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NAO NEX GEN ROBOT
 RAKESH KUMAR
  ISHA AGARWAL
  SANJAY KALKARE
  PRIYA
  NEHA. B




                   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
                  Sensors (v.1c)            3
Motion (Orientation/inclination
sensors
 Acceleration
 Gyroscope
 Compass
 Tilt Sensor


                Sensors (v.1c)    4
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)

                     Sensors (v.1c)                  5
ADXL78 (from Analog Device
http://www.analog.com/UploadedFiles/Data_Sheets/ADXL
 )

  Mass spring type (output acceleration in G)
  Measure the capacitance to create output




                      Sensors (v.1c)            6
ADXL330 accelerometer for three (X,Y,Z ) directions

http://www.analog.com/UploadedFiles/Data_Sheets/ADXL330.pdf



   3D




                               Sensors (v.1c)                 7
2D translational accelerometer
MX2125
 Gas pocket type
 When the sensor
 moves, the
 temperatures of
 the 4 sensors are
 used to evaluate
 the 2D
 accelerations

                     Sensors (v.1c)   8
Accelerometer demo:
orientation sensing




                                   Self-balance Robot
    Sensor demo


                  Sensors (v.1c)                        9
Accelerometer demo :
Tilt sensing demo




         Tilt sensing demo


                 Sensors (v.1c)   10
Gyroscopes


 Gyroscope
   Measure rotational angle
 Rate Gyroscope                         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.
                    Sensors (v.1c)                  11
Gyroscope to measure Rational acceleration
                               ADXRS401




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          Sensors (v.1c)                          12
Compass-- the Philips KMZ51
magnetic field sensor
 50/60Hz (high) operation, a jitter of around
 1.5°




                   Sensors (v.1c)           13
Rate gyroscope demo




Using Gyroscope compass for virtual reality application in an iphone


                           Sensors (v.1c)                    14
Application of motion sensors
Self balancing robot
 by Kelvin Ko                                  Motion sensors:
 http://hk.youtube.com/watch?v=2u-EO2FDFG0
                                               gyroscope and
                                                accelerometer
                    20cm




                                        35cm
                            Sensors (v.1c)                15
Complementary filter

 Since




 Combine two sensors to find output
            Sensors (v.1c)            16
                                           16
Complementary filter
θ=rotation angle, τ=filter time constant, s=laplace
operator
http://en.wikipedia.org/wiki/Low-pass_filter




                         Sensors (v.1c)               17
                                                           17
Self Balanced robot using
complementary filter




           Sensors (v.1c)   18
                                 18
Tilt Sensor by OMRON

 Detect tilting 35 ~ 65 degrees in right-and-
 left inclination




                   Sensors (v.1c)               19
Force/pressure/strain
 Force-sensitive resistor (FSR)
 Strain gauge
 Flexion
 Air pressure


               Sensors (v.1c)     20
Force Sensing Resistors

 FSR402




              Sensors (v.1c)   21
Force Sensing Resistor Demo




             Sensors (v.1c)   22
Application for a walking robot
 Walking robot




                 Sensors (v.1c)   23
Application of force sensing resistance
sensors to balance a walking robot

  Balancing          Floor tilled left       Floor tilled right
Neutral position   upper leg bend right     upper leg bend left




                                Four sensors under the foot
                         Sensors (v.1c)                       24
Four Force sensors under the foot
 D




              Sensors (v.1c)    25
The Nao robot uses force feedback at its feet




                    Sensors (v.1c)              26
Strain Gauge : Force sensors

 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.




                      Sensors (v.1c)                27
Single element strain gauge
 sensitive to temperature change.
                                             Vb                  gauge
                    R                   Gauge=R+∆R                 rod
                             V0
                                        R
                     R                                                   load
         R       R           ∆R               ∆R       G ∆L 
V0 = Vb     −          = Vb              ≈ Vb     = Vb      
         2 R 2 R + ∆R        4 R + 2 ∆R       4R       4 L 
    ∆R       ∆L
for      =G     and G = strain gauge factor, L = length of the gauge
     R        L
R = unstrained gauge resistance
                                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.
                                                  t1     t2
                                           Vb
               b2=R-∆R           t1=R+∆R             rod
                            V0                   b1    b2
              t2=R+ ∆R          b1=R-∆R                   load
              R + ∆R          R − ∆R            2∆ R        ∆L 
V0 = Vb                 −                 = Vb        = Vb  G 
         R + ∆R + R − ∆R R + ∆R + R − ∆R        2R          L 

                              Sensors (v.1c)                            29
Flexion (bend) sensors

 resistance:
 10 KΩ (0°);
 30-40 KΩ (90°)                    /




                  Sensors (v.1c)       30
Felixon resistance Demo




             Sensors (v.1c)   31
Air pressure sensor
 Measure up to 150 psi (pressure per square
 inch ).




