Dans cette thèse, le concept d'identification par radiofréquence sans puce (chipless RFID) est étendu à l'authentification où chaque étiquette doit présenter une signature unique qui ne peut jamais être reproduite même si quelqu'un tente de copier l'étiquette. À cette fin, le caractère aléatoire naturel (c’est-à-dire inhérent au processus de fabrication) ainsi que les paramètres de dimension des résonateurs sont utilisés. Un tel caractère aléatoire naturel peut produire des signatures électromagnétiques (EM) uniques, éventuellement utilisées pour l'authentification. Initialement, nous avons prouvé l’idée proposée en appliquant intentionnellement les variations dimensionnelles le long des résonateurs. Différentes valeurs des variations dimensionnelles appliquées sont utilisées pour trouver la variation minimale détectable par l'approche radar sans puce RFID. De plus, une analyse statistique a été réalisée pour calculer les taux d'erreur. Par la suite, une approche par spectrogramme est proposée pour extraire des paramètres indépendants de l’aspect (c’est-à-dire la fréquence de résonance et le facteur de qualité) des étiquettes RFID sans puce. Enfin, nous avons fabriqué plusieurs résonateurs présentant un caractère aléatoire naturel (sans aucune variation dimensionnelle appliquée) afin de caractériser la performance des étiquettes sans puce pour les applications d'authentification. Des technologies de réalisation à faible coût basées sur des circuits imprimés avec un procédé de gravure chimique et l’impression à jet d’encre par une imprimante de bureau ordinaire sont utilisées. Le caractère aléatoire naturel selon les dimensions des résonateurs est également confirmé par l'analyse microscopique à l'aide d'un microscope numérique. / In this thesis, the concept of chipless radio frequency identification (RFID) is extended to the chipless authentication where each tag has to present a unique signature that can never be reproduced even if someone tries to copy the tag. For this purpose, natural randomness (i.e., inherent in the fabrication process) along dimension parameters of resonators is utilized. Such natural randomness can produce unique electromagnetic (EM) signatures that are possibly employed for authentication. Initially, we proved the proposed idea by purposely applying the dimensional variations along the resonators. Different values of the purposely applied dimensional variations are used to find the minimum detectable variation by the chipless RFID radar approach. Additionally, a statistical analysis has been performed to calculate the error rates. Subsequently, a spectrogram approach is proposed to extract aspect-independent parameters (i.e., the frequency of resonance and quality factor) of chipless RFID tags. Finally, we fabricated numerous resonators exhibiting natural randomness (without any purposely applied dimensional variations) to characterize the potential of the chipless tags for authentication applications. Low-cost realization technologies such as printed circuit board (PCB) using chemical etching process and inkjet printing using ordinary office printer are utilized. The natural randomness along the dimensions of resonators is also confirmed by the microscopic analysis using a digital microscope.

Submitted by Johnny Rodrigues (johnnyrodrigues@ufcg.edu.br) on 2018-08-07T18:53:34Z No. of bitstreams: 1 TELES DE SALES BEZERRA - DISSERTAÇÃO PPGCC 2017..pdf: 20064982 bytes, checksum: 40cc1a5d9429d5090373078fb560639d (MD5) / Made available in DSpace on 2018-08-07T18:53:34Z (GMT). No. of bitstreams: 1 TELES DE SALES BEZERRA - DISSERTAÇÃO PPGCC 2017..pdf: 20064982 bytes, checksum: 40cc1a5d9429d5090373078fb560639d (MD5) Previous issue date: 2017-12-21 / Capes / Os Sistemas de Comunicações móveis sem fio estão em uma crescente em relação a demanda por infraestrutura de comunicação, explicado pelo aumento do fornecimento de serviços aos usuários nas últimas décadas. Um dos recursos que está em escassez é o uso da banda, em que diversas técnicas tentam reutilizá-la, na tratativa de aumentar a disponibilidade de uso do espectro. Uma das opções de expansão do espectro, e consequentemente dos atuais serviços de redes móveis é o uso de outras faixas do espectro eletromagnético, que ainda não eram utilizadas nas comunicações móveis, como as ondas milimétricas. As comunicações que operam nas faixas de ondas milimétricas enfrentam obstáculos técnicos, como a necessidade de evolução de equipamentos específicos, problemas de cobertura e o quanto esses aspectos afetam a Qualidade de Serviço (QoS), em resumo, a viabilidade da comunicação requer uma avaliação cuidadosa. Há receio de que comunicações por ondas milimétricas sejam muito menos favoráveis que o uso de espectros mais usuais, principalmente nos problemas relacionados a cobertura. Projetistas de redes contam com diversas ferramentas para prever as características do ambiente, com o intuito de prever dificuldades na cobertura de sinal, para isso, fazem uso de modelos de previsão de perdas. Neste trabalho foi realizado um estudo sobre os problemas de cobertura e propagação de ondas milimétricas em ambientes