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arXiv · 2509.10029

Ruggedized Ultrasound Sensing in Harsh Conditions: eRTIS in the wild

Dennis Laurijssen·Wouter Jansen·Arne Aerts·Walter Daems·Jan Steckel
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Abstract

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.

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Dennis Laurijssen, Wouter Jansen, Arne Aerts, Walter Daems, Jan Steckel. 2026-01-27. Ruggedized Ultrasound Sensing in Harsh Conditions: eRTIS in the wild. https://doi.org/10.1109/jsen.2025.3631307

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