Robotics sensing

Joseph fuller morco

http://www.robotplatform.com/knowledge/sensors/robot_sensors.html
 Sensor for robots

A sense with regards to living

organism is the capability to
perceive its environment.
Five Aristotelian Senses of Human
Being:
-Sight -Smell
-Hearing -Taste
-Touch
 21 Sensors in a human body

 Thermoception (Sensing temperature variation)

 Equilibrioception (Sense to maintain balance)
 Nociception (Pain sensors)
 Kinesthesioception (sensing acceleration)
 Etc....
Robots use electromechanical sensors that measures a
physical quality and convert it into signals that can be
read, monitored and analysed for further action.
Analog sensor vs. Digital
sensor
 Analog sensor vs. Digital sensor

Analog
noun (Chemistry)
A chemical with a similar structure to another but different
slightly in composition.
adjective (using physical representation)
Relating to a system or device that represents data variation
by a measurable physical quality.
 Analog sensor vs. Digital sensor

Digital
adjective (representing sound/light waves as numbers)
Representing a varying physical quantity such as sound or
light waves by means of discrete signals interpreted as
numbers, usually in the binary system, as in a digital recording
or digital television.
 Analog sensor vs. Digital sensor

EXAMPLE-1:
Imagine that you want to detect whether a door is open or closed.
You set up two different circuits, each with different sensor:
1. An on/off switch placed on the door frame.
2. A potentiometer attached to the door hinge.
 Analog sensor vs. Digital sensor

EXAMPLE-2:
Let’s imagine that you attach a light bulb as an output to both
circuits. This is what will happen to the light bulb using both sensors.
1. On/Off Switch
2. Potentiometer
 Analog vs. Digital processing

Analog and digital processing differ in two fundamental ways:

1. How they handle time
 Analog processing is continues
 Digital processing is discrete
2. How they handle resolution
 Analog processing has theoritically infinite resolution as the signal is
not rounded.
 Digital processing can only handle signals which are represented as 0
or 1 (on/off).
 Analog sensors

 Analog sensors output a change in

electrical property to signify a change in
its environment.
 The change can be a variation in
Voltage, Current, Resistance, Charge
and Capacitance.
 Sensors circuits are designed to monitor
these changes and provide a voltage
difference.
 photoresistor

 LDR – light dependent resistor / photo-

conductive cell – is a light – controlled
variable resistor.
 The resistance of a photoresistor
decreases with increasing light intensity.
 digital sensors

 Digital sensor produce discrete pulses for

a change in its environement.
 A push button switch is a very good
example of a digital sensor.
 The output of this sensor can be either
“ON” or “OFF”, i.e. It can be either 1 or 0
 Digital Input/output

 Digital input signals are used to represent items that only have two
(2) states, such as... ON(binary 1) or OFF(binary 0) states.
 Digital output signals aare used to control items that again only
have two states, sucha as.. START or STOP a device.
 Analog input/output

 Analog signals are variable, they have multiple states.

 Analog input signals can represents such itmes as temperature or
level or rate of low.
 Analog output signals are also variable and can be used for such
thins such as opening a valve to a desired position.
 Analog vs. Digital i/o

 In our day to day life, we mainly do analog measurements and all

analog signals includes the digital ones like door isa 0%=closed or
100%=open.
 However digital signals are more suitable for computers (PC/PLC,
etc.)
 Analog vs. Digital i/o

 An analog signals can only be read by an analog I/O, but a digital

one can use both analog or digital I/Os.
 Different types of sensors

 Sensors are sophisticated devices that

are frequently used to detect and
respond to electrical or optical signals.
 A sensor converts the physical
parameter (for example: temperature,
blood pressure, humidity, speed, etc.)
into a signal which can be measured
electrically.
 Criteria to choose a sensor

1. Accuracy
2. Environmental condition
3. Range
4. Calibration
5. Resolution
6. Cost
7. Repeatability
 Classification of sensors

1. Primary input quality (Measurand)

2. Transduction principles (Using physical and chemical effects)
3. Material and Technology
4. Property
5. Application
 Classification Based on property

 Temperatur – Thermistors, Thermocouplers, RTD’s, IC, etc.

