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CENG4480_A1 Sensors

CENG4480_A1 Sensors. Sensing the real world. Sensors. Motion ( Orientation/inclination ) sensors Force/pressure/strain Position Temperature and humidity Rotary position Light and magnetic field sensors. Motion ( Orientation/inclination sensors. Acceleration Gyroscope Compass

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CENG4480_A1 Sensors

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  1. CENG4480_A1Sensors Sensing the real world Sensors (v.1c)

  2. Sensors • Motion (Orientation/inclination )sensors • Force/pressure/strain • Position • Temperature and humidity • Rotary position • Light and magnetic field sensors Sensors (v.1c)

  3. Motion (Orientation/inclinationsensors • Acceleration • Gyroscope • Compass • Tilt Sensor Sensors (v.1c)

  4. Accelerometerhttp://en.wikipedia.org/wiki/Accelerometer • Functions: • measure acceleration in one or more directions, position can be deduced by integration. • Orientation sensing : tilt sensor • Vibration sensing • Methods: • Mass spring method ADXL78(from Analog Device ) • Air pocket method (MX2125) Sensors (v.1c)

  5. ADXL78 (from Analog Device http://www.analog.com/UploadedFiles/Data_Sheets/ADXL78.pdf ) • Mass spring type (output acceleration in G) • Measure the capacitance to create output Sensors (v.1c)

  6. ADXL330 accelerometer for three (X,Y,Z ) directionshttp://www.analog.com/UploadedFiles/Data_Sheets/ADXL330.pdf • 3D Sensors (v.1c)

  7. 2D translational accelerometerMX2125 (from www.parallax.com) • Gas pocket type • When the sensor moves, the temperatures of the 4 sensors are used to evaluate the 2D accelerations Sensors (v.1c)

  8. Accelerometer demo:orientation sensing Self-balance Robot Sensor demo http://www.youtube.com/watch?v=VP4-wdMMLFo http://www.youtube.com/watch?v=9NEiBDBXFEQ Sensors (v.1c)

  9. Accelerometer demo :Tilt sensing demo Tilt sensing demo http://www.youtube.com/watch?v=C6uVrYz-j70 Sensors (v.1c)

  10. Gyroscopeshttp://en.wikipedia.org/wiki/Gyroscope • Gyroscope • Measure rotational angle • Rate Gyroscope • measure the rate of rotation along 3-axes of X (pitch), Y (roll), and Z (yaw). • Modern implementations are using Microelectromechanical systems (MEMS) technologies. Gyroscope Sensors (v.1c)

  11. Gyroscope to measure Rational accelerationADXRS401 http://www.analog.com/UploadedFiles/Data_Sheets/ADXRS401.pdf • FEATURES • Complete rate gyroscope on a single chip Microelectromechanical systems (MEMS) • Z-axis (yaw-rate) response • APPLICATIONS • GPS navigation systems • Image stabilization • Inertial measurement units • Platform stabilization Sensors (v.1c)

  12. Compass-- the Philips KMZ51 magnetic field sensor • 50/60Hz (high) operation, a jitter of around 1.5° Sensors (v.1c)

  13. Rate gyroscope demo Using Gyroscope compass for virtual reality application in an iphone http://www.youtube.com/watch?v=VP4-wdMMLFo Sensors (v.1c)

  14. Application of motion sensorsSelf balancing robot • by Kelvin Ko • http://hk.youtube.com/watch?v=2u-EO2FDFG0 Motion sensors: gyroscope and accelerometer 20cm 35cm Sensors (v.1c)

  15. Complementary filter Since Combine two sensors to find output Sensors (v.1c) 15

  16. Complementary filterθ=rotation angle, =filter time constant, s=laplace operator http://en.wikipedia.org/wiki/Low-pass_filterhttp://en.wikipedia.org/wiki/High-pass_filter Sensors (v.1c) 16

  17. Self Balanced robot using complementary filter Sensors (v.1c) 17

  18. Tilt Sensor by OMRONhttp://rocky.digikey.com/WebLib/Omron%20Web%20Data/D6B.pdf • Detect tilting 35 ~ 65 degrees in right-and-left inclination Sensors (v.1c)

  19. Force/pressure/strain • Force-sensitive resistor (FSR) • Strain gauge • Flexion • Air pressure Sensors (v.1c)

  20. Force Sensing Resistorshttp://www.interlinkelectronics.com/library/media/papers/pdf/fsrguide.pdf • FSR402 Sensors (v.1c)

  21. Force Sensing Resistor Demo http://www.youtube.com/watch?v=LQ21lXr6egs Sensors (v.1c)

  22. Application for a walking robot • Walking robot Sensors (v.1c)

  23. Application of force sensing resistance sensors to balance a walking robot • Balancing Floor tilled right upper leg bend left Floor tilled left upper leg bend right Neutral position Four sensors under the foot Sensors (v.1c)

  24. Four Force sensors under the foot • D Sensors (v.1c)

  25. The Nao robot uses force feedback at its feet http://en.wikipedia.org/wiki/Nao_(robot) http://www.youtube.com/watch?v=2STTNYNF4lk http://www.robotshop.com/Images/xbig/fr/robot-humanoide-nao-edition-academique-v3plus-aldebaran.jpg Sensors (v.1c)

  26. Strain Gauge : Force sensorshttp://www.meas-spec.com/myMeas/default/index.asp • Piezoelectric crystal: produces a voltage that is proportional to force applied • Strain gauge: cemented on a rod. One end of the rod is fixed, force is applied to the other end. The resistance of the gauge will change with the force. Sensors (v.1c)

