Robot Sensors

The sensor is a transducer used to make a measurement of the physical variable. The transducer is a device that converts one type of physical variable into another form. The sensor is used to collect information about the status of manipulator and end effectors with respect to the object.

1. Robot Sensors Sensor is a transducer used to make measurement of physical variable. Transducer is a device that convert one type of physical variable in to another form. The sensor are used to collect the information about the status of manipulator and end effectors with respect to object

2. Desirable features of sensors Accuracy Precision Operating range Speed response Sensitivity Interfacing Calibration Reliability Cost and easy operation, size, weight.

3. Types of sensors 1) Contact sensors A) Touch Sensors B) Force sensors C) Position and displacement 2) Non Contact type sensors A) Proximity or range sensors B) Robot vision system C) Voice sensors.

4. A sensor is a device that receives and responds to a signal the signal could be heat,light,motion or chemical a sensor coverts a signal into an analog or digital representation of the output sensors detect and/or measure many different conditions What are some sensors that you have used? INTRODUCTION:

5. Humans are equipped with 5 different types of sensors Detects light Detects certain chemicals Detects pressure & temperature Detects sound

6. 6 WORKING PRINCIPLE                                                                                 LIGHT BEAM CHANGES BY THE PHENOMENA THAT IS BEING MEASURED LIGHT MAY CHANGE IN ITS FIVE OPTICAL PROPERTIES i.e INTENSITY, PHASE, POLARIZATION,WAVELENGTH AND SPECTRAL DISTRIBUTION

7. CLASSIFICATION OPTICAL SENSORS ARE OF EXTRINSIC SENSORS INTRINSIC SENSORS TWO TYPES 7

8. 8 EXTRINSIC SENSORS WHERE THE LIGHT LEAVES THE FEED OR TRANSMITTING FIBER TO BE CHANGED BEFORE IT CONTINUES TO THE DETECTOR BY MEANS OF THE RETURN OR RECEIVING FIBER

9. 9 INTRINSIC SENSORS INTRINSIC SENSORS ARE DIFFERENT IN THAT THE LIGHT BEAM DOES NOT LEAVE THE OPTICAL FIBER BUT IS CHANGED WHILST STILL CONTAINED WITHIN IT.

10. 10 COMPARISON OF THE TWO TYPES EXTRINSIC INTRINSIC APPLICATIONS- TEMPERATURE, PRESSURE,LIQUID LEVEL AND FLOW. LESS SENSITIVE EASILY MULTIPLEXED INGRESS/ EGRESS CONNECTION PROBLEMS EASIER TO USE LESS EXPENSIVE APPLICATIONS- ROTATION, ACCELERATION, STRAIN, ACOUSTIC PRESSURE AND VIBRATION. MORE SENSITIVE TOUGHER TO MULTIPLEX REDUCES CONNECTION PROBLEMS MORE ELABORATE SIGNAL DEMODULATION MORE EXPENSIVE

11. 11 Types of Optical Sensors Chemical/Gas Concentration Temperature Strain Biomedical Electric & Magnetic Fields Rotation Pressure Displacement &Position

12. 12 CHEMICAL SENSORS REMOTE SPECTROSCOPY GROUNDWATER AND SOIL CONTAMINATION MAJOR PLAYERS IN CHEMICAL SENSORS 1) PHARMACIA BIOTECH (SWEDEN) 2) FIBERCHEM 3) THE QUANTUM GROUP

13. Chemical/Gas Sensor Types and Applications. Sensor type Detectable gases Usable range Pro's Con's Electrochemical Toxics, oxygen ppm levels Low power, accurate, repeatable 3 year lifetime slightly lower at high temps; some types are cross-sensitive Pellistor Flammables LEL levels Generally good in all ways; portable Can be damaged by high levels of H2S, but poison resistant types are available Infrared Flammables and CO2 0.1 (or less) to 100% by volume Fail safe; generally excellent Expensive (but getting cheaper); non-portable Thermal Conductivity Many, at % levels, including binary mixtures % levels 20 year life (at least); stable; can detect inert gases Only appropriate for certain gases 13

14. TEMPERATURE SENSORS LARGEST COMMERCIALLY AVAILABLE SENSORS RANGE -40 deg C TO 1000 deg C 14

15. TYPES OF TEMPERATURE SENSORS Thermocouples Thermistors Radiation Pyrometer Radiation Thermometers Resistance Temperature Detectors Fiber Optic Temperature Sensors Silicon Temperature Sensors 15

