Abstract: A test system for a semiconductor apparatus that includes a calibration board having first skew information therein and outputting a plurality of test signals, and a main board configured to perform first skew correction for correcting skews of the test signals based on the first skew information and perform secondary skew correction for correcting an I/O skew thereof using the plurality of test signals

Abstract: Implementations of the present disclosure involve an apparatus and/or method for mixing high speed and low speed clock signals during structural testing of a digital integrated circuit to improve the test precision and efficiency. In particular, the apparatus and/or method allow for a testing device to perform stuck-bit testing of the circuit by releasing one or more clock cycles of a low speed clock signal. Further, without having to reset the testing of the circuit, at-speed testing of the circuit may be conducted by the testing device. In one embodiment, at-speed testing occurs by activating a mode signal associated with the circuit design that instructs one or more clock cycles from an internal clock signal to the circuit to be released. The testing device may return to stuck-bit testing at a low speed clock signal, or continue with at-speed testing using the high speed internal clock signal.

Abstract: One embodiment describes a tangible, non-transitory, computer-readable medium storing instructions executable by a processor of an operating coil driver circuitry. The instructions include instructions to instruct a switch to supply a specific current to an operating coil of a switching device using a pulse-width modulated signal; determine duty cycle of the pulse-width modulated signal; and determine wellness of the switching device based at least in part on the duty cycle of the pulse-width module signal.

Abstract: The embodiments described herein provide systems and methods for determining the health status of a sensed switch. In general, the embodiments described herein determine a measure of a health status of the sensed switch by comparing a voltage on the sensed switch, ascertaining a first comparator state under one test condition and ascertaining a second comparator state under a second test condition. The first comparator state and the second comparator state are and then compared to determine the measure of the health status of the sensed switch.

Abstract: A method and a system are provided for determining a maximum charge current or a maximum discharge current of an energy storage cell of an energy storage device. The method includes providing a predetermined upper voltage limit or lower voltage limit, and providing a time horizon as a time difference from a present time to a future time. The method also include, with a repetition time period different from the time horizon, repeating measuring a present voltage level of the energy storage cell, calculating a voltage difference between the present voltage level and the upper voltage limit or the lower voltage limit, and determining the maximum charge current or maximum discharge current corresponding to the voltage difference and a model, such that the estimated voltage is within the voltage limits.

Abstract: A method and system for estimating a state of health using battery model parameters are provided. The system includes a battery model parameter extractor that is configured to extract liquid-phase diffusivity of Li-ion parameters and a storage unit that is configured to store a mapping table in which states of health (SOH) for each liquid-phase diffusivity of Li-ion parameter are mapped. In addition, a SOH estimator is configured to use the mapping table to estimate the SOH that corresponds to a liquid-phase diffusivity of Li-ion extracted from the battery model parameter extractor.

Abstract: [Object] To accurately detect states of a variety of types of secondary batteries even in a low-current range.

Abstract: This invention provides an assembled-battery system, a semiconductor circuit, and a diagnostic method that enable appropriate self-diagnosis of a measuring unit. Namely, an output value (A-B) output from an analog-to-digital converter through power-supply lines, a cell-selection switch, and a level shifter is summed with an output value (B-VSS) obtained by a directly input reference voltage B being output from the analog-to-digital converter, and when the summed value is considered equal the reference voltage A—the voltage VSS, it is diagnosed that an abnormality such as a breakdown has not occurred.

Abstract: The present invention appropriately detects line-breakages in a signal line related to a battery connected to a discharge circuit for discharging. Namely, an initialization operation produces a state in which a capacitor (C1) is charged with the difference between the voltage of a signal line (Vn) and a self-threshold voltage (Vx), and a capacitor (C2) is charged with the difference between the voltage of a signal line (Vn?1) and a self-threshold voltage (Vx), in a comparison circuit (26). In a comparison operation, a voltage adjusting section (ILn+1) produces a state in which line-breakage detection current is drawn out from a signal line (Ln), a signal line (Lc) is connected to the capacitors (C1, C2) and a voltage (DVn) is input to the capacitors (C1, C2). When an output OUT=L level, it is detected that there is no line-breakage, and when the output OUT=H level, it is detected that there is a line-breakage.