                  Sensors (v.1c)              32
Position sensors
 Infra-red range sensor
 Linear and Rotary position sensors




                  Sensors (v.1c)      33
Infra-red Range detectors by SHARP (4 to 30cm)
  An emitter sends out light pulses. A small
  linear CCD array receives reflected light.
  The distance corresponds to the triangle
  formed.




                    Sensors (v.1c)             34
IR radar using the Sharp range
detector




               Sensors (v.1c)    35
Position sensors, from[1]
 Rotary                       Linear




 Optical shaft encoder


                         Sensors (v.1c)   36
Magnetic rotary encoder
)


    non touch sensing




                    Sensors (v.1c)   37
Optical rotary encoder
)
    The light received (on or off) will tell the
    rotation angle)      3 light receivers

               Light paths
                                               Rotation shaft



    3 light emitters


                                               Crank shaft sensor
                                Sensors (v.1c)                 38
                       http://www.youtube.com/watch?v=RuIislTGOwA
Temperature and humidity
 Temperature
 humidity




               Sensors (v.1c)   39
Temperature sensors
LM135/235/335 features(from NS)

   Directly calibrated in °Kelvin
   1°C initial accuracy available
   Operates from 400 µA to 5 mA
   Less than 1 Ohm dynamic impedance
   Easily calibrated
   Wide operating temperature range
   200°C over range
   Low cost
                  Sensors (v.1c)       40
Application note (connecting to an
ADC e.g. ADC0820 or ADC0801)




               Sensors (v.1c)    41
Capacitive Atmospheric Humidity
Sensor


 BCcomponents 2322 691 90001
 10-90%RH Dc




               Sensors (v.1c)     42
Leaf Sensor Alerts When Plants
Are Thirsty




              Sensors (v.1c)     43
TSL250, TSL251, TSL252
LIGHT-TO-VOLTAGE OPTICAL SENSORS


 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


 Light sensing using CdS




                 Sensors (v.1c)   45
Hall effect Sensors for sensing
magnetic flux“B field”, see:




              Sensors (v.1c)      46
Application on Magnetic levitation 磁懸浮




                                      Magnetic levitation Train Model
                                               磁懸浮火車




   frog levitation   Sensors (v.1c)                           47
Hall effect sensors and brushless DC
motors
 Brushless DC motor


 Is it using Hall effect sensor? Don't known.




                   Sensors (v.1c)               48
Novel sensors
 Kinect                          /




                Sensors (v.1c)       49
Many KINECT
DIY projects




               Sensors (v.1c)   50
Control systems
Example: A temperature control
           system




            Sensors (v.1c)       51
Control example: Temperature control system
                                                 computer
                       Digital control           Timer
Water tank                 circuit

    Temp.                       Sample
    Sensor        Instrum.                 A/D
                   amp.           &
                                 Hold
                                                  CPU
                 Pulse Width
      Heater      modulation             D/A
               & solid state relay

                        Sensors (v.1c)                   52
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 (Tfrom_sensor > Treq required temperature)
   then (heater off )
   else (heater on).
                        Overshoot
 Treq
                                             Steady state error
                        Undershoot
Temp
                   On-off control result
                                                   Time
                            Sensors (v.1c)                   53
Temperature control method 2 : Proportional-integral-
differential (PID) temperature control (good)


  Init. (set required temperature Treq)
  Loop forever{
     get temperature T from sensor,                            Tw
     e=T - Treq
     then Tw =e*G*{Kp+Kd*[d(e)/dt] +Ki*∫e dt }
                 Proportional, differential,   integral
     else
  } //G,Kp,Kd,Ki can be adjusted by user
                          Sensors (v.1c)                  54
   Tw
PID block diagram



                                Kd
                                      Kp
      Figure 1 - Parallel PID block diagram




                                Ki



                            Sensors (v.1c)    55
PID control using pulse width
modulation PWM
               Tw (depends on e )

                                                        Time
              Fixed period and fixed number of pulses
Temperature           On-off control: oscillates and unstable
Treq

