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    1a - Sensors For Robotics - Intro

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    Alexgri
    This document discusses sensors for robotics and compares them to human senses and biological sensors. It outlines the main human senses and the corresponding sensors, as well as common animal senses and sensors. Some unusual animal sensors are also described, such as magnetoreception and electric field sensing. The biological rotation sensor is explained. The document concludes by comparing robot sensors to human and animal counterparts and how robot sensors can be tailored to their environment and tasks.

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    1a - Sensors For Robotics - Intro

    Uploaded by

    Alexgri
    39 views15 pages
    This document discusses sensors for robotics and compares them to human senses and biological sensors. It outlines the main human senses and the corresponding sensors, as well as common animal senses and sensors. Some unusual animal sensors are also described, such as magnetoreception and electric field sensing. The biological rotation sensor is explained. The document concludes by comparing robot sensors to human and animal counterparts and how robot sensors can be tailored to their environment and tasks.

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    1a - Sensors for Robotics - Intro

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    1a - Sensors for Robotics - Intro

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    This document discusses sensors for robotics and compares them to human senses and biological sensors. It outlines the main human senses and the corresponding sensors, as well as common animal senses and sensors. Some unusual animal sensors are also described, such as magnetoreception and electric field sensing. The biological rotation sensor is explained. The document concludes by comparing robot sensors to human and animal counterparts and how robot sensors can be tailored to their environment and tasks.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    39 views15 pages

    1a - Sensors For Robotics - Intro

    Uploaded by

    Alexgri
    This document discusses sensors for robotics and compares them to human senses and biological sensors. It outlines the main human senses and the corresponding sensors, as well as common animal senses and sensors. Some unusual animal sensors are also described, such as magnetoreception and electric field sensing. The biological rotation sensor is explained. The document concludes by comparing robot sensors to human and animal counterparts and how robot sensors can be tailored to their environment and tasks.

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 15

    Sensors  for  Robotics

    Introduction
    Human  Sensing
    Sense: What sensed:
    • Vision • EM waves

    • Audition • Pressure waves

    • Gustation • Chemicals - flavor

    • Olfaction • Chemicals - odor

    • Tactition • Contact pressure


    Human  Sensing

    Sense What sensed:


    • Thermoception • Heat

    • Nociception • Pain

    • Equilibrioception • Sense of balance

    • Proprioception • Body awareness


    Animal  Sensing

    • Magnetoception (birds)

    • Electroception (sharks, etc.)

    • Echolocation (bats, etc.)

    • Pressure gradient (fish)


    Human  Sensors
    Sense: Sensor:
    • Vision • Eyes

    • Audition • Ears

    • Gustation • Tongue

    • Olfaction • Nose

    • Tactition • Skin
    Human  Sensors

    Sense: Sensor:
    • Thermoception • Skin

    • Nociception • Skin, organs, joints

    • Equilibrioception • Ears

    • Proprioception • Muscles, joints


    Common  Animal  Sensors
    Sensor Phenomena

    Eye Electromagnetic  waves  in  some sub-­


    spectrum
    Ear Pressure  waves  between  about  10  hz  and  
    100kHz  (animal-­dependent)  
    Nose Concentration  of  airborne  molecules

    Tongue Concentration  of  dissolved  molecules,  etc.

    Skin   Pattern  of  pressure  on  animal's  surface  

    Proprioceptive   Pattern  of  nerve  impulses  from  muscles  


    system
    Unusual  Animal  Sensors
    • Magnetoreceptor:  Sensing  of  earth’s  magnetic  
    field.  Seen  in  newts,  birds,  rats  and  maybe  
    humans.

    • Electric  field  sensing:  Seen  in  a  variety  of  fish.

    • Cerci:  Cockroach  airflow  sensors

    • Body  as  eye:  Brittlestar  covered  with  optically  


    perfect  lenses
    Biological  Rotation  Sensor

    • semicircular  canals detect  angular  acceleration

    • 3  canals:  one  per  plane

    • inertia  of  fluid  causes  deflection  of  sensory  element


    Biomimetic:  Robot  design  as  
    creature  design

    • Animal  sensory  systems  adapted  to  


    functional  needs  and  environment.

    • Robots  can  use  non-­biological  sensors  


    which  suit  them  to  their  ‘ecosystems’

    • e.g.,  neutron-­sniffing  robodog,  UAV  with  


    weather  radar,  etc.
    Robot  Sensors
    Sense: Sensor:
    • Vision • Camera
    • Audition • Microphone
    • Gustation • Chemical sensors
    • Olfaction • Chemical sensors
    • Tactitions • Contact sensors
    • Thermoception • Thermocouple
    • Nociception • ?
    Robot  Sensors
    Sense: Sensor:
    • Equilibrioception • Accelerometer
    • Proprioception • Encoders
    • Magnetoception • Magnetometer
    • Electroception • Voltage sensor
    • Echolocation • Sonar
    • Pressure gradient • Array of pressure
    sensors?
    Robot  Sensors
    • EM spectrum beyond visual spectrum
    • (RADAR, LIDAR, radiation, infrared)
    • Chemical sensing beyond taste and smell
    • Hearing beyond human range
    • Lots more.
    Robot  Sensors  -­ localization
    GPS

    Do  you  recognize  
    the  difference  
    between  the  two   Magnetometer
    Compass
    categories?

    Camera

    Infrared Ranging
    Accelerometer

    Linear Encoder

    Laser triangulation
    IR Modulator
    Gyroscope Receiver

    Rotary
    Encoder

    Sonar Ranging
    Laser Rangefinder
    Robot  Sensors  – specific  tasks

    Pressure
    Resistive Bend

    Pyroelectric
    Gas Detector
    Metal Detector Magnetic Reed Switch

    Lever Switch

    Microphone

    PIR
    Radiation
    CDS Cell Compass
    Piezo Bend

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