Abstract: A battery state detection device enabling a state of a secondary battery to be detected relatively easily and accurately is provided. In a battery state detection device, a ?COM detects a plurality of internal complex impedances corresponding to a plurality of discrete detection frequencies in a secondary battery, and detects an SOH of the secondary battery based on the plurality of detected internal complex impedances. The plurality of frequencies corresponding to the plurality of internal complex impedances detected by the ?COM are allocated to two partial frequency ranges respectively corresponding to a plurality of partial graphs showing states of a plurality of components of the secondary battery in a graph in which the internal complex impedances of the secondary battery in a predetermined frequency range are plotted on a complex plane.

Abstract: A device for estimating state of health of battery, and a state of health estimation method with improved estimation accuracy of the state of health of the battery are provided. The device for estimating state of health includes: a charge and discharge current detection unit (1); a terminal voltage detection unit (2); a first state of charge estimation unit (4) configured to estimate a first state of charge; a second state of charge estimation unit (5) configured to estimate a second state of charge; a first state of health estimation unit (6); a second state of health estimation unit (7); and a first correction value calculation unit (9) configured to calculate a first correction value for correcting the first state of charge. The first state of charge estimation unit (4) is configured to correct the first state of charge using the first correction value.

Abstract: An electronic apparatus includes: an internal power supply to be charged; a charging circuit configured to supply electrical power from an external power supply to the internal power supply; a voltage measurement circuit configured to measure a voltage of the internal power supply; a temperature sensor configured to measure a temperature of the internal power supply; and an estimation circuit configured to estimate a degree of degradation of the internal power supply, wherein the estimation circuit determines whether it is possible to perform a degradation estimation process to estimate the degree of degradation of the internal power supply based on the voltage of the internal power supply and the temperature of the internal power supply, and performs the degradation estimation process on the internal power supply only when determining that it is possible to perform the degradation estimation process on the internal power supply.

Abstract: Sensor arrangement providing a signal responsive to a temperature difference between a Hall-effect device output contact and a reference point, having first contact tub located near an external surface of a Hall effect region; second contact tub located near the reference point; first conductor element comprising first and second end portions, the first end portion thermally coupled to the first contact tub and the second end portion thermally coupled to the second contact tub; second conductor element comprising third and fourth end portions, the third end portion thermally coupled to the first contact tub; third conductor element comprising fifth and sixth end portions, the fifth end portion thermally coupled to the second contact tub, wherein the first and third end portions are electrically coupled, the second and fifth end portions are electrically coupled, at least two of first, second, and third conductor elements have substantially different Seebeck coefficients, and the signal is tapped at the fourth

Abstract: A light source unit irradiates a gas cell disposed in a measurement region with linearly polarized light in which the direction of travel is a z-axis direction and the vibration direction of an electric field is a y-axis direction. A polarimeter detects optical characteristics of light passing through the gas cell. A magnetic field generator applies an artificial magnetic field, capable of varying an x-axis component, a y-axis component, and a z-axis component, to the measurement region. A calculation control unit generates a plurality of artificial magnetic fields, calculates a magnetization value or a value corresponding to the magnetization value on the basis of the detection results of the polarimeter, and calculates an original magnetic field present in the measurement region, using an artificial magnetic field when the magnetization value or the value corresponding to the magnetization value satisfies a condition for external value.

Abstract: A bore covering for sealing an MRI scanner bore to create a controlled environment within the MRI scanner bore is disclosed. The bore coverings used with climate control devices may create an incubator-like environment to allow for improved preparation, control, and imaging of infants. A system and kit including one or more bore coverings, and a method of using the bore coverings to create a controlled environment within the MRI scanner bore are also described.

Abstract: An intracavity probe for use with a magnetic resonance system includes: a pair of coil loops arranged in a phased array configuration; a pair of decoupling circuits; a pair of output cables; and a spacer material positioned adjacent to an anterior surface of the coil loops. Each coil loop has a drive capacitor and a tuning capacitor. Each decoupling circuit is connected across the tuning capacitor of one of the coil loops. Each output cable is connected at a first end thereof across the drive capacitor of one of the coil loops such that each of the drive capacitors is provided with a separate ground. The spacer material assures a predetermined distance between the pair of coil loops and the region of interest, which thereby reduces intensity of the magnetic resonance signals in proximity to the coil loops, maintains SNR at depth within the region of interest and reduces artifacts.