                  PID control result
                  of method 2

                                                      Time
                           Sensors (v.1c)                       56
Summary
 Studied the characteristics of various
 sensors
 and their applications




                   Sensors (v.1c)         57

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NAO NEX GEN ROBOT SENSORS GUIDE

  • 1. NAO NEX GEN ROBOT  RAKESH KUMAR ISHA AGARWAL SANJAY KALKARE PRIYA NEHA. B Sensors (v.1c) 1
  • 2. CENG4480_A1 Sensors Sensing the real world Sensors (v.1c) 2
  • 3. Sensors Motion (Orientation/inclination )sensors Force/pressure/strain Position Temperature and humidity Rotary position Light and magnetic field sensors Sensors (v.1c) 3
  • 4. Motion (Orientation/inclination sensors Acceleration Gyroscope Compass Tilt Sensor Sensors (v.1c) 4
  • 5. 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) Sensors (v.1c) 5
  • 6. ADXL78 (from Analog Device http://www.analog.com/UploadedFiles/Data_Sheets/ADXL ) Mass spring type (output acceleration in G) Measure the capacitance to create output Sensors (v.1c) 6
  • 7. ADXL330 accelerometer for three (X,Y,Z ) directions http://www.analog.com/UploadedFiles/Data_Sheets/ADXL330.pdf 3D Sensors (v.1c) 7
  • 8. 2D translational accelerometer MX2125 Gas pocket type When the sensor moves, the temperatures of the 4 sensors are used to evaluate the 2D accelerations Sensors (v.1c) 8
  • 9. Accelerometer demo: orientation sensing Self-balance Robot Sensor demo Sensors (v.1c) 9
  • 10. Accelerometer demo : Tilt sensing demo Tilt sensing demo Sensors (v.1c) 10
  • 11. Gyroscopes Gyroscope Measure rotational angle Rate Gyroscope 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. Sensors (v.1c) 11
  • 12. Gyroscope to measure Rational acceleration ADXRS401 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 Sensors (v.1c) 12
  • 13. Compass-- the Philips KMZ51 magnetic field sensor 50/60Hz (high) operation, a jitter of around 1.5° Sensors (v.1c) 13
  • 14. Rate gyroscope demo Using Gyroscope compass for virtual reality application in an iphone Sensors (v.1c) 14
  • 15. Application of motion sensors Self balancing robot by Kelvin Ko Motion sensors: http://hk.youtube.com/watch?v=2u-EO2FDFG0 gyroscope and accelerometer 20cm 35cm Sensors (v.1c) 15
  • 16. Complementary filter Since Combine two sensors to find output Sensors (v.1c) 16 16
  • 17. Complementary filter θ=rotation angle, τ=filter time constant, s=laplace operator http://en.wikipedia.org/wiki/Low-pass_filter Sensors (v.1c) 17 17
  • 18. Self Balanced robot using complementary filter Sensors (v.1c) 18 18
  • 19. Tilt Sensor by OMRON Detect tilting 35 ~ 65 degrees in right-and- left inclination Sensors (v.1c) 19
  • 20. Force/pressure/strain Force-sensitive resistor (FSR) Strain gauge Flexion Air pressure Sensors (v.1c) 20
  • 21. Force Sensing Resistors FSR402 Sensors (v.1c) 21
  • 22. Force Sensing Resistor Demo Sensors (v.1c) 22
  • 23. Application for a walking robot Walking robot Sensors (v.1c) 23
  • 24. Application of force sensing resistance sensors to balance a walking robot Balancing Floor tilled left Floor tilled right Neutral position upper leg bend right upper leg bend left Four sensors under the foot Sensors (v.1c) 24
  • 25. Four Force sensors under the foot D Sensors (v.1c) 25
  • 26. The Nao robot uses force feedback at its feet Sensors (v.1c) 26
  • 27. Strain Gauge : Force sensors 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. Sensors (v.1c) 27
  • 28. Single element strain gauge sensitive to temperature change. Vb gauge R Gauge=R+∆R rod V0 R R load  R R   ∆R   ∆R   G ∆L  V0 = Vb  −  = Vb   ≈ Vb  = Vb   2 R 2 R + ∆R   4 R + 2 ∆R   4R   4 L  ∆R ∆L for =G and G = strain gauge factor, L = length of the gauge R L R = unstrained gauge resistance Sensors (v.1c) 28