urbanos fechados, sendo um prédio de escritórios e um shopping center. Para tanto, foram utilizados diversos modelos de previsão de perdas, a partir dos quais foi possível identificar que mesmo com o uso de modelos de perdas recomendados para ondas milimétricas, a minimização dos erros na predição é pequena, e comparada com modelos genéricos. / Wireless Mobile Communications Systems are on the rise in demand for resources, explained by the increased provision of services to users over the past few decades. One of the resources that is in shortage is the use of the band, in which several techniques try to reuse it, in the attempt to increase the availability of use of the spectrum. One of the options for spectrum expansion, and consequently of current mobile network services, is the use of other bands in the electromagnetic spectrum that were not yet used in mobile Communications such as millimeter waves. Communications that operate in the millimeter wave bands face technical obstacles, such as the need to evolve specific equipment, coverage problems and how these aspects affect Quality of Service, in short, the viability of communication requires a careful evaluation. There are fears that millimeter-wave Communications are far less favorable than the use of more usual spectra, especially in coverage-related problems. Network designers rely on several tools to predict the characteristics of the environment, in order to predict difficulties in signal coverage. For this, they use loss prediction models. In this work was carried out a study on the problems of coverage and propagation of millimeter waves in closed urban environments, being an office building and a shopping center. For this, several loss prediction models were used, through which we can identify that even with the use of recommended loss models for millimeter waves, the minimization of prediction errors is small, and compared with generic models.

O substrato de nanofios (MnM) é uma nova tecnologia de interposers visando aplicações em ondas-mm que vêm recebendo atenção devido à facilidade de se fabricar vias de interconexão e estruturas de onda lenta de alto desempenho com resultados no estado-da-arte. Entretanto, embora as estruturas de interconexão, como vias e linhas de transmissão, já estejam bem definidas, ainda não se verificou a viabilidade de se usar essa tecnologia como base para antenas planares, uma parte vital de qualquer aplicação de transmissão de dados sem fio. Esse trabalho visa preencher essa lacuna, apresentando métodos para se realizar a caracterização elétrica do substrato através da extração de sua constante dielétrica relativa e tangente de perdas, e para se projetar antenas de uso frequente em aplicações de ondas-mm através de softwares de simulação eletromagnética. Esse trabalho apresenta também as etapas de fabricação da tecnologia numa visão geral e aplicada às estruturas desenvolvidas, seguida da caracterização das estruturas até 110 GHz. Os resultados mostraram um substrato com constante dielétrica relativa de 7 ± 0,2 e com tangente de perdas de 0,03 ± 0,005. Simulações das antenas projetadas mostraram que o substrato MnM é um candidato viável para antenas do tipo end-fire, cuja irradiação acontece paralela ao plano do substrato, devido ao fato dos parâmetros do substrato não interferirem demasiadamente na eficiência de irradiação desse tipo de antena. Entretanto, as simulações também mostraram que esse substrato é um candidato ruim para antenas tipo back-fire, com irradiação perpendicular ao plano do substrato, devido às baixas figuras de eficiência de irradiação e ganho. / The nanowire substrate (MnM) is a novel interposer technology for mm-waves applications that has been receiving more and more attention thanks to the ease of fabricating high performance interconnection vias and slow-wave structures, whose results are in the state-of-the-art. However, even though the interconnection structures, such as transmission lines and vias, are already well-defined, no one has analyzed the potential of the MnM substrate as a planar antenna substrate, a core component of any wireless communications application. This work aims to fill this gap by presenting substrate characterization methods, that involves determining its dielectric constant and loss tangent, and by presenting planar antenna design methods using electromagnetic simulation softwares. This work presents also a general overview of the manufacturing processes being developed, followed by structure measurement up until 110 GHz. The results showed a substrate with a dielectric constant of 7 ± 0.2 and with a loss tangent of 0.03 ± 0.005. Simulations of the designed antennas indicated that this substrate is a viable choice for end-fire antennas, whose radiation is parallel to the plane of the substrate, because the substrate parameters doesn\'t seem to degrade the radiation efficiency of this kind of antenna. However, simulations also showed that the MnM substrate is a poor candidate for back-fire antennas, whose radiation is perpendicular to the plane of the substrate, given the low figures of radiation efficiency and gain.