Abstract: A magnetic field generation apparatus includes a main coil and a variable-current correction coil. The main coil is formed by winding a ReBCO-based superconductive wire rod and generates a magnetic field in a measurement space. The variable-current correction coil is variable in a value of a current, coaxial with the main coil and disposed inside the main coil, and generates a magnetic field which corrects a uniformity of the magnetic field generated by the main coil.

Abstract: A low-field magnetic resonance imaging (MRI) system. The system includes a plurality of magnetics components comprising at least one first magnetics component configured to produce a low-field main magnetic field B0 and at least one second magnetics component configured to acquire magnetic resonance data when operated, and at least one controller configured to operate one or more of the plurality of magnetics components in accordance with at least one low-field zero echo time (LF-Z TE) pulse sequence.

Abstract: A magnetic resonance (MR) local coil system includes local MR transmit coils that may be inductively coupled to at least one power-feed coil of an MR device. At least two local MR transmit coils may be used to generate local B1 excitation fields that are differently structured with respect to each other.

Abstract: Provided are a method and apparatus for processing a magnetic resonance (MR) image of an object including first and second materials on a magnetic resonance imaging (MRI) apparatus by using multi-parameter mapping including applying to the object a plurality of radio frequency (RF) pulses separated by a first repetition time and a second repetition time, the first repetition time and the second repetition time being determined based on the first material and the second material; undersampling first MR signals corresponding to the first material and second MR signals corresponding to the second material in a K-space; and performing matching between the undersampled first and the undersampled second MR signals and a signal model for the multi-parameter mapping to determine attribute values corresponding to the first and the second materials at at least one point in an MR image of the object.

Abstract: A magnetic resonance imaging apparatus according to an embodiment includes an MRI system and a processing circuitry. The MRI system includes a receiving coil to receive a magnetic resonance signal. The processing circuitry is configured to generate an image based on the magnetic resonance signal, the image including a plurality of pixels; calculate a feature value corresponding to a signal value of the pixel; correct the feature values based on a sensitivity of the receiving coil; and reduce noise in the image based on distribution of the corrected feature values.

Abstract: In order to improve image quality while reducing an SAR regardless of an imaging condition such as a slice position, a phase-encoding amount, and an RF pulse type difference, the VERSE method determines a VERSE pulse compression rate according to the imaging condition. Hence, an imaging sequence generation section generating an imaging sequence by applying an imaging condition to a predetermined pulse sequence and an imaging section executing measurement according to the imaging sequence to reconstruct an image from the obtained echo signal are provided. The pulse sequence includes a VERSE pulse comprised of a high-frequency magnetic field pulse and a slice selective gradient magnetic field pulse. The imaging sequence generation section is provided with a VERSE pulse design part determining a compression rate of the VERSE pulse according to the predetermined imaging condition and applies the determined compression rate to generate the imaging sequence.

Abstract: In a method and apparatus for the correction of image data dynamically acquired with a magnetic resonance imaging method, a reliable B0 field map is recorded as a basic reference field map. Image data (VB) with distorted coordinates are also acquired over a predefined recording time. In addition, a set of distorted, dynamically obtained B0 field maps is acquired during the recording time. Incorrect B0 field maps are identified by comparison of the dynamically obtained B0 field maps with the basic reference field map, and the set of distorted, dynamically obtained B0 field maps is corrected accordingly. The acquired image data with distorted coordinates are corrected with the use of the corrected set of distorted, dynamically obtained B0 field maps.

Abstract: Methods, apparatuses, and devices are disclosed to estimate a position of a mobile device using, for example, beacon signals transmitted using virtual access points utilizing a single, physical transceiver. Determination that beacon signals emanate from a single, physical transceiver may be based, at least in part, on a similarity among acquired beacon signals conveying identifiers, such as media access control identification (MAC ID) addresses and/or basic service set identifiers (BSSIDs), and on measurement of beacon signal characteristics, such as received signal strength at a mobile device and/or round trip time between the mobile device and the transceiver.

Abstract: A signal processing system is provided. The signal processing system includes a transmission architecture configured to transmit first and second signals, and a receiver architecture including an antenna configured to receive the signals, and a coherent signal fusion processing device communicatively coupled to the antenna. The processing device is configured to generate a broadband analog signal that contains the first and second signals, digitize the broadband analog signal, isolate first and second signals of interest, estimate, relative to a reference template, at least one of a time difference of arrival and a frequency difference of arrival for at least one of the first and second signals of interest, and determine a location of at least one of the transmission architecture and the receiver architecture based on the estimated at least one of a time difference of arrival and a frequency difference of arrival.

