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Im Mr. Sensitivity... A brief overview of sensors (and why you should love them) copyright 2002: Sean Pieper, Bob Grabowski, Howie Choset.

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Presentation on theme: "Im Mr. Sensitivity... A brief overview of sensors (and why you should love them) copyright 2002: Sean Pieper, Bob Grabowski, Howie Choset."— Presentation transcript:

1 Im Mr. Sensitivity... A brief overview of sensors (and why you should love them) copyright 2002: Sean Pieper, Bob Grabowski, Howie Choset

2 Why Sensors Are Important: The world is NOT static. It can also be incredibly complex.

3 Oh no. I thought you said the 40th canal on sector 15.. Sometimes, the environment where a robot will be deployed is simply unknowable...

4 What Is a Sensor? Anything that detects the state of the environment. Yep. Youve already used sensors before in the Braitenburg lab. Are the following sensors? –positioning devices –Encoders –Vision –Mine detectors (detector vs. sensor)

5 Some types of Sensors: Ladar (laser distance and ranging) –Time of flight –Phase shift Sonar Radar Infra-red Light sensing Heat sensing Touch sensing

6 How to Choose a Sensor: There are four main factors to consider in choosing a sensor. 1)Cost: sensors can be expensive, especially in bulk. 2)Environment: there are many sensors that work well and predictably inside, but that choke and die outdoors. 3)Range: Most sensors work best over a certain range of distances. If something comes too close, they bottom out, and if something is too far, they cannot detect it. Choose a sensor that will detect obstacles in the range you need. 4)Field of View: depending upon what you are doing, you may want sensors that have a wider cone of detection. A wider field of view will cause more objects to be detected per sensor, but it also will give less information about where exactly an object is when one is detected.

7 Creative Uses: Sharp IR sensors are very accurate and operate well over a large range of distances proportional to the size of a Lego robot. However, they have almost no spread. This can cause a robot to miss an obstacle because of a narrow gap. One solution is to make the sensor pan. One could also use a light sensor to detect obstacles indoors. Inside, there tend to be lights at many angles and locations. Thus, around the edges of most obstacles, a slight shadow will be cast. A light sensor could detect this shadow and thus the associated object. Warning: this could be a very fickle design. Touch sensors can have their spread increased with large bumpers, and can be used for wall following to implement bug2. They are also dirt cheap.

8 Shadow cast indicates obstacle: one way to navigate with photo resistors. Example of sharp IR mounted to sweep for a wider field of view.

9 Time for some meat Now that you understand the vital importance of sensors to constructing robust and interesting robots, youre probably curious about whats available. Heres a small sampling of commonly used sensors and their applications... Hang on tight.

10 Solar Cell Digital Infrared Ranging Compass Touch Switch Pressure Switch Limit Switch Magnetic Reed Switch Magnetic Sensor Miniature Polaroid Sensor Polaroid Sensor Board Piezo Ultrasonic Transducers Pyroelectric Detector Thyristor Gas Sensor Gieger-Muller Radiation Sensor Piezo Bend Sensor Resistive Bend Sensors Mechanical Tilt Sensors Pendulum Resistive Tilt Sensors CDS Cell Resistive Light Sensor Hall Effect Magnetic Field Sensors Compass IRDA Transceiver IR Amplifier Sensor IR Modulator Receiver Lite-On IR Remote Receiver Radio Shack Remote Receiver IR Sensor w/lens Gyro Accelerometer IR Reflection Sensor IR Pin Diode UV Detector Metal Detector

11 Bend Sensors Resistance = 10k to 35k Force to produce 90deg = 5 grams = 10$ Potentiometers Fixed Rotation Sensors Easy to find, easy to mount Light Sensor Good for detecting direction/presence of light Non-linear resistance Slow response Resistive Sensors Resistive Bend Sensor Cadmium Sulfide Cell Potentiometer

12 Sensor Measure bend of a joint Wall Following/Collision Detection Weight Sensor Sensors Sensor Applications

13 micro + - Single Pin Resistance Measurement Binary Threshold micro Analog to Digital (pull down) Inputs for Resistive Sensors Voltage divider: You have two resisters, one is fixed and the other varies, as well as a constant voltage V1 – V2 * (R2/R1+R2) = V R1 R2 measureKnown unknown V V1 V2 Comparator: if voltage at + is greater than at -, high value out

