Sensors (v.

1c) 1
CENG4480_A1
Sensors
Sensing the real world
Sensors (v.1c) 2
Sensors

otion (!rientation"inclination )sensors

#orce"$ress%re"strain

&osition

'e($erat%re and h%(idit)

*otar) $osition

+ight and (agnetic ,ield sensors
Sensors (v.1c) -
otion (!rientation"inclination
sensors

Acceleration

G)rosco$e

Co($ass

'ilt Sensor
Sensors (v.1c) 4
Accelero(eter
htt$.""en.wi/i$edia.org"wi/i"Accelero(eter

#%nctions.

(eas%re acceleration in one or (ore directions0

$osition can 1e ded%ced 1) integration.

!rientation sensing . tilt sensor

2i1ration sensing

ethods.

ass s$ring (ethod A34+58 (,ro( Analog 3evice )

Air $oc/et (ethod (42126)

Sensors (v.1c) 6
A34+58 (,ro( Analog 3evice
htt$.""www.analog.co("7$loaded#iles"3ata_Sheets"A34+58.$d,
)

ass s$ring t)$e (o%t$%t acceleration in G)

eas%re the ca$acitance to create o%t$%t
Sensors (v.1c) 8
A34+--0 accelero(eter ,or three (4090: ) directions
htt$.""www.analog.co("7$loaded#iles"3ata_Sheets"A34+--0.$d,

-3
Sensors (v.1c) 5
23 translational accelero(eter
42126 (,ro( www.$aralla;.co()

Gas $oc/et t)$e

<hen the sensor
(oves0 the
te($erat%res o,
the 4 sensors are
%sed to eval%ate
the 23
accelerations
Sensors (v.1c) 8
Accelero(eter de(o.
orientation sensing


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htt$.""www.)o%t%1e.co("watch=v>2&4Bwd+#o
Sel,B1alance *o1ot
Sensor de(o
Sensors (v.1c) ?
Accelero(eter de(o .
'ilt sensing de(o


htt$.""www.)o%t%1e.co("watch=v>C8%2r9CBD50
'ilt sensing de(o
Sensors (v.1c) 10
G)rosco$es
htt$.""en.wi/i$edia.org"wi/i"G)rosco$e

G)rosco$e

eas%re rotational angle

*ate G)rosco$e

(eas%re the rate o, rotation along -Ba;es o, 4

($itch)0 9 (roll)0 and : ()aw).

odern i($le(entations are %sing

icroelectro(echanical s)ste(s (ES)
technologies.
G)rosco$e
Sensors (v.1c) 11

#EA'7*ES

Co($lete rate g)rosco$e on a single chi$ icroelectro(echanical s)ste(s (ES)

:Ba;is ()awBrate) res$onse

A&&+ECA'E!NS

G&S navigation s)ste(s

E(age sta1iliCation

Enertial (eas%re(ent %nits

&lat,or( sta1iliCation
G)rosco$e to (eas%re *ational acceleration
A34*S401 htt$.""www.analog.co("7$loaded#iles"3ata_Sheets"A34*S401.$d,
Sensors (v.1c) 12
Co($assBB the &hili$s F:61
(agnetic ,ield sensor

60"80GC (high) o$eration0 a Ditter o, aro%nd
1.6H
Sensors (v.1c) 1-
*ate g)rosco$e de(o


htt$.""www.)o%t%1e.co("watch=v>2&4Bwd+#o
7sing G)rosco$e co($ass ,or virt%al realit) a$$lication in an i$hone
Sensors (v.1c) 14
A$$lication o, (otion sensors
Sel, 1alancing ro1ot

1) Felvin Fo

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2
0
c
m
2
0
c
m
35cm
35cm
otion sensors.
g)rosco$e and
accelero(eter
Sensors (v.1c) 16
Co($le(entar) ,ilter
Co($le(entar) ,ilter

Since
Since

Co(1ine two sensors to ,ind o%t$%t
Co(1ine two sensors to ,ind o%t$%t
15 15
Sensors (v.1c) 18
Co($le(entar) ,ilter
Co($le(entar) ,ilter
I I>rotation angle0 >rotation angle0

>,ilter ti(e constant0 s>la$lace >,ilter ti(e constant0 s>la$lace

o$erator o$erator
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htt$.""en.wi/i$edia.org"wi/i"GighB$ass_,ilter htt$.""en.wi/i$edia.org"wi/i"GighB$ass_,ilter
16 16
Sensors (v.1c) 15
Sel, @alanced ro1ot %sing
Sel, @alanced ro1ot %sing
co($le(entar) ,ilter
co($le(entar) ,ilter
17 17
Sensors (v.1c) 18
'ilt Sensor 1) OMRON
htt$.""roc/).digi/e).co("<e1+i1"!(ronJ20<e1J203ata"38@.$d,

