My thesis was about the design and implementation of an ultrasonic distance sensor, which is embedded in an autonomous quadrotor helicopter model. Both the construction of the hardware and the implementation of the software were parts of my thesis.
Beside of the study of the literature, I designed a hardware that is capable to control of four ultrasonic receiver and transmitter modules, being able to process the data and to make contact with its environment. The sensor I implemented can determine the relative distance of an object by the method of time measuring and it is able to refine the calculations by using the phase detector for the signals of the transmitter and receiver.
During my work every goal was achieved with respect to embed this sensor into other systems as well, not only into the helicopter model.