O substrato de nanofios (MnM) é uma nova tecnologia de interposers visando aplicações em ondas-mm que vêm recebendo atenção devido à facilidade de se fabricar vias de interconexão e estruturas de onda lenta de alto desempenho com resultados no estado-da-arte. Entretanto, embora as estruturas de interconexão, como vias e linhas de transmissão, já estejam bem definidas, ainda não se verificou a viabilidade de se usar essa tecnologia como base para antenas planares, uma parte vital de qualquer aplicação de transmissão de dados sem fio. Esse trabalho visa preencher essa lacuna, apresentando métodos para se realizar a caracterização elétrica do substrato através da extração de sua constante dielétrica relativa e tangente de perdas, e para se projetar antenas de uso frequente em aplicações de ondas-mm através de softwares de simulação eletromagnética. Esse trabalho apresenta também as etapas de fabricação da tecnologia numa visão geral e aplicada às estruturas desenvolvidas, seguida da caracterização das estruturas até 110 GHz. Os resultados mostraram um substrato com constante dielétrica relativa de 7 ± 0,2 e com tangente de perdas de 0,03 ± 0,005. Simulações das antenas projetadas mostraram que o substrato MnM é um candidato viável para antenas do tipo end-fire, cuja irradiação acontece paralela ao plano do substrato, devido ao fato dos parâmetros do substrato não interferirem demasiadamente na eficiência de irradiação desse tipo de antena. Entretanto, as simulações também mostraram que esse substrato é um candidato ruim para antenas tipo back-fire, com irradiação perpendicular ao plano do substrato, devido às baixas figuras de eficiência de irradiação e ganho. / The nanowire substrate (MnM) is a novel interposer technology for mm-waves applications that has been receiving more and more attention thanks to the ease of fabricating high performance interconnection vias and slow-wave structures, whose results are in the state-of-the-art. However, even though the interconnection structures, such as transmission lines and vias, are already well-defined, no one has analyzed the potential of the MnM substrate as a planar antenna substrate, a core component of any wireless communications application. This work aims to fill this gap by presenting substrate characterization methods, that involves determining its dielectric constant and loss tangent, and by presenting planar antenna design methods using electromagnetic simulation softwares. This work presents also a general overview of the manufacturing processes being developed, followed by structure measurement up until 110 GHz. The results showed a substrate with a dielectric constant of 7 ± 0.2 and with a loss tangent of 0.03 ± 0.005. Simulations of the designed antennas indicated that this substrate is a viable choice for end-fire antennas, whose radiation is parallel to the plane of the substrate, because the substrate parameters doesn\'t seem to degrade the radiation efficiency of this kind of antenna. However, simulations also showed that the MnM substrate is a poor candidate for back-fire antennas, whose radiation is perpendicular to the plane of the substrate, given the low figures of radiation efficiency and gain.