  • 29. 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. t1 t2 Vb b2=R-∆R t1=R+∆R rod V0 b1 b2 t2=R+ ∆R b1=R-∆R load  R + ∆R R − ∆R   2∆ R   ∆L  V0 = Vb  −  = Vb   = Vb  G   R + ∆R + R − ∆R R + ∆R + R − ∆R   2R   L  Sensors (v.1c) 29
  • 30. Flexion (bend) sensors resistance: 10 KΩ (0°); 30-40 KΩ (90°) / Sensors (v.1c) 30
  • 31. Felixon resistance Demo Sensors (v.1c) 31
  • 32. Air pressure sensor Measure up to 150 psi (pressure per square inch ). Sensors (v.1c) 32
  • 33. Position sensors Infra-red range sensor Linear and Rotary position sensors Sensors (v.1c) 33
  • 34. Infra-red Range detectors by SHARP (4 to 30cm) An emitter sends out light pulses. A small linear CCD array receives reflected light. The distance corresponds to the triangle formed. Sensors (v.1c) 34
  • 35. IR radar using the Sharp range detector Sensors (v.1c) 35
  • 36. Position sensors, from[1] Rotary Linear Optical shaft encoder Sensors (v.1c) 36
  • 37. Magnetic rotary encoder ) non touch sensing Sensors (v.1c) 37
  • 38. Optical rotary encoder ) The light received (on or off) will tell the rotation angle) 3 light receivers Light paths Rotation shaft 3 light emitters Crank shaft sensor Sensors (v.1c) 38 http://www.youtube.com/watch?v=RuIislTGOwA
  • 39. Temperature and humidity Temperature humidity Sensors (v.1c) 39
  • 40. Temperature sensors LM135/235/335 features(from NS) Directly calibrated in °Kelvin 1°C initial accuracy available Operates from 400 µA to 5 mA Less than 1 Ohm dynamic impedance Easily calibrated Wide operating temperature range 200°C over range Low cost Sensors (v.1c) 40
  • 41. Application note (connecting to an ADC e.g. ADC0820 or ADC0801) Sensors (v.1c) 41
  • 42. Capacitive Atmospheric Humidity Sensor BCcomponents 2322 691 90001 10-90%RH Dc Sensors (v.1c) 42
  • 43. Leaf Sensor Alerts When Plants Are Thirsty Sensors (v.1c) 43
  • 44. TSL250, TSL251, TSL252 LIGHT-TO-VOLTAGE OPTICAL SENSORS 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
  • 45. Cadmium Sulfoselenide (CdS) Photoconductive Photocells Light sensing using CdS Sensors (v.1c) 45
  • 46. Hall effect Sensors for sensing magnetic flux“B field”, see: Sensors (v.1c) 46
  • 47. Application on Magnetic levitation 磁懸浮 Magnetic levitation Train Model 磁懸浮火車 frog levitation Sensors (v.1c) 47
  • 48. Hall effect sensors and brushless DC motors Brushless DC motor Is it using Hall effect sensor? Don't known. Sensors (v.1c) 48
  • 49. Novel sensors Kinect / Sensors (v.1c) 49
  • 50. Many KINECT DIY projects Sensors (v.1c) 50
  • 51. Control systems Example: A temperature control system Sensors (v.1c) 51
  • 52. Control example: Temperature control system computer Digital control Timer Water tank circuit Temp. Sample Sensor Instrum. A/D amp. & Hold CPU Pulse Width Heater modulation D/A & solid state relay Sensors (v.1c) 52
  • 53. 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 (Tfrom_sensor > Treq required temperature) then (heater off ) else (heater on). Overshoot Treq Steady state error Undershoot Temp On-off control result Time Sensors (v.1c) 53
  • 54. Temperature control method 2 : Proportional-integral- differential (PID) temperature control (good) Init. (set required temperature Treq) Loop forever{ get temperature T from sensor, Tw e=T - Treq then Tw =e*G*{Kp+Kd*[d(e)/dt] +Ki*∫e dt } Proportional, differential, integral else } //G,Kp,Kd,Ki can be adjusted by user Sensors (v.1c) 54 Tw
  • 55. PID block diagram Kd Kp Figure 1 - Parallel PID block diagram Ki Sensors (v.1c) 55
  • 56. PID control using pulse width modulation PWM Tw (depends on e ) Time Fixed period and fixed number of pulses Temperature On-off control: oscillates and unstable Treq PID control result of method 2 Time Sensors (v.1c) 56
  • 57. Summary Studied the characteristics of various sensors and their applications Sensors (v.1c) 57