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MECHATRONICS AND ROBOTICS

SECTION 2

TOPIC:- SENSORS

Introduction, Sensor Basics

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 INTRODUCTION
We all are aware that our nose, eyes, ears, tunge,
and skin makes us aware or more precisely SENSE
about the surrounding environment to our BRAIN
(acts is like controller of our body) which
subsequently directs the body to act or respond
appropriately. Hence, they are known as Sensory
Organs

A similar role is done by certain sensing elements

which forms the first and foremost requirement for
measurement and automatic control. Thus; forms an
integral part of an embedded system, automation
and in Robotics are better known as Sensors
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In general, sensor is used to monitor the changes in
the environment by using measurands.

Measurand is a physical quantity, condition, or

property that is to be measured.

The sonsors sense the condition, state or value of

the process variable and produce an output which
reflects this condition, state or value which can be
processed appropriately by a control unit

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MEASUREMENT SYSTEM
Measurement is an important subsystem in any
major system, whether it may be a mechanical
system or an electronic system.

A measurement system consists of sensors,

actuators, transducers and signal processing
devices. The use of these elements and devices is
not limited to measuring systems.

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 SENSORS AND ACTUATORS

Sensors and Actuators are essential elements

of the embedded systems.

Sensors and Actuators mainly differ by the

purpose both provide, the sensor is used to
monitor the changes in the environment by
using measurands while the actuator is used
when along with monitoring the control is also
applied such as to control the physical change.

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SENSORS AND ACTUATORS

These devices act as the mediator between

the physical environment and the
electronic system where the sensor and
actuator are embedded.
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SENSOR : INTRODUCTION

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SENSOR : INTRODUCTION
The best example of a
sensor is mercury
thermometer. Here the
quantity that is being
measured is heat or
temperature. The
measured temperature is
converted to a readable
value on the calibrated
glass tube, based on the
expansion and contraction
of liquid mercury.
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 SENSOR : DEFINITION
The word sensor is derived from the original meaning
‘to perceive.’

In simple terms, a sensor is a device that detects

changes and events in a physical stimulus and
provides a corresponding output signal that can be
measured and/or recorded. Here, the output signal
can be any measurable signal and is generally an
electrical quantity.

Sensors are devices that perform input function in a

system as they ‘sense’ the changes in a quantity.
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 SENSOR : DEFINITION
A sensor is an element in a mechatronic
or measurement system that detects the
magnitude of a physical parameter and
changes it into a signal that can be
processed by the system.

A sensor is a device that provides usable

output in response to a specified quantity
which is measured
--------------Instrument Society of America
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SENSOR : GENERAL WORKING

Sensors are placed as such they can directly

interact with the environment to sense the
input energy with the help of sensing
element.

This sensed energy is converted into a more

suitable form by a transduction element.

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ACTUATORS: DEFINITION
Actuators are devices that work opposite to
sensors.

A sensor converts a physical event into an

electrical signal, whereas an actuator
converts electrical signal into a physical
event.

When sensors are used at input of a

system, actuators are used to perform
output function in a system as they control
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an external device.
ACTUATORS: DEFINITION

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ACTUATORS: DEFINITION
An actuator is a device that alters the
physical quantity as it can cause a
mechanical component to move after getting
some input from the sensor.

In other words, An actuator receives control

input (generally in the form of the electrical
signal) and generates a change in the
physical system through producing force,
heat, motion,
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ACTUATORS: DEFINITION
An actuator can be interpreted with the
example of the stepper motor, where an
electrical pulse drives the motor.

Each time a pulse given in the input

accordingly motor rotates in a predefined
amount.

A stepper motor is suitable for the

applications where the position of the object
has to be controlled precisely, for example,
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robotic arm.
ACTUATORS: DEFINITION

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SENSORS VS ACTUATORS

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SENSORS VS ACTUATORS

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SENSORS..BASIC TERMS
measurand. A physical quantity, condition, or property
that is to be measured.

Offset…. The output signal of the sensor when the

measurand is zero.

The response time can be defined as the time required for

a sensor output to change from its previous state to a
final settled value

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SENSORS..BASIC TERMS
Stimuli Stimuli are detectable changes in the
environment, i.e., in the physical world.

sensing element.
The part of a transducer that is in contact with the medium
being measured and that responds to changes in the
medium.

selectivity is the ability of a sensor to measure a

concentration of a substance in presence of other
interfering substances.

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 TYPES OF SENSORS
Active and Passive Sensors

Analog and digital Sensors

Contact and non contact Sensors

Visual and non visual sensors

Proprioceptive and Exteroceptive sensors

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 ACTIVE SENSORS
Generally, active sensors require an external
power supply to operate, called an excitation
signal which is used by the sensor to produce the
output signal.

