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Sensors (v.1c)
Sensors
Motion (Orientation/inclination )sensors
Force/pressure/strain
Position
Temperature and humidity
Rotary position
Light and magnetic field sensors
Sensors (v.1c)
Motion (Orientation/inclination
sensors
Acceleration
Gyroscope
Compass
Tilt Sensor
Sensors (v.1c)
Accelerometer
http://en.wikipedia.org/wiki/Accelerometer
Functions:
Methods:
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3D
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2D translational accelerometer
MX2125 (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)
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)
Accelerometer demo :
Tilt sensing demo
Gyroscopes
http://en.wikipedia.org/wiki/Gyroscope
Gyroscope
Rate Gyroscope
Gyroscope
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FEATURES
APPLICATIONS
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Motion sensors:
gyroscope and
accelerometer
20cm
http://hk.youtube.com/watch?v=2u-EO2FDFG0
35cm
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Complementary filter
Since
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Complementary filter
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Force/pressure/strain
Force-sensitive resistor (FSR)
Strain gauge
Flexion
Air pressure
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FSR402
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http://www.youtube.com/watch?v=LQ21lXr6egs
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http://www.youtube.com/watch?v=2STTNYNF4lk
http://www.robotshop.com/Images/xbig/fr/robot-humanoide-nao-edition-academique-v3plus-aldebaran.jpg
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Vb
Gauge=R+R
R
V0
R
gauge
rod
load
R
R
R
R
G L
Vb
Vb
b
2
R
2
R
R
4
R
R
4
R
4
L
R
L
for
G
and G strain gauge factor, L length of the gauge
R
L
R unstrained gauge resistance
V0 Vb
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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
R R
R R
2 R
L
b
b G
L
R R R R R R R R
2R
V0 Vb
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http://www.jameco.com/wcsstore/Jameco/Products/ProdDS/150551.PDF
Sensors (v.1c)
http://www.flexpoint.com/
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http://www.youtube.com/watch?v=m4E5SP7HCnk&feature=related
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Position sensors
Infra-red range sensor
Linear and Rotary position sensors
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http://www.youtube.com/watch?v=tStBLAiQaC8&feature=related
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Linear
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3 light emitters
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Temperature sensors
LM135/235/335 features(from NS)
http://www.national.com/pf/LM/LM135.html
Directly calibrated in Kelvin
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http://www.youtube.com/watch?v=VM4X_fqPPco
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http://focus.ti.com/general/docs/scproducts.js
p 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.
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http://doc.semicon.toshiba.co.jp/noseek/us/td/td2frame.htm
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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
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http://dev.emcelettronica.com/files/u4/Brushless_DC_Motors_bldc_motor.jpg
http://www.youtube.com/watch?v=cm0h2Qf3upQ
http://www.youtube.com/watch?v=JmRkxZT4XhY
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Novel sensors
Kinect
http://www.ladyada.net/learn/diykinect/
http://www.youtube.com/watch?v=nvvQJxgykcU
http://www.youtube.com/watch?v=Mf44bWQr3jc
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Many KINECT
DIY projects
http://www.youtube.com/watch?v=Brpu30vjCa4&feature=related
http://www.youtube.com/watch?v=3V-TGXFZbbA&feature=related
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Control systems
Example: A temperature control
system
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Water tank
Temp.
Sensor
Heater
Digital control
circuit
Instrum.
amp.
Sample
&
Hold
Pulse Width
modulation
& solid state relay
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Timer
A/D
CPU
D/A
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52
Tw
else
Proportional, differential,
integral
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Ki
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Tw (depends on e )
Time
Fixed period and fixed number of pulses
Temperature
Treq
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Summary
Studied the characteristics of various
sensors
and their applications
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References
[1] S.E. Derenzo, Interfacing -- A laboratory
approach using the microcomputer for
instrumentation, data analysis and control
prentice hall.
[2] D.A. Protopapas, Microcomputer hardware
design, Prentice hall
[3] CUHK_FYP report HML0602, KHW0703
[4] http://www.engin.umich.edu/group/ctm
[5] http://en.wikipedia.org/wiki/PID_controller
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