='font-size:12.0pt;font-family:"Arial","sans-serif"'><o:p> </o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'>I’m Andrew Thaler and I<span class=apple-converted-space> </span><a
href="http://www.southernfriedscience.com/how-to-build-a-canoe-from-scratch-on-a-graduate-student-stipend/"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>build</span></strong></a><span
class=apple-converted-space> </span><a
href="http://www.southernfriedscience.com/meet-sea-leveler-the-open-source-water-level-gauge-that-want-you-to-talk-about-sealevelrise/"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>weird</span></strong></a><span
class=apple-converted-space> </span><a
href="http://www.southernfriedscience.com/how-to-drownyourtown-a-step-by-step-guide-to-modelling-sea-level-rise-in-google-earth/"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>things</span></strong></a>.<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>Last
month, while traveling to Kuching for Make for the Planet Borneo, I had an idea
for the next strange ocean education project: what if we could use
bone-conducting headphones to “see” the world like a dolphin might
through echolocation?<o:p></o:p></span></p>
<p class=MsoNormal align=center style='text-align:center;line-height:23.65pt;
background:#FEFEFE;vertical-align:baseline'><span style='font-size:13.5pt;
font-family:"Arial","sans-serif";color:#474747'><img border=0 width=740
height=555 id="Imagen_x0020_1" src="cid:image001.jpg@01D424DC.ADBA9BC0"
alt="The author wearing a head mounted LiDAR array, looking very pensive. "></span><span
style='font-size:13.5pt;font-family:"Arial","sans-serif";color:#474747'><o:p></o:p></span></p>
<p class=wp-caption-text align=center style='mso-margin-top-alt:0in;margin-right:
0in;margin-bottom:6.0pt;margin-left:0in;text-align:center;line-height:23.65pt;
background:#FEFEFE;vertical-align:baseline'><span style='font-size:11.0pt;
font-family:"Arial","sans-serif";color:#474747'>Spoilers: You can. Photo by A.
Freitag.<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>Bone-conducting
headphones use speakers or tiny motors to send vibrations directly into the
bone of you skull. This works surprisingly well for listening to music or
amplifying voices without obstructing the ear. The first time you try it,
it’s an odd experience. Though you hear the sound just fine, it
doesn’t feel like it’s coming through your ears. Bone conduction
has been used for a while now in hearing aids as well as military- and
industrial-grade communications systems, but the tech has recently cropped up
in sports headphones for people who want to listen to music and podcasts on a
run without tuning out the rest of the world. Rather than anchoring to the
skull, the sports headphones sit just in front of the ear, where your lower jaw
meets your skull.<o:p></o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'>This is not entirely unlike how dolphins (and at least 65
species of toothed whales) detect sound. <o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>Dolphins,
like bats, have a biosonar system that allows them to detect objects through
echolocation. That big, bulbous head of theirs is filled with acoustic fat, a
dense lipid that allows them to focus sound. Those sounds are created by a
vocal structure under their blowhole called the dorsal bursae–monkey
lips complex and honestly I’m only going into so much detail here because
of how great that name is. Ultrasonic clicks travel from the monkey lips
complex through the acoustic fat-filled melon, and emanates out the front of
the melon. Those clicks then bounce off objects in the ocean and return to the
dolphin, who somehow translates that information into spatial awareness.<o:p></o:p></span></p>
<p class=MsoNormal align=center style='text-align:center;line-height:23.65pt;
background:#FEFEFE;vertical-align:baseline'><span style='font-size:13.5pt;
font-family:"Arial","sans-serif";color:#474747'><img border=0 width=687
height=475 id="Imagen_x0020_2" src="cid:image002.png@01D424DC.ADBA9BC0"
alt="A cross-section of a dolphin head, showing sound production and travel through the melon. "></span><span
style='font-size:13.5pt;font-family:"Arial","sans-serif";color:#474747'><o:p></o:p></span></p>
<p class=wp-caption-text align=center style='mso-margin-top-alt:0in;margin-right:
0in;margin-bottom:6.0pt;margin-left:0in;text-align:center;line-height:23.65pt;
background:#FEFEFE;vertical-align:baseline'><span style='font-size:11.0pt;
font-family:"Arial","sans-serif";color:#474747'>A slice of dolphin, showing how
sound is produced. From Au and Simmons 2007.<o:p></o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'>Incidentally, we only<span class=apple-converted-space> </span><a
href="https://www.journals.uchicago.edu/doi/pdfplus/10.2307/1539374"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>confirmed that dolphins can echolocate</span></strong></a><span
class=apple-converted-space> </span>in the 1960’s, which feels
really late to me considering that barely 30 years later we were already<span