Les radars millimétriques en bande W (75-110 GHz) sont en plein essor, grâce notamment aux progrès des circuits intégrés, permettant de réaliser des systèmes compacts à bas coût et haute résolution due à la courte longueur d’onde. Dans un premier temps, ces systèmes ont été utilisés à des fins de détection et de localisation, avec à terme, pour objectif l’identification. Ainsi, des systèmes d’imagerie radar ont été développés, notamment grâce à l’imagerie qualitative, basée par exemple sur l’imagerie radar par synthèse d’ouverture (SAR). Cependant, afin de reconstruire les propriétés électromagnétiques des objets pour une identification complète, il est nécessaire de développer des algorithmes de reconstruction quantitatifs. Le travail présenté dans ce manuscrit est de poser les bases d’un système d’imagerie qualitative et quantitative en gamme millimétrique pour la détection et l’identification des objets sur les pistes d’aéroport par tomographie, tenant compte de la polarisation de l’onde incidente. Au cours de cette thèse, un outil de simulation permettant de la résolution des problèmes direct et inverse, pour les deux types de polarisation à deux dimensions 2D-TE et 2D-TM, basé sur la méthode des moments (MoM) a été développé. La première étape a consisté en la validation du problème direct en effectuant des comparaisons numériques avec des solutions analytiques pour des cibles canoniques. Ensuite, des mesures expérimentales ont été effectuées et comparées aux résultats numériques. Enfin, les résultats des reconstructions obtenus ont permis de valider l’algorithme de reconstruction 2D développé pour l’imagerie quantitative. / Millimeter-wave radar systems in W-band (75-110 GHz) are booming, due to advances in integrated circuits, allowing the fabrication of low-cost and high-resolution compact systems, thanks to the short wavelength. First, these systems were used for detecting and localizing purposes, with the aim of identification. Thus, imaging radar systems have been developed, especially using qualitative imaging, based for example, on Synthetic Aperture Radar (SAR). Nevertheless, in order to reconstruct the electromagnetic properties of objects, for a complete identification, we must develop quantitative reconstruction algorithms. The work presented in this manuscript is to give the basis of a qualitative and quantitative millimeter wave imaging system for detecting and identifying foreign debris on airport runways using tomography, taking into account the polarization of the incident wave. In this thesis, a simulation tool for solving forward and inverse problems, for the two-dimensional polarization cases 2D-TM and 2D-TE, based on the method of moments (MoM) has been developed. The first step was to study the validation of the direct problem by comparing numerical results with analytical solutions for canonical targets. Then, experimental measurements have ben carried out and compared with numerical results. Finally, reconstruction results obtained have validated the reconstruction algorithm developed for quantitative imaging.

This dissertation presents a novel large signal modeling approach which can be used to accurately model CMOS transistors used in millimeter-wave CMOS power amplifiers. The large signal model presented in this work is classified as an empirical compact device model which incorporates temperature-dependency and device periphery scaling. These added features allow for efficient design of multi-stage CMOS power amplifiers by virtue of the process-scalability. Prior to the presentation of the details of the model development, background is given regarding the 90nm CMOS process, device test structures, de-embedding methods and device measurements, all of which are necessary preliminary steps for any device modeling methodology. Following discussion of model development, the design of multi-stage 60GHz Class AB CMOS power amplifiers using the developed model is shown, providing further model validation. The body of research concludes with an investigation into designing a CMOS power amplifier operating at frequencies close to the millimeter-wave range with a potentially higher-efficiency class of power amplifier operation. Specifically, a 24GHz 130nm CMOS Inverse Class F power amplifier is simulated using a modified version of the device model, fabricated and compared with simulations. This further demonstrates the robustness of this device modeling method.

The molecular compositions of the atmospheres of the giant planets (Jupiter, Saturn, Uranus and Neptune) are fundamental to understanding the processes which formed these planets and the solar system as a whole. Microwave observations of these planets probe regions in their atmospheres from approximately 0.1 to several bars, a process otherwise unachievable by visible and infrared means. Many gases and various cloud layers influence the millimeter wave spectra of the outer planets; however phosphine and ammonia are the main microwave absorbers at Saturn at pressures less than two bars. Understanding the pressure induced absorption of both constituents at observational frequencies is therefore vital to the analysis of any observational data. Laboratory measurements have been conducted to measure the microwave absorptivity and refractivity of phosphine and ammonia at Ka-band (32-40 GHz) and W-band (94 GHz), under conditions characteristic of the atmosphere of Saturn. The results were used to verify the accuracy of the phosphine formalism created by Hoffman et. al (2001) for use at millimeter wavelengths. Based on the laboratory measurements conducted, new formalisms were also created to express the opacity of ammonia at the measured frequencies. An important method for the study of planetary atmospheres is the radio occultation experiment ??method that uses radio links between Earth, and the spacecraft which passes behind the planet. The Cassini mission to Saturn, which will be conducting such experiments at Ka-band as well as S (2.3 GHz) and X (8.4 GHz) bands, has prompted the development of a radio occultation simulator used to calculate excess Doppler shifts and attenuation profiles for Saturn, utilizing the newest formalisms for phosphine and ammonia. The results indicate that there will be unambiguous detection and profiling of phosphine and ammonia, and predictions are made for the pressures at which loss of signal is anticipated.