 Pressure – Fiber optic, Vacuum, Elastic liquid based monometerd, LVDT,
electonic.
 Flow – Electromagnetic, Diffferencial Pressure, Positional Displacement,
Thermal Mass, etc.
 Level Sensors – Differential Pressure, Ultrasonic Radio Frequency, Radar,
Thermal Displacement, etc.
 Proximity and Displacement – LVDT, photelectric, Capacitive Magnetic,
Ultrasonic.
 Classification Based on property

 Biosensors – Resonant Mirror, Electrochemical, Surface Plasmon

Resonance, Light Addreassable Potentio-Metric.
 Image – Charge Coupled Devices, CMOS
 Gas and Chemical – Semiconductor, Infrared, Conductance,
Electrochemical
 Acceleration – Gyroscopes, Accelerometers.
 Other – Moisture, Humidity Sensors, Speed Sensors, Mass, Tilt Sensor,
Force, Velocity....
 Classification Based on power or
energy requirement of the sensor

1. Active Sensor
Sensor that require power supply. Example: LiDAR (Light Detection
and Raging)
2. Passive Sensor
Sensor that do not require power supply. Example: Radiometers,
Film Photography.
 Arduino sensors
 Active Piezo-Buzzer Module
 Flame IR Sensor
 Heartbeat/Pulse Sensor
 High Sensitivity Microphone
Sensor
 High Voltage Relay Module
 Infrared (IR) Sensor
 Infrared (IR) Transmitter
 Joystick Module
Knock Sensor
Light Barrier Module
Logic Level Shifter
Magnetic Dry Reed Switch
Metal Touch Sensor
Momentary Button Module
Obstacle Detection Sensor
Passive Piezo-Buzzer
 Arduino sensors

 Photoresistor Light Sensor Tracking Sensor

 RGB SMD Led Two-Color LED Module
 Rotary Encoder Module
Ultrasonic Sensor
 Soil Moisture Sensor
Vibration Sensor
 Temperature Sensor
Water Level Sensor (Leak
 Temperature and Humidity
Combination Sensor Sensor)
 Tilt Switch Module
Link:
https://www.thegeekpub.com/wiki/list-of-arduino-sensors-and-modules/
 Type of sensors

1. Temperature Sensors

Thermocouple
Temperature Sensor
Resistance Temperature
Detectors (RTD)
Thermistors
 1 – Temperature Sensor

 This device collects information about temperature from a source

and converts into a form that is understandable by other device
or person.

Two Basic Types of Temperatur Sensors:

1. Contact Sensors
2. Non-Contact Sensors
 Two Basic Type of Temperature Sensor

1. Contact Sensors – this type of sensor requires direct physical

contact with the object or media that is being sensed. They
supervise the temperature of solids, liquids and gases over a wide
range of temperatures.
2. Non-Contact Sensors – this type of sensor does not require any
physical contact wiht the object or media that is being sensed.
They supervise non-reflective solids and liquids but are not useful
for gases due to natural transparency. These sensors use Planck’s
Law to measure temperature. This law deals with the heat
radiated from the source of heat to measure the temperature.
 Jumo 902023/10-402-1003-1-6-150-104/000
RTD Temperature Probe Temperature Probe,
Type PT100, max. +400 °C

Testo 905-T1 Digital

Thermometer, 1 Input
Probe, K Type Input

FLUKE 62
MAX Infrared
MLX90614 IR NON-CONTACT TEMPERATURE SENSOR (-
Thermometer
70°C TO +380°C)
 Temperature SensorS EXAMPLES

1. Thermocouple – They are made of two wires which form a

measuring junction by joining at one end. This measuring junction
is open to the elements being measured. The other end of the
wire is teminated to a measuring device where a reference
junction is formed. The current flow through the circuit since the
temperature of the two junctions are different. The result milli-
voltage is measured to determine the temperature at the
junction.
 Temperature SensorS EXAMPLES

2. Resistance Temperature
Detectors (RTD) – these are
types of thermal resistor that
are fabricated to alter the
electrical resistance with the
alteration in temperature.
They vary expensive than
any other termerature
detection devices.
 Temperature SensorS EXAMPLES

3. Thermistor – They are another kind of thermal resistor where a

large change in resistance is proportional to small change in
temperature
 Type of sensors

2. IR Sensors
 2 – ir sENSORS

2. IR Sensors – This device emits and/or detects infrared radiation to

sense a particular phase in the environment. Generally, thermal
radiation is emitted by all the objects in the infrared spectrum.
The infrared sensor detects this type of radiation which is not
visible to human eye.
Advantages:
 Easy for interfacing
 Readily available in market
Disadvantages:
 Disturbed by noises in the sorrounding such as radiation, ambient
light, etc.
 2 – ir sENSORS (working Principle)

Simple Diagram Explaining Working of IR Led Sensor

 2 – ir sENSORS (Applications)

 Thermogrophy
 Heating
 Spectroscopy
 Meteorology
 Photobiomodulation
 Climatology
 Communications
 Type of sensors

3. UV Sensors – are the sensors which convert light (photons) into

electric flow, are element highly sensitive to the wavelength of
light in the ultra-violet region.
 3 – UV Sensors

