Motion (Orientation/inclination

sensors
Acceleration
Gyroscope
Compass
Tilt Sensor

Sensors (v.1c)

Accelerometer
http://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)

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)

ADXL330 accelerometer for three (X,Y,Z ) directions

http://www.analog.com/UploadedFiles/Data_Sheets/ADXL330.pdf

3D

Sensors (v.1c)

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

Tilt sensing demo

http://www.youtube.com/watch?v=C6uVrYz-j70
Sensors (v.1c)

Gyroscopes
http://en.wikipedia.org/wiki/Gyroscope

Gyroscope

Measure rotational angle

Rate Gyroscope

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.
Sensors (v.1c)

Gyroscope to measure Rational acceleration

ADXRS401 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)

Compass-- the Philips KMZ51

magnetic field sensor
50/60Hz (high) operation, a jitter of around
1.5

Sensors (v.1c)

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Rate gyroscope demo

Using Gyroscope compass for virtual reality application in an iphone

http://www.youtube.com/watch?v=VP4-wdMMLFo
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Application of motion sensors

Self balancing robot
by Kelvin Ko
http://hk.youtube.com/watch?v=2u-EO2FDFG0

Motion sensors:
gyroscope and
accelerometer

20cm

35cm

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Complementary filter
Since
Gyroscope

Accelerometer

High
frequency

Low
frequency

Combine two sensors to find output

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13

Complementary filter

=rotation angle, =filter time constant, s=laplace operator

http://en.wikipedia.org/wiki/Low-pass_filter
http://en.wikipedia.org/wiki/High-pass_filter

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14

Self Balanced robot using

complementary filter

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15

Tilt Sensor by OMRON

http://rocky.digikey.com/WebLib/Omron%20Web%20Data/D6B.pdf

Detect tilting 35 ~ 65 degrees in right-andleft inclination

Sensors (v.1c)

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Force/pressure/strain
Force-sensitive resistor (FSR)
Strain gauge
Flexion
Air pressure

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Force Sensing Resistors

http://www.interlinkelectronics.com/library/media/papers/pdf/fsrguide.pdf

FSR402

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Force Sensing Resistor Demo

http://www.youtube.com/watch?v=LQ21lXr6egs
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Application for a walking robot

Walking robot

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Application of force sensing resistance

sensors to balance a walking robot
Balancing
Neutral position

Floor tilled left

upper leg bend right

Floor tilled right

upper leg bend left

Four sensors under the foot

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Four Force sensors under the foot

D

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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

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Strain Gauge : Force sensors

http://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.

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Single element strain gauge

sensitive to temperature change.

Vb
Gauge=R+R

gauge
rod

V0
R

R
load

R
R

R
R
G L
V0 Vb

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
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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
rod
t1=R+R
b2=R-R
V0
b1
b2
b1=R-R
t2=R+ R
load
R R
R R

2R
L
V0 Vb

Vb
Vb G
R R R R R R R R
2R
L
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Flexion (bend) sensors

resistance:
10 K (0);
30-40 K (90)

http://www.jameco.com/wcsstore/Jameco/Products/ProdDS/150551.PDF
Sensors (v.1c)

http://www.flexpoint.com/

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Felixon resistance Demo

http://www.youtube.com/watch?v=m4E5SP7HCnk&feature=related

Sensors (v.1c)

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Air pressure sensor

Measure up to 150 psi (pressure per square
inch ).

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Position sensors
Infra-red range sensor
Linear and Rotary position sensors

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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.

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IR radar using the Sharp range

detector

http://www.youtube.com/watch?v=tStBLAiQaC8&feature=related
Sensors (v.1c)

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Position sensors, from[1]

Rotary

Linear

Optical shaft encoder

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Magnetic rotary encoder

(http://www.renishaw.com/UserFiles/acrobat/UKEnglish/L-9517-9147.pdf)

non touch sensing

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Optical rotary encoder

(http://en.wikipedia.org/wiki/Rotary_encoder)

The light received (on or off) will tell the

3 light receivers
rotation angle)
Light paths

Rotation shaft

3 light emitters

Sensors (v.1c)

Crank shaft sensor

35

http://www.youtube.com/watch?v=RuIislTGOwA

Temperature and humidity

Temperature
humidity

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Temperature sensors
LM135/235/335 features(from NS)
http://www.national.com/pf/LM/LM135.html

Directly calibrated in Kelvin

1C initial accuracy available
Operates from 400 A to 5 mA
Less than 1 Ohm dynamic impedance
Easily calibrated
Wide operating temperature range
200C over range
Low cost
Sensors (v.1c)

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Application note (connecting to an

ADC e.g. ADC0820 or ADC0801)

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Capacitive Atmospheric Humidity

Sensor
http://rocky.digikey.com/WebLib/BC%20Components/Web%20Data/2322%20691%2090001.pdf

BCcomponents 2322 691 90001

10-90%RH Dc

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Leaf Sensor Alerts When Plants

Are Thirsty

http://www.youtube.com/watch?v=VM4X_fqPPco
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TSL250, TSL251, TSL252

LIGHT-TO-VOLTAGE OPTICAL SENSORS

http://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)

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Cadmium Sulfoselenide (CdS)

Photoconductive Photocells
http://faculty.uml.edu/aelbirt/16.480/pdvp5001.pdf

Light sensing using CdS

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Hall effect Sensors for sensing

magnetic fluxB field, see:
http://doc.semicon.toshiba.co.jp/noseek/us/td/td2frame.htm

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Application on Magnetic levitation

http://myweb.msoe.edu/~muthuswamy/pubs/DesignOfMagneticLevitationControllersUsingJacobiLinearizationFeedbackLinearizationAndSlidingMode.pdf

Magnetic levitation Train Model

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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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
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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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Control example: Temperature control system

computer

Water tank
Temp.
Sensor

Heater

Digital control
circuit
Instrum.
amp.

Sample
&
Hold

Pulse Width
modulation
& solid state relay
Sensors (v.1c)

Timer

A/D
CPU

D/A

49

Temperature control method 1: ON-Off (bang-bang)

control (poor)
Easy to implement, bad control result -- contains overshoot
undershot. Algorithm for on-off-control:
Loop forever: If (Tfrom_sensor > Treq required temperature)
then (heater off )
else (heater on).
Overshoot
Treq
Steady state error
Undershoot
Temp
On-off control result
Time
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Temperature control method 2 : Proportional-integraldifferential (PID) temperature control (good)

Init. (set required temperature Treq)

Loop forever{

get temperature T from sensor,

e=T - Treq
then Tw =e*G*{Kp+Kd*[d(e)/dt] +Ki*e dt }
else
Proportional, differential,
integral

Tw

} //G,Kp,Kd,Ki can be adjusted by user

Tw

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PID block diagram

http://www.controlviews.com/question1212-03.html
Kd
Figure 1 - Parallel PID block diagram

Kp

Ki

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PID control using pulse width

modulation PWM

Tw (depends on e )
Time
Fixed period and fixed number of pulses

Temperature
Treq

On-off control: oscillates and unstable

PID control result
of method 2
Time
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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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