Содержание
- 2. INTRODUCTION Robotic sensing is a branch of robotics science intended to give robots sensing capabilities, so
- 3. PHYSICAL MEASUREMENTS AS INPUT
- 4. PHYSICAL MEASUREMENTS AS INPUT
- 5. ACTIVE VS. PASSIVE SENSORS Active sensors: Active remote sensors create their own electromagnetic energy that is
- 6. DIGITAL VS. ANALOG SENSORS 1) Digital sensors: The signal produced or reflected by the sensor is
- 7. DIGITAL SENSORS Digital sensors are more straight forward than Analog No matter what the sensor there
- 8. ANALOG SENSORS
- 9. NULL AND DEFLECTION METHODS
- 10. INPUT-OUTPUT CONFIGURATION
- 11. VISION Method: The visual sensing system can be based on anything from the traditional camera, sonar,
- 12. TOUCH Signal Processing: Touch sensory signals can be generated by the robot's own movements. It is
- 13. HEARING Signal processing: Accurate audio sensor requires low internal noise contribution. Traditionally, audio sensors combine acoustical
- 14. SENSORS USED IN ROBOTICS Proximity Sensor: This type of sensor is capable of pointing out the
- 15. b) Range Sensor • Range Sensor is implemented in the end effector of a robot to
- 16. c)Touch Sensor • The touch sensor has got the ability to sense and detect the touching
- 17. e) Sound Sensor • As the name suggests, this sensor (generally a microphone) detects sound and
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INTRODUCTION
Robotic sensing is a branch of robotics science intended to give
INTRODUCTION
Robotic sensing is a branch of robotics science intended to give
Robotic sensing mainly gives robots the ability to see, touch, hear and move and uses algorithms that require environmental feedback.
The use of sensors in robots has taken them into the next level of creativity. Most importantly, the sensors have increased the performance of robots to a large extent. It also allows the robots to perform several functions like a human being.
PHYSICAL MEASUREMENTS AS
INPUT
PHYSICAL MEASUREMENTS AS
INPUT
PHYSICAL MEASUREMENTS AS
INPUT
PHYSICAL MEASUREMENTS AS
INPUT
ACTIVE VS. PASSIVE SENSORS
Active sensors: Active remote sensors create their
ACTIVE VS. PASSIVE SENSORS
Active sensors: Active remote sensors create their
Passive Sensors: Passive sensor detects the naturally emitted microwave energy within its field of view.
DIGITAL VS. ANALOG SENSORS
1) Digital sensors: The signal produced or
DIGITAL VS. ANALOG SENSORS
1) Digital sensors: The signal produced or
2) Analog sensors: The signal produces by the sensor is continuous and proportional to the measurand.
DIGITAL SENSORS
Digital sensors are more straight forward than Analog
No matter
DIGITAL SENSORS
Digital sensors are more straight forward than Analog
No matter
Signal is always either HIGH (on) or LOW (off)
Voltage signal for HIGH will be a little less than 5V on your UNO
Voltage signal for Low will be 0V on most systems
ANALOG SENSORS
ANALOG SENSORS
NULL AND DEFLECTION METHODS
NULL AND DEFLECTION METHODS
INPUT-OUTPUT CONFIGURATION
INPUT-OUTPUT CONFIGURATION
VISION
Method: The visual sensing system can be based on anything from
VISION
Method: The visual sensing system can be based on anything from
Image processing: Image quality is important in applications that require excellent robotic vision. Robots can gather more accurate information from the resulting improved image.
Usage: Visual sensors help robots to identify the surrounding and take appropriate action. Robots analyze the image of the immediate environment imported from the visual sensor. The result is compared to the ideal intermediate or end image, so that appropriate movement can be determined to reach the intermediate or final goal.
TOUCH
Signal Processing: Touch sensory signals can be generated by the robot's
TOUCH
Signal Processing: Touch sensory signals can be generated by the robot's
Usage: Touch patterns enable robots to interpret human emotions in interactive applications. Four measurable features—force, contact time, repetition, and contact area change—can effectively categorize touch patterns through the temporal decision tree classifier to account for the time delay and associate them to human emotions with up to 83% accuracy.
HEARING
Signal processing: Accurate audio sensor requires low internal noise contribution. Traditionally,
HEARING
Signal processing: Accurate audio sensor requires low internal noise contribution. Traditionally,
Robots may interpret strayed noise as speech instructions. Current voice activity detection (VAD) system uses the complex spectrum circle centroid (CSCC) method and a maximum signal-to- noise ratio (SNR) beamformer.
Usage Robots can perceive our emotion through the way we talk. Acoustic and linguistic features are generally used to characterize emotions.
SENSORS USED IN ROBOTICS
Proximity Sensor: This type of sensor is capable
SENSORS USED IN ROBOTICS
Proximity Sensor: This type of sensor is capable
• Infrared (IR) Transceivers: An IR LED transmits a beam of IR light and if it finds an obstacle, the light is simply reflected back which is captured by an IR receiver. Few IR transceivers can also be used for distance measurement.
• Ultrasonic Sensor: These sensors generate high frequency sound waves; the received echo suggests an object interruption. Ultrasonic Sensors can also be used for distance measurement.
• Photoresistor: Photoresistor is a light sensor; but, it can still be used as a proximity sensor. When an object comes in close proximity to the sensor, the amount of light changes which in turn changes the resistance of the Photoresistor. This change can be detected and processed.
b) Range Sensor
• Range Sensor is implemented in the end
b) Range Sensor
• Range Sensor is implemented in the end
c) Tactile Sensors
• A sensing device that specifies the contact between an object, and sensor is considered as the Tactile Sensor. Tactile sensors are often in everyday objects such as elevator buttons and lamps which dim or brighten by touching the base. There are also innumerable applications for tactile sensors of which most people are never aware.
• This sensor can be sorted into two key types namely: a)Touch Sensor, and b) Force Sensor.
c)Touch Sensor
• The touch sensor has got the ability to
c)Touch Sensor
• The touch sensor has got the ability to
d) Light Sensor
• A Light sensor is used to detect light and create a voltage difference. The two main light sensors generally used in robots are Photoresistor and Photovoltaic cells. Other kinds of light sensors like Phototubes, Phototransistors, CCD’s etc. are rarely used.
• Photoresistor is a type of resistor whose resistance varies with change in light intensity; more light leads to less resistance and less light leads to more resistance. These inexpensive sensors can be easily implemented in most light dependant robots.
• Photovoltaic cells convert solar radiation into electrical energy. This is especially helpful if you are planning to build a solar robot. Although photovoltaic cell is considered as an energy source, an intelligent implementation combined with transistors and capacitors can convert this into a sensor.
e) Sound Sensor
• As the name suggests, this sensor (generally
e) Sound Sensor
• As the name suggests, this sensor (generally
f) Temperature Sensor
• Tiny temperature sensor ICs provide voltage difference for a change in temperature.
• NTC Thermistor can be assembled in housing in a variety of configurations for temperature sensing, measurement, detection, indicator, monitoring and control.
• Thermistor temperature sensor probe assemblies can conveniently attach to or be an integral part of any system to monitor or control temperature.
• The primary factors which determine the optimum configuration of a thermistor assembly are the operating environment; mounting & time.
• Applications for temperature sensing include air temperature sensors, surface temperature sensors and immersion temperature sensors. Housings for air temperature sensors are often simple, inexpensive devices such as molded plastic shells, deep- drawn brass or aluminum cylinders, or even stainless steel tubes.