Avec la multiplication des transmissions sans fil et l'augmentation de la taille des données à transférer, il est devenu primordial d’augmenter le débit et donc de monter en fréquence. C'est pour cela que la bande des 60 GHz (57-66 GHz) a été allouée mondialement. A cause de la forte atténuation et de la coupure éventuelle du lien émission/réception du fait de la présence humaine, les antennes à 60 GHz doivent être très souvent reconfigurables. C’est dans cette optique que Canon Research Center France et l’IETR se sont associés pour mener à bien ce travail de thèse. Un nouveau procédé de fabrication de matériau à gradient d’indice a été développé. Le fait de presser un échantillon de matériau composite contenant de l’air permet d’augmenter sa masse volumique et donc sa constante diélectrique. Cette dernière est donc contrôlable par simple pression à une température optimisée. Grâce à ce procédé, divers antennes et composants à gradient d’indice ont été réalisés. L’étude s’est principalement focalisée sur la lentille de Luneburg, qui présente une loi d’indice radiale et qui possède une infinité de points focaux autour de la lentille. Cette lentille a été réalisée avec une variation d’indice progressive et est alimentée tout d’abord par un guide d’onde ouvert. L’étude s’est ensuite focalisée sur la conception de sources intégrées afin de pouvoir les positionner côte à côte et permettre d’obtenir le dépointage du faisceau. Pour ce faire, l’utilisation de guides diélectriques intégrés rayonnant (RSIW) a été étudiée. Deux sources passives sont conçues avec respectivement une transition ligne/fente/guide et une transition avec plongeur dans le guide rayonnant. Par la suite, une troisième source a été conçue utilisant un substrat unique avec une transition ligne coplanaire/plongeur/guide afin de simplifier la technologie de réalisation. Enfin, deux prototypes actifs ont été conçus afin de faire une communication complète à 60 GHz. Des puces réceptrices intégrées de chez Hittite ont été utilisées afin d’alimenter les sources rayonnantes qui illuminent la lentille de Luneburg. L’objectif in fine était d’obtenir trois faisceaux dirigés dans des directions distinctes. Enfin, une première contribution à l’étude d’antennes en bande submillimétrique est effectuée avec la réalisation d’un cornet, d’une antenne à polarisation circulaire et d’une antenne de focalisation en champ proche. / With the increase of wireless communications and the required bite rate of data, it needs to increase the working frequency up to the millimeter wave range. For that purpose, the 60 GHz bandwidth (57-66GHz) has been unlicensed all over the world. Because of the loss and possible non-line-of-sight communication, the antennas should have beam scanning properties. Therefore, the Canon Research Center France and the IETR have run a study (PhD) to fulfill this project. A new technological process has been developed in order to manufacture inhomogeneous materials. By pressing a composite foam material sample, it will expel the air from the sample and so, increase its density and its relative permittivity. Using this process, several antennas and components have been manufactured. A particular focus has been done on the Luneburg lens antenna. This one has a radial index law and has infinity of focal points around the lens. This lens has been manufactured with a smooth gradient index law and first fed by an open-ended waveguide to validate the technological process. Secondly, integrated sources have been studied in order to place them side by side and to allow scanning the main beam direction. Thus, the use of Radiating Substrate Integrated Waveguide (RSIW) appears to be the solution. Two passives sources have been realized. The first one is a RSIW fed by a coupling slot from a microstrip line and the second one is a RSIW fed by a coaxial probe from a first thin SIW. A thirdly RSIW has been studied fed by a coplanar line and a coaxial probe and to simplify the manufacturing. Finally, two active antennas prototypes have been realized to perform a complete communication at 60 GHz. Complete integrated chips from the Hittite company have been used to feed the RSIW which illuminate the Luneburg lens. The objective was to implement a beam scanning antennas with three distinct beam directions. Lastly, a preliminary contribution to the sub-millimeter antennas has been performed with the manufacturing of a horn, a circular polarization antenna and a near-field focusing antenna.

