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Extreme mobile robotic systems, safety-critical systems (particularly those designed for drivers, pilots, and motormen), and medical equipment (e.g. diagnostic and therapy instruments) need low-cost precision rangefinders with an effective range of up to 1 m and an output data rate of at least 20 Hz to measure both absolute and relative distances. Such rangefinder sensors can be used to provide the noncontact measurements of a person’s pulse and respiratory rates (Figure 1) – information that is critical for planning rescue operations, the prevention of human-factor accidents, and the synchronisation of medical equipment with a patient’s biorhythms [1]. Search and Rescue (SAR) operations caused by industrial disasters and military conflicts can be dangerous for SAR crew members. The main need here is to minimise the human presence in the danger zone by relying on telemetry data (i.e. victims’ vital signs and locations) to optimally plan and execute the rescue operation, including the SAR crew members’ efforts and the rescue robots, both autonomous and remote controlled [2], [3]. Detection of the injured person’s vital signs, mainly pulse and respiratory rates, poses a nontrivial task even for a remote controlled rescue robot [4], [6]. For that task, video and thermal cameras are considered to be the most informative sensors. Due to the amount of data broadcasted by these sensors, they require a wired connection (e.g. a LAN) between the robot and the human operator or the broadband wireless connection in the case that the former option is not possible. However, the radio wave-based data transmission can lead to detection mistakes due

Ultrasonic rangefinder with resolution in hundredths of the probing signal's wavelength for the mobile rescue robot