3etect tilting -6 K 86 degrees in rightBandB
le,t inclination
Sensors (v.1c) 1?
#orce"$ress%re"strain

#orceBsensitive resistor (#S*)

Strain ga%ge

#le;ion

Air $ress%re
Sensors (v.1c) 20
#orce Sensing *esistors
htt$.""www.interlin/electronics.co("li1rar)"(edia"$a$ers"$d,",srg%ide.$d,

#S*402
Sensors (v.1c) 21
#orce Sensing *esistor 3e(o


htt$.""www.)o%t%1e.co("watch=v>+A21l4r8egs
Sensors (v.1c) 22
A$$lication ,or a wal/ing ro1ot

<al/ing ro1ot
Sensors (v.1c) 2-
A$$lication o, ,orce sensing resistance
sensors to 1alance a wal/ing ro1ot

@alancing
#loor tilled right
%$$er leg 1end le,t
#loor tilled le,t
%$$er leg 1end right
Ne%tral $osition
#o%r sensors %nder the ,oot
Sensors (v.1c) 24
#o%r #orce sensors %nder the ,oot

3
Sensors (v.1c) 26
'he Nao ro1ot %ses ,orce ,eed1ac/ at its ,eet
htt$.""en.wi/i$edia.org"wi/i"Nao_(ro1ot)


htt$.""www.ro1otsho$.co("E(ages";1ig",r"ro1otBh%(anoideBnaoBeditionBacade(iL%eBv-$l%sBalde1aran.D$g
htt$.""www.)o%t%1e.co("watch=v>2S''N9N#4l/
Sensors (v.1c) 28
Strain Ga%ge . #orce sensors
htt$.""www.(easBs$ec.co("()eas"de,a%lt"inde;.as$

&ieCoelectric cr)stal. $rod%ces a voltage that is
$ro$ortional to ,orce a$$lied

Strain ga%ge. ce(ented on a rod. !ne end o, the
rod is ,i;ed0 ,orce is a$$lied to the other end. 'he
resistance o, the ga%ge will change with the ,orce.
Sensors (v.1c) 25
Single ele(ent strain ga%ge

sensitive to te($erat%re change.
resistance ga%ge %nstrained *
ga%ge the o, length + ,actor0 ga%ge strain G and G ,or
4 4 2 4 2 2
0
=
= =

+
=
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L
R
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Vb
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V V
b b
2
1
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*
Ga%ge>*M*
ga%ge
load
rod
2
0
Sensors (v.1c) 28
#o%rBele(ent (<heatstone
1ridge) strain ga%ge sensor0

#o%r ti(es (ore sensitive than single ga%ge s)ste(N not
sensitive to te($erat%re change.

All ga%ges have %nstrained resistance *.

+ +

+ +
+
=
L
L
G V
R
R
V
R R R R
R R
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b b b
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t2>*M *
12>*B*
t1>*M*
2
1
t1
t2
11
12
rod
load
2
0
Sensors (v.1c) 2?
Flexion (bend) sensors

resistance.

10 FO (0H)N

-0B40 FO (?0H)
htt$.""www.,le;$oint.co("
htt$.""www.Da(eco.co("wcsstore"Pa(eco"&rod%cts"&rod3S"160661.&3#
Sensors (v.1c) -0
#eli;on resistance 3e(o


htt$.""www.)o%t%1e.co("watch=v>(4E6S&5GCn/Q,eat%re>related
Sensors (v.1c) -1
Air $ress%re sensor

eas%re %$ to 160 $si ($ress%re $er sL%are
inch ).
Sensors (v.1c) -2
&osition sensors

En,raBred range sensor

+inear and *otar) $osition sensors
Sensors (v.1c) --
En,raBred *ange detectors 1) SGA*& (4 to -0c()
htt$.""www.acrona(e.co("ro1otics"in,o"articles"shar$"shar$.ht(l

An e(itter sends o%t light $%lses. A s(all
linear CC3 arra) receives re,lected light.

