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  • Robotic Sensors

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    The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting. Since contacting sensors must touch their environment to operatc, their use is limited to objects and conditions that can do no harm to the sensors. For instance, the elastic limit of a deformable sensor must not be exceeded: also, a material such as hot steel would be extremely difficult to measure using contact sensors. Contact devices vary in sensitivity and complexity. Some can only determine whether something is touching or not, while others accurately measure the pressure of the contact. The most simple contact sensor is merely a mechanical switch. The more sophisticated devices can produce a three dimensional profile of an object. Non contacting sensors gather information without touching an object. They can be used in environments where contact sensors would be damaged since they can sense most materials, including liquid, powder, and smoke; and they can measure many parameters, including velocity, position, and orientation. Simple non contact sensors merely determine whether something is present or not. More complicated devices can be used to distinguish between objects and work pieces. Through special techniques, data for a three dimensional profile of an object can be obtained as with tactile sensing. When considering sensor technologies for the robot, the operation environment must be considered. The robot is intended to operate indoors, on conventional carpeted floors. The obstacles encountered will primarily be either furniture, features of architecture, and people. The first two types can be assumed to be stationary, whereas people are likely to move around, and may provide fluctuating sensor returns. It is expected that the Vision System will be able to differentiate between people and non-living objects. Robotic devices – limited to the structured environment of manufacturing plants until few years ago – are slowly making way into human life, which has led to the emergence of interaction and learning issues in robots. Such issues are important for future robot to be able to learn autonomously and to interact safely with the environment i.e. without causing any harm to it or to the objects with which it is interacting. In this context, it becomes important to study the ways and means of robot’s interaction with the environment. Humans interact and explore the environment through five main sense modalities viz. touch, vision, hearing, olfaction and taste. Loss of any of these modalities will result in the incomplete information about the environment. Irrespective of their importance with respect to each other, the study of their individual contribution in collecting information from environment is important for improving the sensing capabilities of any future robotic system. The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting. Robotics has matured as a system integration engineering field defined by M. Bradley as “the intelligent connection of the perception to action”. Programmable robot manipulators provide th

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    The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting. Since contacting sensors must touch their environment to operatc, their use is limited to objects and conditions that can do no harm to the sensors. For instance, the elastic limit of a deformable sensor must not be exceeded: also, a material such as hot steel would be extremely difficult to measure using contact sensors. Contact devices vary in sensitivity and complexity. Some can only determine whether something is touching or not, while others accurately measure the pressure of the contact. The most simple contact sensor is merely a mechanical switch. The more sophisticated devices can produce a three dimensional profile of an object. Non contacting sensors gather information without touching an object. They can be used in environments where contact sensors would be damaged since they can sense most materials, including liquid, powder, and smoke; and they can measure many parameters, including velocity, position, and orientation. Simple non contact sensors merely determine whether something is present or not. More complicated devices can be used to distinguish between objects and work pieces. Through special techniques, data for a three dimensional profile of an object can be obtained as with tactile sensing. When considering sensor technologies for the robot, the operation environment must be considered. The robot is intended to operate indoors, on conventional carpeted floors. The obstacles encountered will primarily be either furniture, features of architecture, and people. The first two types can be assumed to be stationary, whereas people are likely to move around, and may provide fluctuating sensor returns. It is expected that the Vision System will be able to differentiate between people and non-living objects. Robotic devices – limited to the structured environment of manufacturing plants until few years ago – are slowly making way into human life, which has led to the emergence of interaction and learning issues in robots. Such issues are important for future robot to be able to learn autonomously and to interact safely with the environment i.e. without causing any harm to it or to the objects with which it is interacting. In this context, it becomes important to study the ways and means of robot’s interaction with the environment. Humans interact and explore the environment through five main sense modalities viz. touch, vision, hearing, olfaction and taste. Loss of any of these modalities will result in the incomplete information about the environment. Irrespective of their importance with respect to each other, the study of their individual contribution in collecting information from environment is important for improving the sensing capabilities of any future robotic system. The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting. Robotics has matured as a system integration engineering field defined by M. Bradley as “the intelligent connection of the perception to action”. Programmable robot manipulators provide th

