Recommend sensors for each of the applications below. Multiple sensors may be needed. Indication how the sensor will be used; if it is active or passive, exteroceptive or proprioceptive; and detail any important characteristics when selecting the sensor.
solution:
Q .
Detecting collisions with objects while a wheeled robot is driving
An infrared sensor emits and/or detects infrared radiation to sense its surroundings. The basic concept of an Infrared Sensor which is used as Obstacle detector is to transmit an infrared signal, this infrared signal bounces from the surface of an object and the signal is received at the infrared receiver.
Infrared sensors can be active or passive and they can be split into two main types:
1. Thermal infrared sensors – use infrared energy as heat. Their photo sensitivity is independent of the wavelength being detected. Thermal detectors do not require cooling but do have slow response times and low detection capabilities.
Passive Infrared sensors are used for motion detection systems, and LDR sensors are used for outdoor lighting systems.
2. Quantum infrared sensors – provide higher detection performance and faster response speed. Their photo sensitivity is dependent on wavelength. Quantum detectors have to be cooled in order to obtain accurate measurements.
Q. Determining the direction of flight in a GPS-denied environment
Ans: The current navigation systems are highly dependent on the global positioning system and are prone to error because of global positioning system signal outages. However, advancements in on board processing have enabled inertial navigation algorithms to perform well during short global positioning system outages. An intelligent optical flow–based algorithm combined with Kalman filters to provide the navigation capability during global positioning system outages and global positioning system–denied environments. To effectively fuse optical flow data with inertial sensors output, employ a modified form of extended Kalman filter. The modifications make the filter less noisy by utilizing the redundancy of sensors.
Q. Determining the tilt on a wheeled robot
Ans: Measuring the tilt angle of a robot is always a challenge for any robot builder. The accuracy of the measured tilt angle is extremely important for some applications such as a two-wheeled balancing robot, a quad-rotor flying robot and an unmanned aerial vehicle (UAV)
In order to measure the tilt angle along a single axis, we will need at least a gyro and an accelerometer.
Q. Estimating the acceleration a rotational velocity of a quadcopter
Ans: The Quadcopter was originally equipped with sensors and software to estimate and control the quadcopter’s orientation, but did not estimate the current position. A GPS module, GPS antenna and a LIDAR have been added to measure the position in three dimensions. Filters have been implemented and developed to estimate the position, velocity and acceleration. Four controllers have been designed that use these estimates: one PID controller and one LQ controller for vertical movement, and a position controller and a trajectory controller for horizontal movement. The position controller maintains a constant position, while the trajectory controller maintains a constant velocity while travelling along a straight line. These position and trajectory controllers calculate the reference angles required to direct the thrust necessary to control the quadcopter’s movement.
Q. Locating a fire for a flying drone with flame retardant
Ans: As in the case of wildfires large areas have to be monitored only remote sensing technologies (e.g. video based systems) are able to perform early detection adequately. To reduce false alarms a remote controlled unmanned aerial vehicle (UAV) equipped with gas sensors and a thermal camera flies to a potential fire to specify the origin of the reported cloud. The UAV can also be used as a scout for fire fighters. After successful fire extinction an unmanned blimp can be used as a fireguard to reduce the risk of re-ignition of the fire. As monitoring tools, a microwave radiometer detecting hot spots also at insufficient vision (due to smoke clouds and below the ground surface), gas and smoke sensors and a thermal camera are mounted on the blimp.
The entire process of detection is composed of the following steps:
Image acquisition (individual images or consecutive video frames)
Extraction of color components R, G and B
Normalization of color components leading to r, g and b
Calculation of detection indices FDI followed by FFDI
Binarization through application of TFFD (Forest Fire Detection Threshold)
Labelling of segmented regions
Q. Measuring the amount a wheel rotates on a robot
Ans: The encoder is a sensor attached to a rotating object (such as a wheel or motor) to measure rotation. By measuring rotation your robot can do things such as determine displacement, velocity, acceleration, or the angle of a rotating sensor.
Q. Tracking the position of a conveyor belt
Ans: Speed Switch Sensors used to provide alarms when conveyor system belts break, slip, or stop moving unexpectedly.
Specifications:
Power Requirements:
Part No. ZS09P-120: 120VAC, 20mA, 50/60Hz
Part No. ZS09P-D: 6-24VDC, 69mA
Relay Output: (specify when ordering)
SPDT Form ‘C’ dry relay contact (Normally Open/Closed)
SPST Normally Open
SPST Normally Closed
Contact ratings:
5A, 240VAC
5A, 30VDC
Vibration resistance (function) NO/NC contact >15/5g
Shock resistance (destruction) >100g
Operating Frequency:
Hall Effect and Inductive (Gear Tooth): 0.02Hz – 10kHz
Hall Effect Only: 0.02Hz – 25kHz
Sensing Distance (Gap) in Inches:
1/16″ to 1/8″ using Gear Tooth Wheel, Bolt Head, Key Stock,
etc.
1/8″ to 1/4″ using a Phares High Density Magnetic Disk.
1/4″ to 1″ using a Phares Magnet or Magnetic Disk.
(Magnetic target sensing distance based on Phares Magnetic Disks
and magnet types).
Minimum Gear Tooth Sizes:
1/8″ gear tooth length, width, depth and gap.
Gear Tooth Material:
High ferrous (iron) content.
Operating Temperature:
-40°F to 140°F
Weight:
6 oz.
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Recommend sensors for each of the applications below. Multiple sensors may be needed. Indication how the...