 These sensors measure the intensity of power of the incidental

ultraviolet radiation. This form of electromagnetic radiation has
wavelenths longer than x-rays but is still shorter than visible
radiation.
 An active material known as polycrystalline diamonds is being
used for reliable ultraviolet sensing. UV sensors can discover
exposure of environment to ultraviolet radiation.
 3 – criteria to select a UV Sensor

• Wavelength – ranges in nanometers(nm) that can

be detected by the UV sensors.
• Operating temperature
• Accuracy
• Weight
• Power range
 3 – UV Sensor (Working Principle)

• The UV sensor accepts one type of energy signal

and transmits different type of energy signals.

• To observe and record these output signals they are

directed to an electrical meter. To create graphs
and reports, the output signals are transmitted to an
analog-to-digital converter (ADC), and then to a
computer with software.
 3 – UV Sensor (Examples)

• UV phototubes – are radiation-sensitive sensors

supervise UV air teatments, UV water treatments
and solar irradiance.
• Light sensors – measures the intensity of incident
light.
• UV spectrum sensors – are charged couple devices
(CCD) utilized in scientific photography.
• Ultraviolet light detectors
• Germicidal UV detectors
• Photo stability sensors
3 – UV Sensors

UV Probe with a probe length of 15cm

UV Probes for
measuring UV
irradiances in areas
tha are difficult to
access

UV Probe SMA with a length of 15 cm

 3 – UV Sensors (Applications)

• Measures the portion of the UV spectrum which

sunburns human skin
• Pharmacy
• Automobiles
• Robotics
• Printing industry for solvent handling and dyeing
processes
• Chemical industry for the production, storage and
transportation of chemicals.
 Type of sensors

4. Touch Sensors
 4 – Touch sensor

 A touch sensor acts as a variable resistor as per the location where

it is touched.
 It is a type of equipment that captures and records physical touch
or embrace on a device and/or object. It enables the device or
object to detect touch, typically by a human user of operator.
 A touch sensor may also be called a trouch detector.
 4 – Touch sensor (workign principle)

 The partially conductive material opposes the flow of current.

 The main principle of the linear position sensor is that the
current flow is more opposed when the length of this material
that must be travelled by the current is more.
 As result, the resistance of the material is varied by changing
the position at which it make contact with the fully
conductive material.
 4 – Touch sensor (Applications)

 Commercial – Medical, Vending, Fitness, Gaming

 Appliences – Oven, Washing Machines, Dishwashers, Refrigerators
 Transportation – Cockpit fabrication and streamlining control among the
vihicle manufacturers.
 Fluid Level Sensors
 Industrial Automation – Position and liquid level sensing, human touch,
control in automation applications
 Consumer Electronics – Provides a new feel and level of control in
various consumer products.
 Type of sensors

5. Proximity Sensors
 5 – Proximity Sensors

 A proximity sensor detects the presence of objects that are nearly

placed any point of contact. Since no contact between the
sensors and sensed object and lack of mechanical parts, these
sensors have long functional life and high reliability.
 5 – Proximity Sensors (TYPES)

 Inductive Proximity Sensors

 Capacitive Proximity Sensors
 Ultrasonic Proximity Sensors
 Photoelecric Sensors
 Hall-Effect Sensors
 Etc.
 5 – Proximity Sensors (Working principle)

 A proximity sensor emits an electromagnetic or electrostatic field

or a beam of electromagnetic radiation (such as infrared), and
waits for the return signal or change in the field.
 The object which is being sensed is known as the proximity sensor’s
target.
 Inductive proximity sensors

 They have an oscillators as input to change the loss resistance by

the proximity of an electrically conductive medium.
 These sensors are preferred for metal targets.
 capacitive proximity sensors

 They convert the electrostatic capacitance variation flanked by

the detective electrode adn the ground electrode.
 This occurs by approaching the neaby object with a variation in
an oscillation frequency.
 To tetect the nearby object, the oscillation frequency is
transformed into a direct current voltage which is compared with
a predetermined threashold value.
 These sensors are preferred for plastic taget.
 5 – Proximity Sensors (Applications)

 Used in automation engineering to define operating states in

process engineering plants, production systems and automating
plants.
 Used in windows, and the alarm is activated when the window
opens
 Used in machine vibration monitoring to calculate the difference
in distance between a shaft and its support bearing.
 Advanced sensor technology

1. Bar-code identification
2. Transponders
3. Electromagnetic identification or manufactured components
4. Surface acoustic waves
5. Optical character recognition
 Next is:

 Mechanical Sensor
 Indcutive Sensor
 Capacitive Sensor