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    4K Ansichten30 Seiten

    Robotic Sensors

    Hochgeladen von

    manoj
    The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting. Since contacting sensors must touch their environment to operatc, their use is limited to objects and conditions that can do no harm to the sensors. For instance, the elastic limit of a deformable sensor must not be exceeded: also, a material such as hot steel would be extremely difficult to measure using contact sensors. Contact devices vary in sensitivity and complexity. Some can only determine whether something is touching or not, while others accurately measure the pressure of the contact. The most simple contact sensor is merely a mechanical switch. The more sophisticated devices can produce a three dimensional profile of an object. Non contacting sensors gather information without touching an object. They can be used in environments where contact sensors would be damaged since they can sense most materials, including liquid, powder, and smoke; and they can measure many parameters, including velocity, position, and orientation. Simple non contact sensors merely determine whether something is present or not. More complicated devices can be used to distinguish between objects and work pieces. Through special techniques, data for a three dimensional profile of an object can be obtained as with tactile sensing. When considering sensor technologies for the robot, the operation environment must be considered. The robot is intended to operate indoors, on conventional carpeted floors. The obstacles encountered will primarily be either furniture, features of architecture, and people. The first two types can be assumed to be stationary, whereas people are likely to move around, and may provide fluctuating sensor returns. It is expected that the Vision System will be able to differentiate between people and non-living objects. Robotic devices – limited to the structured environment of manufacturing plants until few years ago – are slowly making way into human life, which has led to the emergence of interaction and learning issues in robots. Such issues are important for future robot to be able to learn autonomously and to interact safely with the environment i.e. without causing any harm to it or to the objects with which it is interacting. In this context, it becomes important to study the ways and means of robot’s interaction with the environment. Humans interact and explore the environment through five main sense modalities viz. touch, vision, hearing, olfaction and taste. Loss of any of these modalities will result in the incomplete information about the environment. Irrespective of their importance with respect to each other, the study of their individual contribution in collecting information from environment is important for improving the sensing capabilities of any future robotic system. The potential range of robotic applications requires different types of sensors to perform different kinds of sensing tasks. Specialized devices have been developed to meet various sensing needs such as orientation, displacement, velocity, acceleration. and force. Robots must also sense the characteristics of the tools and materials they work with. Though currently available sensors rely on different physical properties for their operation, they may be classified into two general types: contacting and non-contacting. Robotics has matured as a system integration engineering field defined by M. Bradley as “the intelligent connection of the perception to action”. Programmable robot manipulators provide th

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    von 30

    A Seminar On

    Robotic Sensors
    By: MANOHAR SINGH
    12EI19

    Contents

    What is a Robot?
    What are Sensors?
    Why do Robots Need Sensors?
    Classification of Sensors
    What Sensors are Out There?
    What can They do?
    Conclusions
    References

    What makes a machine a Robot?

    Sensing

    information
    about the
    environment
    where
    is the
    truck?

    where should I dig?

    Planning

    Acting

    action
    on the
    environment

    What Is A Robot???
    Robots
    Machines with sensing, intelligence and
    mobility
    To be qualified as a robot, a machine should
    have the following capabilities:
    Sensing and perception: get information
    about itself and its surroundings
    Carry out different tasks
    Re-programmable: can do different things
    Function autonomously or interact with
    human beings

    Why Use Robots???


    Application in 4D environments

    Dangerous
    Dirty
    Dull
    Difficult

    4A tasks

    Automation
    Augmentation
    Assistance
    Autonomous

    Types of Robots

    Manipulator

    Humanoid robot

    Wheeled
    Mobile Robot
    (WMR)

    Aerial robot

    Legged robot

    Underwater robot

    What is Sensing ?
    Collect information about the world.
    Sensor - an electrical/mechanical/chemical
    device that maps an environmental attribute
    to a quantitative measurement.
    Each sensor is based on a transduction
    principle - conversion of energy from one form
    to another.
    Also known as transducers.

    Why To Use Sensors???


    Vision outside the RGB spectrum
    Infrared Camera, see at night

    Active vision
    Radar and optical (laser) range measurement

    Hearing outside the 20 Hz 20 kHz


    range
    Ultrasonic range measurement

    Chemical analysis beyond taste and


    smell
    Radiation: a, b, g-rays, neutrons, etc

    Why do robots need sensors?


    What is the angle of my arm?

    internal information

    Where am I?

    localization

    Will I hit anything?

    obstacle detection

    Why Do Robots Need Sensors?


    Provides awareness of surroundings
    Whats ahead, around, out there?
    Allows interaction with environment
    Robot lawn mower can see cut grass
    Protection & Self-Preservation
    Safety, Damage Prevention, Stairwell sensor
    Gives the robot capability to goal-seek
    Find colorful objects, seek goals
    Makes robots interesting

    Gas Sensor
    Gyro

    Accelerometer

    Pendulum Resistive
    Tilt Sensors

    Metal Detector
    Piezo Bend Sensor

    Gieger-Muller
    Radiation Sensor
    Pyroelectric Detector
    UV Detector

    Resistive Bend Sensors

    Digital Infrared Ranging

    CDS Cell
    Resistive Light Sensor

    Pressure Switch
    Miniature Polaroid Sensor
    Limit Switch

    Touch Switch
    Mechanical Tilt Sensors

    IR Pin
    Diode

    IR Sensor w/lens

    Thyristor

    IR Reflection
    Sensor

    Magnetic Sensor

    Magnetic Reed Switch

    IR Amplifier Sensor

    Hall Effect
    Magnetic Field
    Sensors

    Polaroid Sensor Board

    IRDA Transceiver

    13

    Lite-On IR
    Remote Receiver

    Radio Shack
    Remote Receiver

    IR Modulator
    Receiver

    Solar Cell
    Compass

    Compass

    Piezo Ultrasonic Transducers

    Classification of Sensors
    Proprioception (Internal state) v.s.
    Exteroceptive (external state)

    measure values internally to the system (robot),


    e.g. battery level, wheel position, joint angle, etc,
    observation of environments, objects

