Module 2

Topic: Robotics Sensing

Sub-Topic: Introduction to Transducers and Sensors

Objectives:
1. Enrich the student’s understanding of what robotics technology is
2. Hasten the skills of classifying the various classes of sensors.
3. Enhance students’ knowledge of identifying sensors and transducers classes.

Specifically, the learner should be able to:

1. Classify the various kinds of robotic sensors.
2. Enumerate the distinct classes of transducers and sensors.
3. Explain the differences between sensors and transducers.

Transducers and Sensors Primary Knowledge

A transducer is an energy converter. These are examples of transducers

1. A microphone transforms sound into electrical notions and a loudspeaker transforms
electrical notions into sound.
2. A solar energy converts light into electrical energy
3. The LED bulb emits light due to the electricity flowing through the filament. Thus, it
converts electrical energy into optical energy.
4. An electric motor converts electricity into mechanical energy.

A sensor is an input signal detector, an energy converter denoting energy measurement. It

can be an analog or digital representation based on signal inputs. What are the common sensors
that are often seen and used in daily life?
Humans have different types of sensors. The eyes detect the light, nose and tongue detects
of certain chemicals, ears hear the vibrating objects, and skin feels pressure and temperature

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Generally, robots’ sensors are
● Sensors are the robot’s window into the environment.
● A robot needs perception to be actively involved in the environment.
● Each sensor is based on the principles of transduction, i.e. converting energy
from one form to another.
● Sensors do not provide state but measure the physical quantity.

Sensors Classifications

1. Proprioceptive sense - Measures the internal system of the robot, i.e speed, velocity or
acceleration.
2. Exteroceptive sense - Measures the external system of the robot interacting with the
environment, objects in it (vision, force).
● Differences between Active and Passive Sensors

Active sensor - any device that requires an external power source to operate.

Passive sensor - any device that detects and responds to input signals from the
physical environment.

● Analog and Digital Sensors

Analog Sensor produces output signals based on the input signals which uses a
graduated scale with a pointer.

Digital sensors provide discrete output signals and the measuring quantity will
be represented in digital format, in numbers, in the form of Logic 1 or Logic 0, High or Low

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represented in “bits” for serial transmission and in “bytes” for parallel transmission.

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 Figure 1

Activity 1. Types of Sensors and Classifications

Objectives:

1. Enumerate and identify the various kinds of sensors.

2. Classify the various kinds of sensors.

Materials: List of types of sensors

Procedure:

1. From the listed types of sensors in figure 1, (Fill out the table)
(a) identify the sensors according to classifications as active (A), Passive (P),
Passive/Active (P/A) Exteroceptive (EC) or Proprioceptive (PC). (25 points)
(b) state the functions or uses of sensors. (50 points)

Table 1. Types of Sensors

Proprioceptive Active /
No. Type of Sensors Function / Use / Exteroceptive Passive
(PC / EC) (A / P)

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1 Thermistor A temperature sensor is a device EC P
(Temperature that measures the temperature of
sensor) an object. This can be the
temperature of the air, the
temperature of a liquid, or the
temperature of a solid.
Temperature sensors come in a
variety of shapes and sizes, and
they all monitor temperature using
different technologies and
principles.

2 IR Sensor Transmissive infrared sensors are EC A

(Transmissive designed to send a ray of light from
Type) the source to the detector, which is
located at the other end of the
object section.

3 IR Sensor The existence of an object within a EC P

(Reflective Type) certain range is detected using an
infrared reflective sensor. An IR
LED and a photosensor
(phototransistor) pair make up the
sensor.

4 Ultrasonic Sensor Ultrasonic sensors can detect the EC A

distance between a variety of
objects, independent of their
shape, color, or texture. They may
also determine if an item is coming
or retreating.

5 Gyroscope Gyro sensors, also known as PC P

Sensor angular rate sensors or angular
velocity sensors, detect angular
motion. Angular velocity is the
change in rotational angle per unit
of time in simple words. Angular
velocity is commonly stated in
degrees per second (deg/s)
(degrees per second).

6 Accelerometer An accelerometer is a device that PC P

Sensor detects a structure's vibration or
acceleration of motion. The mass

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 "squeezes" the piezoelectric
material as a result of vibration or a
change in motion (acceleration),
resulting in an electrical charge
proportional to the force placed on
it.

7 Rain Moisture A rain sensor, often known as a EC P

rain switch, is a rain-activated
switching device. Rain sensors
have two primary applications. The
first is a water-saving gadget that is
attached to an automatic irrigation
system and causes it to shut down
if it rains. The second is a device
that protects the interior of a car
from rain and allows windscreen
wipers to operate in automated
mode.

8 Soil Moisture When installed and utilized EC P

Sensor appropriately, soil moisture sensors
(SMSs) assess soil moisture at the
root zone and control the existing
traditional irrigation timer, resulting
in significant water savings. The
soil water content threshold is
configurable, allowing for dryer or
wetter soil conditions.

9 Phototransistor This Photo Transistor Light Sensor EC P

(Light Sensor) is a simple ambient light detector.
It's similar to an LED in that when
light strikes the little chip within,
electricity flows from the long pin to
the short pin.

10 Water Flow Water flow sensors are installed at EC P

Sensor the water source or pipes to
calculate the amount of water
passed through the pipe by
measuring the rate of flow. The
rate of water flow is measured in
liters per hour or cubic meters per
hour.

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11 Heartbeat Sensor A heartbeat sensor estimates beat EC A
waves, which are changes in the
volume of a vein that happen when
the heart siphons blood. The beat
waves are recognized by
estimating the adjustment of
volume utilizing an optical sensor
and green LED.