Abstract: In an example embodiment, the orientation of a wireless device, such as an access point (AP) can be determined based on the location of neighboring wireless devices and the observed angle of arrival of signals from the wireless device at the neighboring wireless devices. For example, the angle of orientation can be determined by comparing an observed angle of arrival with the known actual angle between wireless devices. If a plurality of wireless devices measures the signal, the mean or median of the difference between observed angle of arrival of a signal from the wireless device with the actual angle for the plurality of wireless devices may be employed to determine the angular orientation.

Abstract: Methods and systems are provided for determining signal source probabilities. Signal source probabilities, for a plurality of sub-areas of a geographic area covered by a plurality of signal sources, may be determined. For each one of the plurality of sub-areas, the signal source probabilities may be determined based on probable field strengths of the plurality of signal sources for the one of the plurality of sub-areas, and the signal source probabilities for that one of the plurality of sub-areas indicate the probability that a mobile device, located in that one of the plurality of sub-areas, is operable to detect a particular signal source for communicating. Determining signal source probabilities may comprise calculating expected field strengths in the plurality of sub-areas. Determining signal source probabilities may comprise obtaining power information indicating a detected power of respective signals received by the mobile device from multiple transmitters.

Abstract: Disclosed is a method (70) for monitoring a phase for transferring a satellite (20) from one earth orbit, called “initial orbit”, to another earth orbit, called “mission orbit”, in particular a transfer using electric propulsion unit. The monitoring method includes a step for estimating the direction of the satellite during the transfer phase by way of an earth array antenna (30) including a plurality of elementary antennas (31), each elementary antenna having a primary radiation lobe with a width greater than or equal to 20°, the elementary antennas (31) being oriented such that their respective fields of vision overlap, the direction of the satellite being estimated based on at least one useful phase difference measurement between signals corresponding to a target signal, transmitted by the satellite and received on a pair of elementary antennas (31).

Abstract: A radar assembly for transmitting and/or receiving at least one radar beam, includes an antenna assembly, which in turn includes a transmitting antenna device having a number of transmitting antenna elements. A control device generates control signals for the transmitting antenna elements. The antenna assembly also includes a first receiving antenna device having a plurality of receiving antenna elements. The transmitting antenna device includes a first antenna segment and a second antenna segment, the segments being arranged at a distance from one another and each having a plurality of transmitting antenna elements arranged along a rectilinear path.

Abstract: An enhanced vision method uses or an enhanced vision system includes an onboard weather radar system configured to improve angular resolution and/or resolution in range. The onboard weather radar system generates image data representative of the external scene topography of a runway environment associated with radar returns received by the onboard weather radar system. The radar returns are in an X-band or a C-band. The enhanced vision system also includes a display in communication with the onboard weather radar system and is configured to display an image associated with the image data that is generated by the onboard weather radar system. The enhanced vision system can also be used as an enhanced flight vision system.

Abstract: The present invention suggests a power control apparatus and method of a vehicle which switch the switching frequency component generated in the power supply module to odd-number times of a Nyquist frequency which is the most ignorable in the frequency domain which is used for the FMCW radar, thereby preventing the erroneous detection due to the switching frequency in the FMCW. The present invention provides a power control apparatus of a vehicle radar, including: a first frequency signal generating unit which generates a first frequency signal with a predetermined amplitude; a second frequency signal obtaining unit which converts a frequency value of the first frequency signal to obtain a second frequency signal; and a power supply control unit which controls the power to operate a vehicle radar based on the second frequency signal.

Abstract: An apparatus and method for forming a beam for processing a radar signal is provided. In order to form a beam, by processing signals that are received through a plurality of antennas, a first symbol signal and a second symbol signal, which are complex signals are generated. The first and second symbol signals include a plurality of symbols that are arranged in an antenna array order. By applying a weight value on each antenna basis and a window coefficient for windowing processing to sequentially input each symbol of the first and second symbol signals, and by accumulating on a beam basis to generate, a beam symbol signal is generated.