    Active v.s. Passive

    emitting energy into the environment, e.g.,


    radar, sonar
    passively receive energy to make observation,
    e.g., camera

    Contact v.s. non-contact


    Visual v.s. non-visual

    vision-based sensing, image processing, video


    camera

    14

    Tactile Sensors
    There are many different technologies
    e.g.contact closure, magnetic, piezoelectric, etc.
    For mobile robots these can be classified as
    tactile feelers (antennae)
    tactile bumpers
    Pressure-sensitive rubber with scanning array

    Tactile Sensors(Feelers)
    Whiskers
    Piano wire suspended through conductive
    hoop
    Deflection causes contact with hoop
    Springy wire that touches studs when deflected
    Reaches beyond robot a few inches
    Simple, cheap, binary output
    Bumpers & Guards
    Impact/Collision sensor, senses
    pressure/contact
    Microswitches & wires or framework that moves
    Simple, cheap, binary output, easy to read

    Feelers - Whiskers

    Feelers - Bumpers & Guards

    Resistive Sensors
    Bend Sensors
    Resistance = 10k to 35k
    As the strip is bent, resistance
    increases

    Resistive Bend Sensor

    Potentiometers
    Can be used as position sensors for

    sliding mechanisms or rotating shafts


    Easy to find, easy to mount

    Light Sensor (Photocell)


    Good for detecting

    direction/presence of light
    Non-linear resistance
    Slow response to light changes

    Potentiometer

    Photocell
    R is small when brightly
    illuminated

    Applications
    Sensor

    Measure bend of a
    joint
    Sensors

    Wall
    Following/Collision
    Detection

    Weight Sensor

    Sensor

    Sensors IR
    Active (emitting)
    Oscillator generates IR reflections off objects
    Filtered receiver looks for reflections
    Pulses may be encoded for better discrimination
    Typically frequencies around 40KHz
    Doesnt work well with dark, flat colored objects
    Passive (sensor only)
    Pyro-electric (heat sensor)
    Look for IR emissions from people & animals
    Used in security systems & motion detectors

    Infrared - Active

    Works at about 15
    degrees away from the
    robot

    Sensors Ultrasonic
    Active
    Emit pulses & listen for echos
    Times round trip sound travel (~1ft/mS)
    Reaches far fairly beyond robot (inches to 30-50)
    Relatively simple, not cheap, analog output
    Directional; not everything reflects sound well
    Passive (listens only)
    Sensor listens for ultrasonic sounds
    Electronics may translate frequency or
    modulation
    Software may perform signal analysis (FFTs, etc.)

    Ultrasonic - Active

    Sensors Ultrasonic (cont.)


    Passive - Beacons & Sensors

    Beacons listen: RF command to broadcast


    Send light & sound pulses
    Robot looks & listens for each beacon
    Light pulse starts timer, sound pulse stops it

    Robot knows location of each beacon


    Compass on robot provides its orientation
    Robot computes distance, measures bearing

    Robot can then compute its location


    (Speed of Light=1 ft/nS, Speed of
    Sound=1ft/mS)

    Ultrasonic - Passive
    Beacon3

    Beacon1
    Sound
    Pulse
    Light
    Pulse

    Sound
    Pulse Light
    Pulse
    Robot

    BEACON

    ROBOT

    RF Receiver

    RF Transmitter

    IR Emitter

    IR Receiver

    Ultrasonic
    Emitter

    Ultrasonic
    Receiver

    Sound
    Light Pulse
    Pulse

    Beacon2

    Conclusion

    Sensors
    Sensors
    Sensors
    Sensors
    Sensors
    Sensors
    Sensors
    Sensors

    provide a way of simulating aliveness


    give robots environmental awareness
    provide of means of human protection
    help robot preserve itself
    enable goal seeking
    enable closed-loop interaction
    make robots interesting
    can make programming challenging

    References

    www.acroname.com [accessed on 05/09/15]


    www.google.co.in [accessed on 05/09/15]
    www.lynxmotion.com [accessed on 05/09/15]
    www.drrobot.com [accessed on 05/09/15]
    www.robotstorehk.com/sensor.html [accessed on
    05/09/15]

    QUERIES?

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