This project was carried out for a Company in the mining and construction business, and focused on the development of a radar based material monitoring solution for conveyor belts. A minor prestudy showed that there are possible customer values related to material monitoring solutions for equipment relevant for the Company, and that such solutions using radar possibly can fulfil the application requirements. The main focus of the project was chosen based on this prestudy. The methods used were mainly experiments with the developed prototype, and a study of literature. The prototype was developed with an aim to measure mass flow and to monitor the material surface for deviances. Millimeter-wave pulsed coherent radar sensors were used, and data processing approaches included Kalman filtering. Results showed that mass flow can be calculated using the tested senors and data processing models, as the calculated mass flow was well in line with a belt scale reference, but that additional data is needed to prove consistency in the results. Results also showed that trends in the material surface can be observed in the radar data, indicating the possibilities to detect deviances. From a technical perspective, results and the possibilities for further development and improvement show that radar based solutions can be used for applications relevant for the Company. / Detta examensarbete genomfördes för ett företag inomgruv- och anläggningsbranschen och handlade om utvecklingen av en radarbaserad prototyp för mätningar av materialet på transportband. En mindre förstudie visade på möjliga kundvärden relaterade till sådana mätningar, samt att radar har potentialen att uppfylla kravspecifikationen för flera applikationer. Huvudfokuset för projektet valdes sedan utifrån denna förstudie. Metoderna som användes var främst experiment med den utvecklade prototypen samt litteraturstudier. Prototypen utvecklades med syfte att mäta massflöde samt att upptäcka avikelser i materialets yta. Radarsensorer med en frekvens på 60GHz användes, och för databehandling användes bland annat ett Kalman-filter. Resultaten visade att massflöde kan beräknas med de testade sensorerna och databehandlingsmodellerna, eftersom det beräknade massflödet låg i linje med referensdata från en bandvåg. Ytterligare data behövs emellertid för att visa hur resultaten påverkas av förändrade omständigheter, såsom storleken på fragmenten som mäts. Studien visade också att mönster i materialytan kan observeras i radardatan, vilket indikerar att det också är möjligt upptäcka avvikelser. Ur ett teknisktperspektiv visar resultaten och möjligheterna till vidareutveckling tillsammans att radarbaserade lösningar kan användas för applikationer relevanta för företaget.

Does millimeter-wave radar have the potential to be the navigational instrument of a robotic vacuum cleaner in a home? Electrolux robotic vacuum cleaner is currently using a light sensor to navigate through the home while cleaning. Recently Texas Instruments released a new mmWave radar sensor, operating in the frequency range 60-64 GHz. This study aims to answer if the mmWave radar sensor is useful for indoor navigation. The study tests the sensor on accuracy and resolution of angles and distances in ranges relevant to indoor navigation. It tests if various objects made out of plastic, fabric, paper, metal, and wood are detectable by the sensor. At last, it tests what the sensor can see when it is moving while measuring. The radar sensor can localize the robot, but the ability to detect objects around the robot is limited. The sensor’s absolute accuracy is within 3° for the majority of angles and around 1dm for most distances above 0.5 m. The resolution for a displacement of one object is 1°, respectively 5 cm, and two objects must be located at least 14° or 15 cm apart from each other to be recognized. Future tasks include removing noise due to antenna coupling to improve reflections from within 0.5 meter and figure out the best way to move around the sensor to improve the resolution. / Har radar med millimetervågor förutsättningar att vara navigationsutrustning för en robotdammsugare i ett hem? Electrolux robotdammsugare använder för närvarande en ljussensor för att navigera genom hemmet medan den städar. Nyligen släppte Texas Instruments en ny radarsensor med vågor i frekvensområdet 60-64 GHz. Denna studie syftar till att svara om radarsensorn är användbar för inomhusnavigering. Studien testar sensorn med avseende på noggrannhet och upplösning av vinklar och avstånd i områden som är relevanta för inomhusnavigering. Den testar om olika föremål tillverkade av plast, tyg, papper, metall och trä kan detekteras av sensorn. Slutligen testas vad sensorn kan se om den rör sig medan den mäter. Radarsensorn kan positionera roboten, men hinderdetektering omkring roboten är begränsad. För det mesta ligger sensorns absoluta noggrannhet inom 3° för vinklar och omkring 1dm för avstånd över 0,5 m. Upplösningen för en förflyttning av ett objekt är 1° respektive 5 cm, och två objekt måste placeras minst 14° eller 15 cm ifrån varandra för att båda kunna upptäckas. Kommande utmaningar är att ta bort antennstörningar som ger sämre reflektioner inom 0,5 meter och ta reda på det bästa sättet att förflytta sensorn för att förbättra upplösningen.