16. APPLICATIONS HVAC - room, duct, and refrigerant equipment Motors - overload protection Electronic circuits - semiconductor protection Electronic assemblies - thermal management, temperature compensation Process control - temperature regulation Automotive - air and oil temperature Appliances - heating and cooling temperature 16

17. STRAIN SENSORS FIBER BRAGG GRATINGS (FBG) TECHNOLOGY SENSES AS LITTLE AS 9 MICROSTRAIN NRL and UNITED TECHNOLOGY RESEARCH 17

18. BIOMEDICAL SENSORS SPECTROSCOPIC BIOMEDICAL SENSORS CO 2 , O 2 and pH CAN BE MEASURED SIMULTANEOUSLY FLOW MONITORING BY LASER DOPPLERIMETRY FIBERS – OPTHALMOLOGIC APPLICATION 18

19. ELECTRICAL AND MAGNETIC SENSORS APPEALING- INHERENT DIELECTRIC NATURE LESS SENSITIVE TO ELECTROMAGNETIC INTERFERENCE SMALL SIZE AND SAFER THEY ARE ALMOST ALWAYS HYBRID ABB CORPORATION RESEARCH CENTER 19

20. APPLICATION Compassing and navigation Vehicle Detection Virtual Reality Laboratory Instrumentation a Medical Instruments Underground Boring Equipment Flux Gate Replacement 20

21. ROTATION SENSOR BASED ON THE SAGNAC EFFECT TWO TYPES RING LASER GYROSCOPE (RLG) AND FIBER OPTIC GYROSCOPE (FOG) US COMPANIES PURSUING HIGH PERFORMANCE FOG’s (HONEYWELL, LITTON, NORTHRUP, ALLIED SIGNAL etc.) 21

22. PRESSURE SENSORS EARLIER BASED ON PIEZORESISTIVE TECHNIQUE BASED ON MOVABLE DIAPHRAGM HIGH PERFORMANCE- (POLARIZATION BASED SENSORS) OPERATING PRESSURE RANGES FROM 0-70,000 torr 22

23. DISPLACEMENT AND POSITION SENSORS ONE OF THE FIRST OPTOELECTRONIC SENSORS TO BE DEVELOPED. SIMPLE SENSORS RELY ON THE CHANGE IN RETROREFLECTANCE DUE TO A PROXIMAL MIRROR SURFACE ALSO REFERRED AS LIQUID LEVEL SENSORS 23

24. 24 WHY OPTICAL SENSORS ELECTROMAGNETIC IMMUNITY ELECTRICAL ISOLATION COMPACT AND LIGHT BOTH POINT AND DISTRIBUTED CONFIGURATION WIDE DYNAMIC RANGE AMENABLE TO MULTIPLEXING

25. 25 APPLICATIONS MILITARY AND LAW ENFORCEMENT THIS SENSOR ENABLES LOW LIGHT IMAGING AT TV FRAME RATES AND ABOVE WITHOUT THE LIMITATIONS OF VACUM TUBE BASED SYSTEMS.

26. 26 NIGHT VISION CAMERA (contd.) COMPRISES OF : AMPLIFIED CCD SENSOR ANTI BLOOMING TECHNOLOGY CRYSTAL POLYMER SHUTTER ADVANTAGES : EXCEPTIONAL DAY LIGHT RESOLN. IMMUNE TO OVER EXPOSURE VERY HIGH CONTARAST LEVELS NO HALOING OR SCINTILLATIONS

27. 27 BIOMETRICS YOUR FACE, FINGERS AND EYES IN A WHOLE NEW LIGHT IMAGE CAPTURE IMAGE PROCESSING FEATURE EXTRACTION FEATURE COMPARISON

28. 28 PARTIAL DISCHARGE DETECTION USES OPTICAL FIBER SENSORS OPTICAL FIBER SENSORS ARE BEING TESTED FOR USE IN DETECTING PARTIAL DISCHARGES IN ELECTRICAL TRANSFORMERS. PINPOINTING SUCH DISCHARGES IS ESSENTIAL TO PREVENTING INSULATION BREAKDOWN AND CATASTROPHIC FAILURES .