12 Alcohol Sensor The liquor sensor is also called an EC P

MQ3 sensor which distinguishes
ethanol noticeable all around. At
the point when an drunk individual
inhales close to the sensor it
recognizes the ethanol in his
breath and gives a result
dependent on liquor fixation. In
case there is more liquor fixation
more LEDs would be lit.

13 Color Sensor Color sensors are generally used EC P/A

for two applications: true color
recognition and color mark
detection. Sensors used for true
color recognition are required to
"see" different colors or to
distinguish between shades of a
specific color.

14 PIR Sensor PIR sensors are utilized in warm EC P

detecting applications, like security
and movement location. They are
mostly used in security cautions,
movement recognition alerts, and
programmed lighting applications.

15 Gas Sensor Gas sensors are electronic EC P/A

gadgets that distinguish and
recognize various kinds of gasses.
They are usually used to recognize
poisonous or hazardous gasses
and measure gas focus. This kind
of sensor utilizes a chemiresistor
which comes in touch and
responds with target gasses.

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16 Smoke Sensor Smoke sensors recognize fires by EC P/A
detecting little particles noticeable
all around utilizing various types of
innovations. When they distinguish
those particles over a specific limit,
they signal the caution to sound so
you and your family can get to
security and call for help.This can
save lives.

17 LM35 LM35 is an Integrated circuit EC P

(Temperature Temperature sensor, whose
Sensor) resulting voltage fluctuates, in light
of the temperature around it. It is a
small and modest IC which can be
utilized to gauge temperature
anywhere between - 55°C to
150°C. ... There will be an ascent
of 0.01V (10mV) for each degree
Celsius ascent in temperature.

18 IR Receiver The Infrared Receiver is utilized to EC P

obtain infrared signs and
furthermore utilized for controller
discovery. There is an IR identifier
on the Infrared Receiver which is
utilized to get the infrared light
transmitted by the Infrared Emitter.

19 LDR (Light Light dependent resistors are also EC P

Sensor) called photoresistors. It indicates
the presence of light and measures
its intensity. When the sensor is
exposed to light, its resistance
drops depending on the light
intensity.

20 Humidity Sensor A humidity sensor is an electronic EC P

gadget that measures the
dampness in its current situation
and converts the results into a
comparing electrical signal.
Absolute dampness is estimated
without reference to temperature.
The two most common RH sensors

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 are the capacitive and resistive
moistness sensors.

21 Flex Sensor A flex sensor, sometimes known as EC P

a bend sensor, is a sensor that
detects deflection or bending. The
sensor is usually adhered to the
surface, and the resistance of the
sensor element is adjusted by
bending the surface.

22 Touch Sensor A touch sensor is a device that EC P

detects and records physical
contact or embrace on a device or
an object. It allows a gadget or
item to detect touch or closeness,
which is usually done by a human
user or operator.

23 Solar Cell Light A solar cell is the most popular EC P

Sensor photovoltaic light sensor, which
converts light energy into DC
electrical energy in the form of
voltage or current. Calculators and
satellites are examples of
photovoltaic cells that work best
with the sun's energy.

24 Metal Detector A metal detector is a device that EC P/A

detects the presence of metal in
the immediate vicinity. Metal
detectors are excellent for locating
metal inclusions within things as
well as buried metal objects. A
handheld gadget with a sensor
probe that may be swept over the
ground or other objects is common.

25 Real Time Clock The objective of an RTC, or real EC A

Sensor time clock, is to give accurate time
and date for a variety of
applications. RTC is an electronic
device that comes in the form of an
Integrated Chip (IC) that can be
packaged in a variety of ways. It is

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 powered by a lithium battery that is
built inside the device.

26 Vibration Sensor A vibration sensor is a device that EC P

detects the magnitude and
frequency of vibration in a system,
machine, or piece of machinery.
These metrics can be used to spot
asset imbalances or other
problems, as well as predict future
failures.

2. Identify 5 different types of sensors not listed in figure 1. (15 points)

No. Types of Sensors Function / Use PC / EC A/P

1 Position Sensor A position sensor is any gadget utilized for EC A

estimating the distance traveled by a body
beginning from its reference position. It
estimates linear or angular position
concerning a fixed point or arbitrary
reference. The sensor can likewise be
utilized to recognize the presence or
nonappearance of an object.

2 Tilt Sensor A tilt sensor is a device used for PC A

measuring the tilt of an object in multiple
axes with reference to an absolute level
plane.

3 Pressure Sensor A pressure sensor is a device or EC A

instrument that can detect and measure
pressure in gases and liquids. A pressure
sensor is made up of a pressure-sensitive
device that can detect the applied
pressure and components that turn the
data into an output signal.

4 Piezoelectric A piezoelectric sensor transforms physical EC P

Sensors factors such as acceleration, tension, and
pressure into an electrical charge that may
be detected. They are extremely sensitive
and compact, making them ideal for daily
goods.

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 5 Fluid Property The impurity level of lubricating oil is EC P
Sensors measured using a fluid property sensor
(FPS) based on tuning-fork technology.
This sensor can measure density,
dielectric constant, viscosity, and
temperature all at the same time.

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References:
Roxan Rochillo S. Cosico. (2013). Advanced Robotics Mechanism
https://www.electricaltechnology.org/2018/11/types-sensors-applications.html
https://www.scme-nm.org
http://cmp.felk.cvut.cz/-hlavac
Photoresistor | Resistor Types | Resistor Guide (eepower.com)

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