Sensors (v.

1c) 1
CENG4480_A1
Sensors
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
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Motion (Orientation/inclination
sensors
Acceleration
Gyroscope
Compass
Tilt Sensor

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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)
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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

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ADXL330 accelerometer for three (X,Y,Z ) directions
http://www.analog.com/UploadedFiles/Data_Sheets/ADXL330.pdf
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

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Accelerometer demo:
orientation sensing

http://www.youtube.com/watch?v=9NEiBDBXFEQ
http://www.youtube.com/watch?v=VP4-wdMMLFo
Self-balance Robot
Sensor demo
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Accelerometer demo :
Tilt sensing demo

http://www.youtube.com/watch?v=C6uVrYz-j70
Tilt sensing demo
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Gyroscopes
http://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

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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
Gyroscope to measure Rational acceleration
ADXRS401 http://www.analog.com/UploadedFiles/Data_Sheets/ADXRS401.pdf
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Compass-- the Philips KMZ51
magnetic field sensor
50/60Hz (high) operation, a jitter of around
1.5
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Rate gyroscope demo

http://www.youtube.com/watch?v=VP4-wdMMLFo
Using Gyroscope compass for virtual reality application in an iphone
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Application of motion sensors
Self balancing robot
by Kelvin Ko
http://hk.youtube.com/watch?v=2u-EO2FDFG0

2
0
c
m

35cm
Motion sensors:
gyroscope and
accelerometer
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Complementary filter
Since





Combine two sensors to find output
15
Gyroscope
High
frequency
Accelerometer
Low
frequency
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Complementary filter
=rotation angle, t=filter time constant, s=laplace
operator
http://en.wikipedia.org/wiki/Low-pass_filter
http://en.wikipedia.org/wiki/High-pass_filter

16
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Self Balanced robot using
complementary filter

17
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Tilt Sensor by OMRON
http://rocky.digikey.com/WebLib/Omron%20Web%20Data/D6B.pdf
Detect tilting 35 ~ 65 degrees in right-and-
left inclination

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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
Floor tilled right
upper leg bend left
Floor tilled left
upper leg bend right

Neutral position
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.robotshop.com/Images/xbig/fr/robot-humanoide-nao-edition-academique-v3plus-aldebaran.jpg
http://www.youtube.com/watch?v=2STTNYNF4lk
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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.
resistance gauge unstrained R
gauge the of length L factor, gauge strain G and G for
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rod
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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.

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load
V
0

Sensors (v.1c) 29
Flexion (bend) sensors
resistance:
10 K (0);
30-40 K (90)

http://www.flexpoint.com/
http://www.jameco.com/wcsstore/Jameco/Products/ProdDS/150551.PDF
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Felixon resistance Demo

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

3 light emitters
3 light receivers
Rotation shaft
Light paths
http://www.youtube.com/watch?v=RuIislTGOwA
Crank shaft sensor
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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) 40
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) 44
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

http://www.youtube.com/watch?v=XjjBqzilkIc
Magnetic levitation Train Model

http://www.youtube.com/watch?v=TeS_U9qFg7Y
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=JmRkxZT4XhY
http://www.youtube.com/watch?v=cm0h2Qf3upQ
Sensors (v.1c) 48
Novel sensors
Kinect
http://www.youtube.com/watch?v=nvvQJxgykcU
http://www.youtube.com/watch?v=Mf44bWQr3jc
http://www.ladyada.net/learn/diykinect/
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
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Control systems
Example: A temperature control
system

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Control example: Temperature control system

Temp.
Sensor
A/D
CPU
D/A
Pulse Width
modulation
& solid state relay
Heater
Timer

Sample
&
Hold
Digital control
circuit
Instrum.
amp.
Water tank
computer
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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 (T
from_sensor
> T
req
required temperature)
then (heater off )
else (heater on).


T
req

Undershoot
Overshoot
Time
Temp
On-off control result
Steady state error
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Temperature control method 2 : Proportional-integral-
differential (PID) temperature control (good)
Init. (set required temperature T
req
)
Loop forever{
get temperature T from sensor,
e=T - T
req

then T
w
=e*G*{Kp+Kd*[d(e)/dt] +Ki*}e dt }
else
} //G,Kp,Kd,Ki can be adjusted by user
Tw
Tw
Proportional, differential, integral
Sensors (v.1c) 54
PID block diagram
http://www.controlviews.com/question12-
12-03.html

Figure 1 - Parallel PID block diagram

Kd
Ki
Kp
Sensors (v.1c) 55
PID control using pulse width
modulation PWM

Fixed period and fixed number of pulses
T
w
(depends on e )

T
req

PID control result
of method 2
On-off control: oscillates and unstable
Time
Temperature
Time
Sensors (v.1c) 56
Summary
Studied the characteristics of various
sensors
and their applications
Sensors (v.1c) 57
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