Robotics Reviewer

Ohm's law 2. Parallel

● All the components are connected
● the German scientist Georg Ohm
between the same set of electrically
● The relationship between voltage,
current, and resistance in an common points.
electrical circuit ○ Same voltage
● Voltage across a conductor is ○ The sum of the currents
directly proportional to the current through each path is equal to
flowing through it, provided all the total current.
physical conditions and temperature,
remain constant.
Series Parallel

R Rₜ = R₁ + R₂ + R₃ + 1 1 1
… = + +
RT R ₁ R ₂
…

I Iₜ = I₁ = I₂ = I₃ Iₜ = I₁ + I₂ + I₃ +
…

Symbol Unit of Role in V Vₜ = V₁ + V₂ + V₃ + Vₜ = V₁ = V₂ = V₃

Measure Circuits …

Voltage E Volts (V) Pressure that

3. Combination
triggers
electron flow. ● Components that some are in series
and some that are in parallel.
Current I Amperes Rate of
(A) electron flow.

Resistance R Ohms Ω Flow inhibitor Logic Gates

Power P Watts Amount of 1. AND Gate

(W) work done - Gives high input IF AND ONLY IF
all outputs are HIGH.
Series, Parallel and Complex
Circuits A B A.B
1. Series
● The circuit in which resistors are 0 0 0
arranged in a chain so that the 0 1 0
current has only one path.
○ Same value of current 1 0 0
○ The voltage across the circuit
is the sum of the individual 1 1 1
voltage drops across each
component
 - Outputs are LOW if any input is
HIGH
2. OR Gate
A B A̅+B̅
- Gives High Output if ONE OR
MORE of its inputs are HIGH 0 0 1

0 1 0
A B A+B
1 0 0
0 0 0
1 1 0
0 1 1

1 0 1 6. EXOR Gate
- Special OR Gate
1 1 1 - Gives HIGH output if EITHER, BUT
NOT BOTH of its two inputs are
3. NOT Gate high.
- Procedures are INVERTED
versions of the input at its output.
A B A⊕B

A A̅ 0 0 0

1 0 0 1 1

0 1 1 0 1

1 1 0
4. NAND Gate
- The NOT-NAND Gate which is equal 7. EXNOR Gate
to an AND gate followed by a NOT - Opposite of EXOR Gate
gate - It will give low output if EITHER,
- Outputs are HIGH if any of the BUT NOT BOTH of its two outputs
inputs are LOW are HIGH

A B A̅.B̅ A B A̅⊕B̅
0 0 1 0 0 1
0 1 1 0 1 0
1 0 1 1 0 0
1 1 0 1 1 1

5. NOR Gate
- The NOT-OR gate which is equal to
an OR gate followed by a NOT gate
 Sensors and transducers
Classifications A/Active Sensors - Requires external
Sensors power source to operate
Converts any form of electrical P/Passive Sensors - Detects and
energy to an electrical signal responds to input signals from physical
- Humans have different types of environment.
sensors, which some sensors are
based off of.
- Detects & measures physical General Sensor PC/ A/P
property. Sensors report, indicate, Classif. System EC
and respond to it.
Tactile Contact EC P
- Are needed by robots to deduce
Sensors Switches
what is happening in their world and
react to situations. Optical EC A
- Robot’s windows into environment Barriers
- Robots need perception to be
actively involved in the environment Noncontact
- Each sensor is based on the Proximity EC A
Sensors
principle of transduction/converting
energy from one form to another.
- Do not provide state but measure
physical quantity. Wheel / Brush PC P
Motor Encoders
Transducers Sensors
Potentiometers PC P
Convert one form of energy to
another. Syndros
Resolvers PC A
Examples:
Microphone - Sound into Electrical Magnetic
Solar Energy - Light into Electrical Encoders PC A
LED Bulb - Electrical to Optical
Inductive
Electric Motor - Electricity to Mechanical
Encoders PC A

Sensors as Transducers - its basic function Capacitive

measures some feature in the world, and Encoders PC A
converts that measurement into an electric
signal. Usually voltage or Current.
Heading Compass EC A
Sensors
Sensors Classifications Gyroscope PC P
PC/Proprioceptive Sense -
Measures internal system of the robot Inclinometer EC A/P
EC/Exteroceptive Sense - Measures
external system of the robot interacting with
the enviroment.
Analog Sensor
- produces a continuous output
signals based on input signals in
volts using a graduated scale w/
pointer.
- Produces analog output
- Examples include measuring
quantities such as temperature, Resistors
speed, displacement, pressure,
strain, etc.
Number Multiplier Tolerance
Digital sensor Indicator
(First and
- Produces discrete output signals, Second Band)
quantity or voltage which is a digital
representation of quantity to be Black 1 1
measured.
Brown 2 10
- Measured in digital format in
numbers in the form of Logic 1 or Red 3 100
Logic 0, and High or Low.
- Overcomes the limitations of analog Orange 4 1K
sensors counterpart.
Yellow 5 10K
- Used in various applications, the
most prominent being wastewater, Green 6 100K
water, and other industrial
processes. Blue 7 1M
- Uses also include measurements Violet 8 10M
such as pH, conductivity, dissolved
oxygen, ammonium, nitrates, and Gray 9 100M
etc. These are conducted with digital
White
sensors.
- Consists of the sensor itself, a cable, Gold 5%
and a transmitter.
Silver 10%
Analog Signal Processing
None 20%

Digital Signal Processing

 Electronic Components

Component Description Schematic

Symbol
Capacitor Stores energy in
Battery Stores chemical (Polarized the form of
energy and and Non- electrical charge
converts to Polarized)
electrical energy.

Wires (Open Flexible metallic

and Closed) conductor that
carries electric
current in a Switch Turn off/on;
circuit. (Open and breaking electric
Close) current
Lightbulb Converts
electricity to light IC555 TImer Integrated circuit
used as a timing
device to
Diode Two terminal generate single
semi-conductor and long pulses.
that conducts
electricity in one
direction

LED Light Emitting

Diode

Resistor Limits or
regulates the flow
of electric current.

Photoresisto Resistor whose

r resistance
decreases when
light increases

PNP/NPN Controls
Transistors voltage/current
and amplifies
these electric
signals.