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 A sensor is a converter that measures a physical
 quantity and converts it into a
 signal that can be read by an observer.
 Eg.
 NEED OF SENSORS FOR ROBOTS
1) LOCALIZATION
2) OBSTACLE DETECTION
3) INTERNAL INFORMATION
1. EXTEROCEPTORS ( EXTERNAL SENSORS)
2. PRORIOCEPTORS( INTERNAL SENSORS)
1)CONTACT SENSORS- Sensors that determine
  shape,size ,weight etc by touching.
a) Touch sensors         electrical flow




             force                     voltage
                                       measurement
b) force/stress sensors-To measure robotic system forces
  .( PIEZO ELECTRIC SENSOR)
2) NON CONTACT SENSORS
a) proximity sensors- they sense and indicate presence
    and sometimes position also without physical
    contact.
Types
1) Optical proximity sensors
2)Photoelectric proximity sensor
3) Acoutic proximity sensor
4) Capacitive proximity sensors
  It works on the principle of change in capacitance with
  environment.
 IT PROVIDES PRECISE MEASUREMENT OF THE
  DISTANCE FROM A SENSOR TO AN OBJECT.
 CATEGORIES
 Active
 send signal into environment and measure
 interaction of signal with environment
  e.g. radar, sonar
 Passive
  record signals already present in environment
  e.g. video cameras
 Sterioscopic vision system
 Ultrasonic ranging systems (active)
 ICCD
 Intensified CCD’s are also cameras which can exploit gain to overcome
  the read noise limit but also have the added feature of being able to
  achieve very fast gate times. The gating and amplification occurs in the
  image intensifier tube. Image intensifiers were initially developed for
  night vision applications by the Military but increasingly their
  development is being driven by scientific applications. The Image
  intensifier tube is an evacuated tube which comprises the
  Photocathode, Microchannel plate (MCP) and a Phosphor screen, and
  the properties of these determine the performance of the device. The
  photocathode is coated on the inside surface of the input window and
  it captures the incident image: see the diagram on the right. When a
  photon of the image strikes the photocathode, a photoelectron is
  emitted, which is then drawn towards the MCP by an electric field. The
  MCP is a thin disc (about 1mm thick) which is a honeycomb of glass
  channels typically 6-10 µm, each with a resistive coating. A high
  potential is applied across the MCP, enabling the photoelectron to
  accelerate down one of the channels in the disc. When the
  photoelectron has sufficient energy, it dislodges secondary electrons
  from the channel walls. These electrons in turn undergo acceleration
  which results in a cloud of electrons exiting the MCP. Gains in excess of
  10,000 can readily be achieved. The degree of electron multiplication
  depends on the gain voltage applied across the MCP which can be
  controlled in the camera.
DC TACHOMETER
Encoder- a device, circuit, software program,
 algorithm or person that convert information from
 one format or code to another

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Robotic sensors

  • 1.
  • 2.  A sensor is a converter that measures a physical quantity and converts it into a signal that can be read by an observer. Eg.
  • 3.  NEED OF SENSORS FOR ROBOTS 1) LOCALIZATION 2) OBSTACLE DETECTION 3) INTERNAL INFORMATION
  • 4. 1. EXTEROCEPTORS ( EXTERNAL SENSORS) 2. PRORIOCEPTORS( INTERNAL SENSORS)
  • 5. 1)CONTACT SENSORS- Sensors that determine shape,size ,weight etc by touching. a) Touch sensors electrical flow force voltage measurement
  • 6. b) force/stress sensors-To measure robotic system forces .( PIEZO ELECTRIC SENSOR)
  • 7. 2) NON CONTACT SENSORS a) proximity sensors- they sense and indicate presence and sometimes position also without physical contact. Types 1) Optical proximity sensors
  • 10. 4) Capacitive proximity sensors It works on the principle of change in capacitance with environment.
  • 11.  IT PROVIDES PRECISE MEASUREMENT OF THE DISTANCE FROM A SENSOR TO AN OBJECT. CATEGORIES  Active  send signal into environment and measure interaction of signal with environment e.g. radar, sonar
  • 12.  Passive record signals already present in environment e.g. video cameras  Sterioscopic vision system
  • 13.  Ultrasonic ranging systems (active)
  • 15.  Intensified CCD’s are also cameras which can exploit gain to overcome the read noise limit but also have the added feature of being able to achieve very fast gate times. The gating and amplification occurs in the image intensifier tube. Image intensifiers were initially developed for night vision applications by the Military but increasingly their development is being driven by scientific applications. The Image intensifier tube is an evacuated tube which comprises the Photocathode, Microchannel plate (MCP) and a Phosphor screen, and the properties of these determine the performance of the device. The photocathode is coated on the inside surface of the input window and it captures the incident image: see the diagram on the right. When a photon of the image strikes the photocathode, a photoelectron is emitted, which is then drawn towards the MCP by an electric field. The MCP is a thin disc (about 1mm thick) which is a honeycomb of glass channels typically 6-10 µm, each with a resistive coating. A high potential is applied across the MCP, enabling the photoelectron to accelerate down one of the channels in the disc. When the photoelectron has sufficient energy, it dislodges secondary electrons from the channel walls. These electrons in turn undergo acceleration which results in a cloud of electrons exiting the MCP. Gains in excess of 10,000 can readily be achieved. The degree of electron multiplication depends on the gain voltage applied across the MCP which can be controlled in the camera.
  • 16.
  • 18. Encoder- a device, circuit, software program, algorithm or person that convert information from one format or code to another