Abstract: An angle-resolving FMCW radar sensor, including multiple antenna elements in positions in a direction in which the radar sensor is angle-resolving and forming at least three transmitter arrays and at least one receiver array, and a control/evaluation device for an operating mode in which transmitter arrays periodically transmit signals whose frequency is modulated according to modulation ramps, and in which radar echoes of transmitted signals are received in by multiple antenna elements of the receiver array, and the located object angle is determined based on amplitude and/or phase relationships between radar echoes which correspond to different combinations of transmitter and receiver arrays. A measuring cycle of the radar sensor includes at least two periods in which in each case at least two combinations of transmitter and receiver arrays are alternated, and the combinations of transmitter and receiver arrays involved are different from one another for the at least two periods.

Abstract: An example relates to a method for processing radar signals, wherein said radar signals comprise digitized data received by at least one radar antenna, the method comprising (i) determining FFT results based on the digitized data received; and (ii) storing a first group of the FFT results without a second group of the FFT results.

Abstract: A method for processing radar signals, wherein said radar signals comprise digitized data received by at least one radar antenna, the method comprising (i) determining FFT results based on the digitized data received; and (ii) storing a first group of the FFT results, wherein the first group of FFT results comprises at least two portions, wherein a first portion of FFT results is stored with a first accuracy and a second portion of FFT results is stored with a second accuracy.

Abstract: A measurement instrument is disclosed. The measurement instrument comprises a distance measurement module, a splitter and a deflection module. The distance measurement module is configured to transmit optical radiation along a transmit path and receive optical radiation along a receive path. The transmit path and the receive path are merged in a measurement beam at the splitter. The deflection module is located optically between the distance measurement module and the splitter. The deflection module is configured to aim the transmit path and the receive path at the splitter and to deflect at least one of the transmit path and the receive path across an instrument optical axis.

Abstract: A system and method for testing an acoustic probe is provided. The system includes an electric signal generator connected to transmit an electric generator signal into selected transducer elements of the acoustic probe. The selected of transducer elements of the acoustic probe convert the electrical signal into an acoustic signal that reflects off the lens of the acoustic probe and is then converted by the selected transducer elements of the acoustic probe into a reflected electrical signal. An analysis engine is connected to receive the reflected electrical signal and determine the operability of lens and each selected transducer element for acoustic and electrical conversion. A display provides an illustration indicative of the operative ability of the lens and the selected transducer element of the acoustic probe for acoustic and electrical conversion.

Abstract: An apparatus includes an array of pixels, each pixel including in-cell pixel logic and a piezoelectric micromechanical ultrasonic transducer (PMUT) element, each in-cell pixel logic being communicatively coupled with at least one adjacent pixel in the array. Transceiver electronics may operate the array in a selectable one of a first mode and a second mode. In the first mode, the array may generate a substantially plane ultrasonic wave. In the second mode, the array may generate, from at least one superpixel region, a focused beam of relatively high acoustic pressure, each superpixel region including at least one inner pixel disposed in a central portion of the superpixel region and at least a first group of outer pixels disposed in an outer portion of the superpixel region. The transceiver electronics may be configured to operate the array by configuring at least one in-cell pixel logic.

Abstract: Disclosed are systems and methods which efficiently control storage of and/or access to data which includes repetitive data or data which is used by different modes, processes, etcetera. Embodiments provide control for storage of and/or access to large amounts of data used in ultrasound system beam forming for image generation using a hierarchy of sequencers for controlling storage of and/or access to data. A frame sequencer may provide control at a frame level while an address sequencer is implemented to provide control at a data access level.

Abstract: Provided are an ultrasonic diagnostic apparatus that is capable of generating an image caused by fundamental components of ultrasonic echo signals and synthesizing the generated image with an image caused by harmonic components so that an image having both advantages of the images can be generated, and a method of controlling the ultrasonic diagnostic apparatus.

Abstract: Disclosed is a method of estimating the distance between two nodes.

Abstract: Doppler Aided Inertial Navigation (DAIN) facilitates the determination of position, velocity and direction of mobile devices operating in highly obstructed GPS/GNSS environments. Delivering high precision, high resolution positioning information using signals of opportunity, the present invention measures the Doppler shift of a moving device using a variety of signals combined with inertial accelerometers and environmental sensors to deliver an autonomous positioning and navigation capability that does not require external infrastructure or a priori knowledge of signal sources.