class=apple-converted-space> </span><a
href="https://en.wikipedia.org/wiki/Ecco_the_Dolphin"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>making video game for kids</span></strong></a><span
class=apple-converted-space> </span>as if it were universal common
knowledge.<o:p></o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'><o:p> </o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>Here’s
the weird thing, though. Dolphins don’t have ears.<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>At
least not externally. Dolphins are highly streamlined for fast travel through
seawater and exposed, external ears would not only create drag but would
produce cavitation and turbulence that could actually interfere with sound
detection. Dolphins are, among other things, extreme audiophiles. So how do
they hear? Nestled in their lower jaws is that same acoustic fat found in their
big heads. Their lower jaws interface with the structures in their inner ear,
allowing sound waves to travel up their jaw and into their ears. Dolphins
“hear” with their jaws.<o:p></o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'>For a really good overview of dolphin (and bat) biosonar, check
out<span class=apple-converted-space> </span><a
href="https://physicstoday.scitation.org/doi/10.1063/1.2784683"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>Au and Simmons (2007) Echolocation in
Dolphins and Bats. DOI: 10.1063/1.2784683</span></strong></a>. It’s
not open access, but there’s probably some sort of Hub for Science where
you could easily find a copy.<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>So,
consumer bone-conducting headphones that sit at the interface of your jaw and
skull is a pretty good proxy for how dolphins receive sound, but how do we
produce it?<o:p></o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'>The ubiquitous<span class=apple-converted-space> </span><a
href="https://amzn.to/2NHrB6e"><strong><span style='font-family:"Arial","sans-serif";
color:#F2777A;border:none windowtext 1.0pt;padding:0in;text-decoration:none'>ultrasonic
rangefinder that seems to come packaged in every Arduino kit</span></strong></a><span
class=apple-converted-space> </span>was the first obvious answer. Dolphins
use ultrasound, so why shouldn’t we start there? After a bit of
tinkering, I realized that the device has a major limitation: it’s range
is tiny; barely a meter on a good day with perfect conditions. Long range units
get exponentially more expensive and consume increasingly large amounts of
power. I wanted a head-mounted dolphin-inspired echolocation system that was
compact!<o:p></o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'><o:p> </o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'>Thanks to the consumer drone movement,<strong><span
style='font-family:"Arial","sans-serif";border:none windowtext 1.0pt;
padding:0in'><a href="https://amzn.to/2mE9pPy"><span
class=apple-converted-space><span style='color:#F2777A;text-decoration:none'> </span></span><span
style='color:#F2777A'>cheap time-of-flight LiDAR units (not true LiDAR systems
that use laser reflection, but focused infrared emitters that do almost the
same thing, but cheaper)</span></a></span></strong><span
class=apple-converted-space> </span>are increasingly more available. These
modules are compact, have a low power draw, interface easily with Arduino, and
have a 12m operating range. Perfect! It’s not ultrasound, but it is a
pretty good proxy for what I’m trying to build.<o:p></o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline'><span style='font-size:13.5pt;font-family:"Arial","sans-serif";
color:#474747'><o:p> </o:p></span></p>
<p class=MsoNormal align=center style='text-align:center;line-height:23.65pt;
background:#FEFEFE;vertical-align:baseline'><span style='font-size:13.5pt;
font-family:"Arial","sans-serif";color:#474747'><img border=0 width=740
height=740 id="Imagen_x0020_3" src="cid:image003.jpg@01D424DC.ADBA9BC0"
alt="A LiDAR unit mounted to a pair of lasercut glasses with the control box in the background. "></span><span
style='font-size:13.5pt;font-family:"Arial","sans-serif";color:#474747'><o:p></o:p></span></p>
<p class=wp-caption-text align=center style='mso-margin-top-alt:0in;margin-right:
0in;margin-bottom:6.0pt;margin-left:0in;text-align:center;line-height:23.65pt;
background:#FEFEFE;vertical-align:baseline'><span style='font-size:11.0pt;
font-family:"Arial","sans-serif";color:#474747'>DolphinView.<o:p></o:p></span></p>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'>Finally, I harnessed the power of the<span
class=apple-converted-space> </span><a href="https://amzn.to/2uLwcNM"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>Glowforge</span></strong></a> to cut the
housing and head-mount from some black acrylic, combined a slew of extra
components for charging and driving the audio signal to a pair of headphones,
bashed out a quick and dirty bit of code to get everything talking, strapped a