Active sensors are self-generating devices

because their own properties change in response
to an external effect

Eg: LVDT sensor or a strain gauge.

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ACTIVE SENSORS

Thermocouple Strain gauge

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 PASSIVE SENSORS
A passive sensor does not need any additional
power source or excitation voltage.

Instead a passive sensor generates an output

signal in response to some external stimulus

Passive sensors are direct sensors which change

their physical properties, such as resistance,
capacitance or inductance

Eg: Thermocouple which generates its own

voltage output when exposed to heat
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PASSIVE SENSORS

Thermocouple

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 CRITERIA TO CHOOSE A SENSOR
Type of Sensing: The parameter that is being sensed like
temperature or pressure.
Operating Principle: The principle of operation of the sensor.
Power Consumption: The power consumed by the sensor will
play an important role in defining the total power of the system.
Accuracy: The accuracy of the sensor is a key factor in
selecting a sensor.
Environmental Conditions: The conditions in which the
sensor is being used will be a factor in choosing the quality of a
sensor.
Cost: Depending on the cost of application, a low cost sensor
or high cost sensor can be used.
Resolution and Range: The smallest value that can be
sensed and the limit of measurement are important.
Calibration and Repeatability: Change of values with time
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and ability to repeat measurements under similar conditions.
CRITERIA TO CHOOSE A SENSOR

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 SENSOR CHARACTERISTICS
Range: It indicates the limits of the input in which it can vary. In
case of temperature measurement, a thermocouple can have a
range of 25 – 250 0C.
Accuracy: It is the degree of exactness between actual
measurement and true value. Accuracy is expressed as
percentage of full range output.
Sensitivity: Sensitivity is a relationship between input physical
signal and output electrical signal. It is the ratio of change in
output of the sensor to unit change in input value that causes
change in output.
Stability: It is the ability of the sensor to produce the same
output for constant input over a period of time.
Repeatability: It is the ability of the sensor to produce same
output for different applications with same input value.

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 SENSOR CHARACTERISTICS
Selectivity:
The ability of a sensor to measure a concentration of a
substance in presence of other interfering substances. to
measure only one metric or, in the case of a chemical sensor,
to measure only a single chemical species.

Linearity: It is specified in terms of percentage of

nonlinearity. Nonlinearity is an indication of deviation of curve
of actual measurement from the curve of ideal measurement.

Ruggedness: It is a measure of the durability when the

sensor is used under extreme operating conditions.

Bandwidth or frequency: The speed with which a sensor can

provide a stream of readings.
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 SENSOR CHARACTERISTICS
Response time.
The time it takes for the sensor's output to reach its final
value. A measure of how quickly the sensor will respond to
changes in the environment. In general, this parameter is a
measure of the speed of the sensor and must be compared
with the speed of the process.

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 ANALOG SENSORS
• Analog sensors: The signal produced by the
sensor is continuous and proportional to the
measurand

• Produce continuous analog output signal

Examples: LDR, Analog Sound Sensor, Current

Sensor

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ANALOG SENSORS: Example
A Cadmium Sulfide Cell (CdS Cell) which is used
to measure the intensity of light is an analogue
sensor.
The resistance of a CdS cell varies according to
the intensity of the light incident on it.

When connected to a voltage divider network, the

change in resistance can be observed through
varying output voltage.

In this circuit, the output can vary from anywhere

between 0 V to 5 V.
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The output signal of the above setup can be depicted graphical format as follows:

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DIGITAL SENSORS

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 DIGITAL SENSORS
In the above setup, the rotating disc is connected to the
shaft of a motor and has number of transparent slots.

The light sensor captures the presence or absence of the

light and sends logic 1 or logic 0 signal accordingly to the
counter.

The counter displays the speed of the disc. The accuracy

can be increased by increasing the transparent slots on
the disc as it allows more counts over the same amount
of time.
In general, the accuracy of a digital sensor is high
when compared to an analog sensor. The accuracy
depends on the number of bits that are used to represent
the measurand. Higher the number of bits, the greater is
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the accuracy.
 Types of Robotic Sensors
Proprioceptive sensors measure values
internally to the system (Internal State)

In case of robot :- e.g. battery level, wheel

position, joint angle, etc.

Examples of these sensors can be

encoders, potentiometers, gyroscopes,
compasses,etc.

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 Types of Robotic Sensors
Exteroceptive sensors: sensors measure
values external to the system (External
State)

Measures are used for the observation of

the environments, objects.

Examples:- Sonar sensors, IR sensitive

sensors, ultrasonic distance sensors,
Pressure, Forces and torques, Vision
Sensors.
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THANKS