ME 214 Mechatronics

Associate Professor Kutay İçöz

AGÜ

Slides from course textbooks Sadiku, Nilsson, Prof Sehlton Purdue University and various resources the web
 Famous Robots in Movies

R2D2-C3PO (Star Wars)

Tars (Interseller)

Optimus Prime
(Transformers)

800 model101 (Terminator)

 What is a Robot?
A robot is a machine whose behavior can be programmed
robots have five fundamental components:

1. A brain controls the robot's actions and responds to

sensory input. Usually the brain is a computer of some
kind. (Processor + Software)

2. A robot's body is simply the physical chassis that holds

the other pieces of the robot together.

3. Actuators allow the robot to move. These are usually

motors, although there are many other possibilities, such
as hydraulic pistons. (muscles, servomotor, stepper motor)

4. Sensors give a robot information about its environment.

A touch sensor, for example, can tell a robot that it has
come in contact with something else.

5. A power source supplies the juice needed to run the

brain, actuators, and sensors.

http://www.youtube.com/watch?v=Bo67xM4x61I
 Robots
• Robots can be
– Mobile (free to move around)
– Stationary (remain in a place but have arms that move)
– Non-adaptive (no way of sensing the environment)
– Adaptive (get feedback from a sensor)
– Autonomous
 Types of Robots
1) Industrial Robots
• Material handling
• Pick and place
• Factory automation
• Welding
• Improving Productivity
2) Military
• Packbot http://www.youtube.com/watch?v=eaP0waiz43w
• Bomb disposal http://www.youtube.com/watch?v=zOz-HbR9lIU
• Search and rescue http://www.youtube.com/watch?v=A9OdUPY3OyE
3) Medical
• Remote surgery
• Minimally invasive surgery
4) Education
• Lego Mindstorms
• Arduino
 Types of Robots
5) Exploratory Robots
• Mars rover
• Deep sea ROV’S
• Unassisted aerial vehicles
6) Domestic
• Roomba
• Automatic lawn mowers
7) Entertainment
• Asimo
• QRIO
• AiBo
• Animatronics
• RoboSpaien

http://www.youtube.com/watch?v=ayonnnfGqMA
http://www.youtube.com/watch?v=w2itwFJCgFQ
 Robots Sensors/Transducer
A dictionary definition of 'sensor' is `a device that detects a change in a physical stimulus and turns
it into a signal which can be measured or recorded; a corresponding definition of 'transducer' is 'a
device that transfers power from one system to another in the same or in the different form'.

Simple Instrument Model

Physical Measurement Signal Measurement

Variable Variable
SENSOR
Measurand X S M
FIGURE 1.1 Simple instrument model.
FIGURE 1.1 Simple instrument model.

TABLE 1.1 TABLE 1.1

Common physical Typical signal
Common physical Typical signal
variables variables

variables variables
• Force
• Length
•
•
Voltage
Displacement
• Temperature • Current
• Force • Voltage
• Acceleration • Force
• Velocity • Pressure
• Length • Displacement
• Pressure • Light
• Frequency • Frequency
• Temperature • Current
• Capacity
• Acceleration • Force
• Resistance
• Time
• Velocity • Pressure
• …

• Pressure • Light
• Frequency • Frequency
• Capacity
• Resistance
• Time
• …
FIGURE 1.2 Instrument model with amplifier, analog to digital converter, and computer output.
 • Acceleration • Force
• Velocity • Pressure

Robots Sensors/Transducer
• Pressure • Light
• Frequency • Frequency
• Capacity
• Resistance
• Time
• …
Instrument Model with Amplifier and A/D Converter

FIGURE 1.2 Instrument model with amplifier, analog to digital converter, and computer output.

system of which the instrument is a part. For example, the output signal of the sensor may be used as
the input signal of a closed loop control system.
If the signal output from the sensor is small, it is sometimes necessary to amplify the output shown
in Figure 1.2. The amplified output can then be transmitted to the display device or recorded, depending
on the particular measurement application. In many cases it is necessary for the instrument to provide
a digital signal output so that it can interface with a computer-based data acquisition or communications
system. If the sensor does not inherently provide a digital output, then the analog output of the sensor
is converted by an analog to digital converter (ADC) as shown in Figure 1.2. The digital signal is typically
sent to a computer processor that can display, store, or transmit the data as output to some other system,
which will use the measurement.

Passive and Active Sensors

As discussed above, sensors convert physical variables to signal variables. Sensors are often transducers
 Robots
Speech, Vision
Task planning, learn, process
Acceleration, Temperature
data, path planning, motion
Position, Distance
planning, plan classification
Touch, Force, Pressure
etc.
Magnetic Field, Light, Sound,
etc.

SENSE data THINK

commands

ACT
Move, speech, text, rotate,
etc.
Sensors/Transducer
Sensors/Transducer
Sensors/Transducer
Basic Biomedical Instrumentation
 Physiological Variables
• biopotentials
• pressure
• flow
• dimensions
• displacement (velocity, acceleration,
force)
• impedance
• temperature
• chemical concentrations
 Sensors
• detect biochemical, bioelectrical, or
biophysical parameters
• provide a safe interface with biological
materials
 Processor
(Electronic Interfacing + Computation)
• filter (shape frequency content)
• amplify or attenuate
• pre-amplifiers, post amps, instrumentation amps
• A/D converters (digitize for storage)
• modulation and demodulation
• isolation
 Processor
(Electronic Interfacing + Computation)
• data capture
• signal processing
• frequency selection
• signal averaging
• wave shaping – Bir işarete istenilen karakteristiği vermek
için onun biçimini değiştirmek.
• logic – Şartlar ortaya çıktığında önceden verilen bir kararın
icra edilebilmesi için orijinal sinyalin bir diğer sinyalle
etkileşimi
 Amplification

İlk bölüm
 Offset

İlk bölüm
 Filtering

İlk bölüm
 Decision Making (Logic)

İlk bölüm
Design a system that can detect the speed of a red ball
Design a circuit using a transistor to detect Dark
Light Dependent Resistor