14 Intensity Based Infrared Easy to implement (few components) Works very well in controlled environments Sensitive to ambient light time voltage time voltage Increase in ambient light raises DC bias

15 Modulated Infrared Insensitive to ambient light Built in modulation decoder (typically 38-40kHz) Used in most IR remote control units ( good for communications) Mounted in a metal faraday cage Cannot detect long on-pulses Requires modulated IR signal limiterdemodulator bandpass filteramplifier comparator integrator 600us Input Output

16 Digital Infrared Ranging position sensitive device (array of photodiodes) Optical lenses Modulated IR beam Optics to covert horizontal distance to vertical distance Insensitive to ambient light and surface type Minimum range ~ 10cm Beam width ~ 5deg Designed to run on 3v -> need to protect input Uses Shift register to exchange data (clk in = data out) Moderately reliable for ranging +5v output input gnd 1k

17 Polaroid Ultrasonic Sensor Mobile Robot Electric Measuring Tape Focus for Camera

18 Theory of Operation Digital Init Chirp –16 high to low –-200 to 200 V Internal Blanking Chirp reaches object –343.2 m/s –Temp, pressure Echoes –Shape –Material Returns to Xducer Measure the time

19 Problems Azimuth Uncertainty Specular Reflections Multipass Highly sensitive to temperature and pressure changes Minimum Range

20 Beam Pattern Not Gaussian!!

21 (Naïve) Sensor Model

22 Problem with Naïve Model

23 Reducing Azimuth Uncertainty Pixel-Based Methods (Most Popular) Region of Constant Depth Arc Transversal Method Focusing Multiple Sensor

24 Certainty Grid Approach Combine info with Bayes Rule (Morevac and Elfes)

25 Arc Transversal Method Uniform Distribution on Arc Consider Transversal Intersections Take the Median

26 Mapping Example

27 Vendors Micromint Wirz Gleason Research (Handyboard) Polaroid-oem

28 Metal Detector 112kHz LC Oscillator Oscillator signal coupled via transformer Diode converts AC signal to DC ripple and applies as bias to T3 When T2 is turned off, T3 is turned on LED will drop about 2volts

29 9v Signal to 5v logic + - LM311 comparator PIC +5V R pullup +9V 9v signal A comparator can be used to convert a two-state signal to digital logic When the + voltage is above the voltage on the - pin, the output is high When the + voltage is below the - voltage, the output is low The LM311 has an open collector (you need to provide pullup resistor) This allows conversion from 9volt logic to 5volt logic

30 Accelerometers adxl202 2-axis accelerometer Mems technology provides precision mechanical electrical devices ADXL202 outputs convenient PWM output whose duty cycle is proportional to acceleration Cost about 30$ - easy to interface to PIC

31 Accelerometer Uses Measure tilt of arm Measure Weight ADXL202EB

32 Pass signal through low-pass filter, then to ADC –Averages signal –Filter cutoff frequency should be < 0.1 bandwidth C R + - ADXL202EB Bandwidth = 100 Hz LM324 PIC ADC0 +5V 0.1 F t ViVi VoVo VoVo ViVi Analog Tilt Measurements

33 Send PWM signal directly to CCP –Set to measure pulse width –Uses a valuable microcontroller resource ADXL202EB Bandwidth = 100 Hz Pic CCP +5V 0.1 F ViVi t on 50% duty cycle = 0 accel t period Digital Tilt Measurements

34 Pass acceleration signal through integrator, then to ADC –Need to compensate for 2.5V offset –Need to choose RC such that Vo does not saturate –Need to periodically reset integrator to prevent overflow C R + - ADXL202EB Bandwidth = 1000 Hz LM324 PIC ADC0 +5V t ViVi VoVo VoVo ViVi R R + - Rb Analog Velocity Measurements

35 Pass acceleration signal through comparator, then to input capture –Need high signal bandwidth to see pulse C R + - ADXL202EB Bandwidth = 1000 Hz LM311 comparator PIC Rb t ViVi VoVo VoVo ViVi +5V V th R pullup V th Threshold Measurements

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