LiDAR unit to a pair of lasercut glasses with a mounting bracket, and
DolphinView was born!<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>Don’t
worry, it’s all open-source and ready to build. The shapefiles, bill of
materials, code, and associated documentation is all on GitHub as well as
Thingiverse.<o:p></o:p></span></p>
<ul style='margin-top:0in;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px' type=disc>
<li class=MsoNormal style='color:#474747;line-height:23.65pt;mso-list:l0 level1 lfo1;
background:white;vertical-align:baseline;box-sizing: border-box;
font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-family:"Arial","sans-serif"'>GitHub: <a
href="https://github.com/SouthernFriedScientist/DolphinView"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>DolphinView – A LiDAR system
to convert distance measurements into signal pulses in bone-conducting
headphones</span></strong></a>.<o:p></o:p></span></li>
<li class=MsoNormal style='color:#474747;line-height:23.65pt;mso-list:l0 level1 lfo1;
background:white;vertical-align:baseline;box-sizing: border-box;
font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-family:"Arial","sans-serif"'>Thinigiverse: <a
href="https://www.thingiverse.com/thing:3017746"><strong><span
style='font-family:"Arial","sans-serif";color:#F2777A;border:none windowtext 1.0pt;
padding:0in;text-decoration:none'>Head-mounted LiDAR array that
communicates through bone conduction</span></strong></a>.<o:p></o:p></span></li>
</ul>
<p class=MsoNormal style='margin-left:.5in;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-family:"Arial","sans-serif";color:#474747'><o:p> </o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>Taking
the system on a test drive through our local park was a weird experience.
Having full hearing plus a constant drum beat of clicks alerting me to the
closeness of whatever object was directly ahead of me was a bit surreal and it
took a while to get used to the sensory overload. The system is far from
perfect and would benefit from the extra processing power you could get from
something like a Raspberry Pi so that the audio driver and LiDAR could function
independently. Because of how the delay function work, it doesn’t do a
great job telling you if something is heading straight towards you at high
speeds. It would be interesting to add an ultrasonic rangefinder to let the
wearer sense things closer than the LiDAR’s 30cm minimum distance.<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>Walking
around, you definitely do start building up a sense of what all the clicks
mean, and with a little practice, you can easily pick out thinks like open
doorways with your eyes closed*.<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>We
don’t actually know what dolphins “see” when they project
sounds at complex objects. From experiments and models, we know that they can
perceive thickness as well as distance from target objects. Without being
inside a dolphins brain we have no real way of knowing if they can form
complex, 3-dimensional models of the world through biosonar alone or if it acts
more like the sweeping pings of a ship’s SONAR.<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>These
kinds of projects are not nearly as daunting as you might think. From
conception to realization was less than 2 days (excluding shipping time). The
code is barely 15 lines, most of which if cobbled from existing code. The
lasercut pieces are nice, but not necessary. The entire build cost less than
$100. Documentation took almost as long as actually building the thing.<o:p></o:p></span></p>
<p style='mso-margin-top-alt:0in;margin-right:0in;margin-bottom:24.0pt;
margin-left:0in;line-height:23.65pt;background:white;vertical-align:baseline;
box-sizing: border-box;font-style:inherit;font-weight:inherit;outline: 0px'><span
style='font-size:11.0pt;font-family:"Arial","sans-serif";color:#474747'>So get
out there and make weird things!<o:p></o:p></span></p>
<div class=MsoNormal align=center style='margin-bottom:24.0pt;text-align:center;
line-height:23.65pt;background:white;vertical-align:baseline'><span
style='font-family:"Arial","sans-serif";color:#474747'>
<hr size=3 width=608 style='width:456.0pt' align=center>
</span></div>
<p style='margin:0in;margin-bottom:.0001pt;line-height:23.65pt;background:white;
vertical-align:baseline;box-sizing: border-box;font-style:inherit;font-weight:
inherit;outline: 0px'><span style='font-size:11.0pt;font-family:"Arial","sans-serif";
color:#474747'>If you’re not sure where to start, <a
href="https://amzn.to/2NGdJsX"><strong><span style='font-family:"Arial","sans-serif";
color:#F2777A;border:none windowtext 1.0pt;padding:0in;text-decoration:none'>Environmental
Monitoring with Arduino: Building Simple Devices to Collect Data About the
World Around Us</span></strong></a><span class=apple-converted-space> </span>is
a fantastic book to introduce you to the world of DIY sensor systems.<o:p></o:p></span></p>
<p class=MsoNormal><o:p> </o:p></p>
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