'he distance corres$onds to the triangle
,or(ed.
Sensors (v.1c) -4
E* radar %sing the Shar$ range
detector


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Sensors (v.1c) -6
&osition sensors0 ,ro(R1S

*otar) +inear

!$tical sha,t encoder
Sensors (v.1c) -8
agnetic rotar) encoder
(htt$.""www.renishaw.co("7ser#iles"acro1at"7FEnglish"+B?615B?145.$d,)

non to%ch sensing
Sensors (v.1c) -5
!$tical rotar) encoder
(htt$.""en.wi/i$edia.org"wi/i"*otar)_encoder)

'he light received (on or o,,) will tell the
rotation angle)
- light e(itters
- light receivers
*otation sha,t
+ight $aths
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Cran/ sha,t sensor
Sensors (v.1c) -8
'e($erat%re and h%(idit)

'e($erat%re

h%(idit)
Sensors (v.1c) -?
'e($erat%re sensors
+1-6"2-6"--6 ,eat%res(,ro( NS)
htt$.""www.national.co("$,"+"+1-6.ht(l

3irectl) cali1rated in HFelvin

1HC initial acc%rac) availa1le

!$erates ,ro( 400 TA to 6 (A

+ess than 1 !h( d)na(ic i($edance

Easil) cali1rated

<ide o$erating te($erat%re range

200HC over range

+ow cost
Sensors (v.1c) 40
A$$lication note (connecting to an
A3C e.g. A3C0820 or A3C0801)


Sensors (v.1c) 41
Ca$acitive At(os$heric G%(idit)
Sensor
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BCcomponents 2322 691 90001
10-90%RH 3c
Sensors (v.1c) 42
Le! "ensor #lerts $%en &lnts
#re '%irst(


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Sensors (v.1c) 4-
'"L2607 '"L2617 '"L262
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htt$."",oc%s.ti.co("general"docs"sc$rod%cts.Ds
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+ightBtoBvoltage o$tical sensors0 each co(1ining a
$hotodiode and an a($li,ier (,eed1ac/ resistor >
18 <0 8 <0 and 2 < res$ectivel)).

'he o%t$%t voltage is directl) $ro$ortional to the
light intensit) on the $hotodiode.
Sensors (v.1c) 44
Cdmi-m "-l!oselenide (Cd")
&%otocond-cti/e &%otocells
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+ight sensing %sing CdS
Sensors (v.1c) 46
Gall e,,ect Sensors ,or sensing
(agnetic ,l%;U@ ,ieldV0 see.
htt$.""doc.se(icon.toshi1a.co.D$"nosee/"%s"td"td2,ra(e.ht(


Sensors (v.1c) 48
A$$lication on agnetic levitation
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agnetic levitation 'rain odel

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,rog levitation
htt$.""www.)o%t%1e.co("watch=v>A1v)@B!6i8E
Sensors (v.1c) 45
Gall e,,ect sensors and 1r%shless 3C
(otors

@r%shless 3C (otor

W htt$.""dev.e(celettronica.co(",iles"%4"@r%shless_3C_otors_1ldc_(otor.D$g

Es it %sing Gall e,,ect sensor= 3onXt /nown.
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Sensors (v.1c) 48
Novel sensors

Finect
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htt$.""www.)o%t%1e.co("watch=v>,441<Ar-Dc
htt$.""www.lad)ada.net"learn"di)/inect"
Sensors (v.1c) 4?
an) FENEC'
3E9 $roDects


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Sensors (v.1c) 60
Control s)ste(s
E;a($le. A te($erat%re control
s)ste(

Sensors (v.1c) 61
Control e;a($le. 'e($erat%re control s)ste(


'e($.
Sensor
A"3
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<ater tan/
co($%ter
Sensors (v.1c) 62
'e($erat%re control (ethod 1. !NB!,, (1angB1ang)
control ($oor)

Eas) to i($le(ent0 1ad control res%lt BB contains overshoot
%ndershot. Algorith( ,or onBo,,Bcontrol.
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!nBo,, control res%lt
Stead) state error
Sensors (v.1c) 6-
'e($erat%re control (ethod 2 . &ro$ortionalBintegralB
di,,erential (&E3) te($erat%re control (good)
Enit. (set reL%ired te($erat%re '
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+oo$ ,oreverZ

get te($erat%re ' ,ro( sensor0

e>' B '
reL

then '
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else

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'w
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&ro$ortional0 di,,erential0 integral
Sensors (v.1c) 64
&E3 1loc/ diagra(

htt$.""www.controlviews.co("L%estion12B
12B0-.ht(l

Figure 1 - Parallel PID block diagram
Fd
Fi
F$
Sensors (v.1c) 66
&E3 control %sing $%lse width
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!nBo,, control. oscillates and %nsta1le
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Sensors (v.1c) 68
S%((ar)

St%died the characteristics o, vario%s
sensors

and their a$$lications
Sensors (v.1c) 65
*e,erences

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