  27. Single element strain gauge • sensitive to temperature change. Vb gauge Gauge=R+R R rod V0 R R load Sensors (v.1c)

  28. Four-element (Wheatstone bridge) strain gauge sensor, • Four times more sensitive than single gauge system; not sensitive to temperature change. • All gauges have unstrained resistance R. t1 t2 Vb t1=R+R rod b2=R-R V0 b1 b2 b1=R-R t2=R+ R load Sensors (v.1c)

  29. Flexion (bend) sensors • resistance: • 10 KΩ (0°); • 30-40 KΩ (90°) http://www.flexpoint.com/ http://www.jameco.com/wcsstore/Jameco/Products/ProdDS/150551.PDF Sensors (v.1c)

  30. Felixon resistance Demo http://www.youtube.com/watch?v=m4E5SP7HCnk&feature=related Sensors (v.1c)

  31. Air pressure sensor • Measure up to 150 psi (pressure per square inch ). Sensors (v.1c)

  32. Position sensors • Infra-red range sensor • Linear and Rotary position sensors Sensors (v.1c)

  33. Infra-red Range detectors by SHARP (4 to 30cm)http://www.acroname.com/robotics/info/articles/sharp/sharp.html • An emitter sends out light pulses. A small linear CCD array receives reflected light. • The distance corresponds to the triangle formed. Sensors (v.1c)

  34. IR radar using the Sharp range detector http://www.youtube.com/watch?v=tStBLAiQaC8&feature=related Sensors (v.1c)

  35. Position sensors, from[1] • Rotary Linear • Optical shaft encoder Sensors (v.1c)

  36. Magnetic rotary encoder(http://www.renishaw.com/UserFiles/acrobat/UKEnglish/L-9517-9147.pdf) • non touch sensing Sensors (v.1c)

  37. Optical rotary encoder(http://en.wikipedia.org/wiki/Rotary_encoder) • The light received (on or off) will tell the rotation angle) 3 light receivers Light paths Rotation shaft 3 light emitters Crank shaft sensor Sensors (v.1c) http://www.youtube.com/watch?v=RuIislTGOwA

  38. Temperature and humidity • Temperature • humidity Sensors (v.1c)

  39. Temperature sensorsLM135/235/335 features(from NS)http://www.national.com/pf/LM/LM135.html • Directly calibrated in °Kelvin • 1°C initial accuracy available • Operates from 400 µA to 5 mA • Less than 1 Ohm dynamic impedance • Easily calibrated • Wide operating temperature range • 200°C over range • Low cost Sensors (v.1c)

  40. Application note (connecting to an ADC e.g. ADC0820 or ADC0801) Sensors (v.1c)

  41. Capacitive Atmospheric Humidity Sensorhttp://rocky.digikey.com/WebLib/BC%20Components/Web%20Data/2322%20691%2090001.pdf • BCcomponents 2322 691 90001 10-90%RH Dc Sensors (v.1c)

  42. Leaf Sensor Alerts When Plants Are Thirsty http://www.youtube.com/watch?v=VM4X_fqPPco Sensors (v.1c)

  43. TSL250, TSL251, TSL252LIGHT-TO-VOLTAGE OPTICAL SENSORShttp://focus.ti.com/general/docs/scproducts.jsp • Light-to-voltage optical sensors, each combining a photodiode and an amplifier (feedback resistor = 16 MW, 8 MW, and 2 MW respectively). • The output voltage is directly proportional to the light intensity on the photodiode. Sensors (v.1c)

  44. Cadmium Sulfoselenide (CdS) Photoconductive Photocellshttp://faculty.uml.edu/aelbirt/16.480/pdvp5001.pdf • Light sensing using CdS Sensors (v.1c)

  45. Hall effect Sensors for sensing magnetic flux“B field”, see: http://doc.semicon.toshiba.co.jp/noseek/us/td/td2frame.htm Sensors (v.1c)

  46. Application on Magnetic levitation 磁懸浮http://myweb.msoe.edu/~muthuswamy/pubs/DesignOfMagneticLevitationControllersUsingJacobiLinearizationFeedbackLinearizationAndSlidingMode.pdf Magnetic levitation Train Model 磁懸浮火車 http://www.youtube.com/watch?v=TeS_U9qFg7Y http://www.youtube.com/watch?v=XjjBqzilkIc frog levitation http://www.youtube.com/watch?v=A1vyB-O5i6E Sensors (v.1c)

  47. Hall effect sensors and brushless DC motors • Brushless DC motor • http://dev.emcelettronica.com/files/u4/Brushless_DC_Motors_bldc_motor.jpg • Is it using Hall effect sensor? Don't known. http://www.youtube.com/watch?v=cm0h2Qf3upQ http://www.youtube.com/watch?v=JmRkxZT4XhY Sensors (v.1c)

  48. Novel sensors • Kinect http://www.ladyada.net/learn/diykinect/ http://www.youtube.com/watch?v=nvvQJxgykcU http://www.youtube.com/watch?v=Mf44bWQr3jc Sensors (v.1c)

  49. Many KINECT DIY projects http://www.youtube.com/watch?v=Brpu30vjCa4&feature=related http://www.youtube.com/watch?v=3V-TGXFZbbA&feature=related Sensors (v.1c)

  50. Control systemsExample: A temperature control system Sensors (v.1c)

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