Abstract: Various exemplary embodiments relate to a method for detecting an object using radar system having M transmit antennas, N receive antennas, and a processor, including: receiving, by the processor, N×M digital signals, wherein the N receivers receive M received signals corresponding to M sequences of encoded transmitted signals resulting in N×M digital signals; processing the N×M digital signals to produce N×M first range/relative velocity matrices; applying a phase compensation to N×(M?1) first range/relative velocity matrices to compensate for a difference in range between the N×(M?1) first range/relative velocity matrices and the Mth range/velocity matrix; decoding the M phase compensated range/relative velocity matrices for the N receivers using an inverse of the transmit encoding to produce M decoded phase range/relative velocity matrices for the N receivers; detecting objects using the M range/relative velocity matrices for the N receivers to produce a detection vector.

Abstract: A radar system in an autonomous vehicle may be operated in various modes and with various configurations. In one example, the radar system determines a target range for further interrogation. The target range may be determined based on the radar system transmitting a first electromagnetic radiation signal and receiving a first reflected electromagnetic signal radiation signal. After the radar system determines a target range, it transmits a second electromagnetic radiation signal. Additionally, the radar system receives a reflected electromagnetic signal radiation based on the transmission. After receiving the reflected signal, the radar system can process the reflected signal to only have components associated with the target range. The processing of the reflected signal may create a processed signal. Finally, the radar system may determine at least one parameter of a target object based on the processed signal.

Abstract: A device for detecting electromagnetic signals comprising an array receive antenna having N radiating elements and M receive channels downstream of the receive antenna, M less than N, the pointing directions of the antenna, equal to the radiating elements, obtained by adaptive beamforming and regularly spaced apart, comprises: switching the M receive channels onto the radiating elements in successive sequence cycles, M radiating elements connected to the receive channels with each sequence, the same radiating element, being the reference element, connected to the receive channels for all sequences, one cycle completed when all radiating elements are connected to one of the receive channels; for each sequence, estimating two-by-two spatial correlations of the signal received on the reference channel and the signals received on the other M-1 receive channels, then estimating the spatial power spectral density in N incoming directions based on a coherent sum of N correlation terms obtained.

Abstract: There is provided a method of measuring the distance between a first device and a second device, the method comprising performing a time-of-flight-based distance measurement to measure the distance between the first device and the second device, wherein the length of the signals transmitted and/or the number of time-of-flight measurements obtained during the time-of-flight-based distance measurement is determined according to an accuracy level required for the distance measurement.

Abstract: Disclosed are passive millimeter wave detection devices that in some embodiments are useful for detecting objects such as weapons obscured underneath clothing. Also disclosed are methods for detecting objects using millimeter waves, in some embodiments, objects such as weapons, obscured underneath clothing.

Abstract: The present disclosure provides systems and methods associated with an antenna system comprising a tension member configured to be towed by an aerial platform and/or secured to an orbiting satellite. In some embodiments, a first end of the tension member may be secured to the aerial platform and the second end may extend unsecured from the aerial platform at a different elevation than the first end. A plurality of antenna assemblies, each comprising at least one antenna, may be secured to and spaced along the length of the tension member. Each of the plurality of antennas may be adapted for use with a particular frequency or frequency bandwidth. For example, each of the plurality of antennas may be adapted or tuned for one or more frequencies useful for synthetic aperture radar (SAR). In some embodiments, a receiving system, a communication link, and/or an antenna location system may be utilized.

Abstract: This disclosure is directed to methods, devices, and systems for generating a weather radar output with bright band suppression. In one example, a method includes determining, for each of several portions of a vertical column from a weather radar signal, a reflectivity range selected from a highest reflectivity range and one or more lower reflectivity ranges. The method further includes determining, in response to determining that portions of the vertical column are in the highest reflectivity range, whether a combination of the reflectivity ranges of the portions of the vertical column meet criteria indicative of high-reflectivity stratiform weather. The method further includes generating, in response to determining that the combination of the reflectivity ranges of the portions of the vertical column meet the criteria indicative of high-reflectivity stratiform weather, a weather radar output that indicates each of the portions of the vertical column as associated with one of the lower reflectivity ranges.

Abstract: A Continuous Transmission Frequency Modulated (CTFM) detection apparatus is provided. The detection apparatus includes a projector, a sensor, a motion mechanism, and a hardware processor. The projector transmits a frequency modulated transmission wave. The sensor includes a plurality of receiving elements, each receiving element of the plurality of receiving elements receiving a reflected wave, the reflected wave comprising a reflection of the transmission wave. The motion mechanism moves the sensor.