This document discusses robot sensors and optical sensors. It provides information on the different types of sensors including contact sensors, non-contact sensors, temperature sensors, strain sensors, biomedical sensors, and electrical/magnetic sensors. It describes the working principles and classifications of optical sensors specifically, listing examples such as chemical sensors, displacement sensors, and sensors used for applications in night vision cameras, biometrics, and partial discharge detection.

1. Robot Sensors
 Sensor is a transducer used to make measurement
of physical variable.
 Transducer is a device that convert one type of
physical variable in to another form.
 The sensor are used to collect the information
about the status of manipulator and end effectors
with respect to object

2. Desirable features of sensors
1) Accuracy
2) Precision
3) Operating range
4) Speed response
5) Sensitivity
6) Interfacing
7) Calibration
8) Reliability
9) Cost and easy operation, size, weight.

3. Types of sensors
1) Contact sensors
A) Touch Sensors
B) Force sensors
C) Position and displacement
2) Non Contact type sensors
A) Proximity or range sensors
B) Robot vision system
C) Voice sensors.

4. A sensor is a device that receives and responds to a signal
 the signal could be heat,light,motion or chemical
 a sensor coverts a signal into an analog or digital
representation of the output
 sensors detect and/or measure many different
conditions
What are some sensors that you have used?
INTRODUCTION:

5. Humans are equipped with 5 different types of sensors
Detects light Detects certain chemicals
Detects pressure & temperature
Detects sound

6. 6
WORKING PRINCIPLE
• LIGHT BEAM CHANGES BY THE PHENOMENA
THAT IS BEING MEASURED
• LIGHT MAY CHANGE IN ITS FIVE OPTICAL
PROPERTIES i.e INTENSITY, PHASE,
POLARIZATION,WAVELENGTH AND SPECTRAL
DISTRIBUTION

7. CLASSIFICATION
OPTICAL SENSORS ARE OF
 EXTRINSIC SENSORS
 INTRINSIC SENSORS
TWO TYPES
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8. 8
EXTRINSIC SENSORS
WHERE THE LIGHT LEAVES THE FEED OR
TRANSMITTING FIBER TO BE CHANGED BEFORE
IT CONTINUES TO THE DETECTOR BY MEANS
OF THE RETURN OR RECEIVING FIBER

9. 9
INTRINSIC SENSORS
INTRINSIC SENSORS ARE DIFFERENT IN THAT THE
LIGHT BEAM DOES NOT LEAVE THE OPTICAL FIBER
BUT IS CHANGED WHILST STILL CONTAINED WITHIN IT.

10. 10
COMPARISON OF THE TWO TYPES
EXTRINSIC INTRINSIC
APPLICATIONS-
TEMPERATURE,
PRESSURE,LIQUID
LEVEL AND FLOW.
LESS SENSITIVE
EASILY MULTIPLEXED
 INGRESS/ EGRESS
CONNECTION
PROBLEMS
EASIER TO USE
LESS EXPENSIVE
APPLICATIONS-
ROTATION,
ACCELERATION, STRAIN,
ACOUSTIC PRESSURE
AND VIBRATION.
MORE SENSITIVE
TOUGHER TO MULTIPLEX
REDUCES CONNECTION
PROBLEMS
MORE ELABORATE
SIGNAL DEMODULATION
MORE EXPENSIVE

11. 11
Types of Optical Sensors
 Chemical/Gas Concentration
 Temperature
 Strain
 Biomedical
 Electric & Magnetic Fields
 Rotation
 Pressure
 Displacement &Position

12. 12
CHEMICAL SENSORS
 REMOTE SPECTROSCOPY
 GROUNDWATER AND SOIL
CONTAMINATION
 MAJOR PLAYERS IN CHEMICAL
SENSORS
1) PHARMACIA BIOTECH (SWEDEN)
2) FIBERCHEM
3) THE QUANTUM GROUP

13. Chemical/Gas Sensor Types and Applications.
Sensor
type
Detectable
gases
Usable
range
Pro's
Con's
Electrochemical Toxics, oxygen ppm levels
Low power,
accurate, repeatable
3 year lifetime
slightly lower at
high temps; some
types are cross-
sensitive
Pellistor Flammables LEL levels
Generally good in
all ways; portable
Can be damaged by
high levels of H2S,
but poison resistant
types are available
Infrared Flammables and CO2
0.1 (or less) to
100% by volume
Fail safe; generally
excellent
Expensive (but
getting cheaper);
non-portable
Thermal
Conductivity
Many, at % levels,
including binary
mixtures
% levels
20 year life (at
least); stable; can
detect inert gases
Only appropriate
for certain gases
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14. TEMPERATURE SENSORS
 LARGEST COMMERCIALLY AVAILABLE
SENSORS
 RANGE -40 deg C TO 1000 deg C
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15. TYPES OF TEMPERATURE
SENSORS
 Thermocouples
 Thermistors
 Radiation Pyrometer
 Radiation Thermometers
 Resistance Temperature Detectors
 Fiber Optic Temperature Sensors
 Silicon Temperature Sensors
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16. APPLICATIONS
 HVAC - room, duct, and refrigerant
equipment
 Motors - overload protection
 Electronic circuits - semiconductor protection
 Electronic assemblies - thermal management,
temperature compensation
 Process control - temperature regulation
 Automotive - air and oil temperature
 Appliances - heating and cooling temperature
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17. STRAIN SENSORS
 FIBER BRAGG GRATINGS (FBG)
TECHNOLOGY
 SENSES AS LITTLE AS 9 MICROSTRAIN
 NRL and UNITED TECHNOLOGY
RESEARCH
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18. BIOMEDICAL SENSORS
 SPECTROSCOPIC BIOMEDICAL
SENSORS
 CO 2, O 2 and pH CAN BE MEASURED
SIMULTANEOUSLY
 FLOW MONITORING BY LASER
DOPPLERIMETRY
 FIBERS – OPTHALMOLOGIC
APPLICATION
18

19. ELECTRICAL AND MAGNETIC
SENSORS
 APPEALING- INHERENT DIELECTRIC
NATURE
 LESS SENSITIVE TO
ELECTROMAGNETIC INTERFERENCE
 SMALL SIZE AND SAFER
 THEY ARE ALMOST ALWAYS HYBRID
 ABB CORPORATION RESEARCH
CENTER
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20. APPLICATION
 Compassing and navigation
 Vehicle Detection
 Virtual Reality
 Laboratory Instrumentation
 a Medical Instruments
 Underground Boring Equipment
 Flux Gate Replacement
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21. ROTATION SENSOR
 BASED ON THE SAGNAC EFFECT
 TWO TYPES RING LASER GYROSCOPE
(RLG) AND FIBER OPTIC GYROSCOPE
(FOG)
 US COMPANIES PURSUING HIGH
PERFORMANCE FOG’s (HONEYWELL,
LITTON, NORTHRUP, ALLIED SIGNAL
etc.)
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22. PRESSURE SENSORS
 EARLIER BASED ON PIEZORESISTIVE
TECHNIQUE
 BASED ON MOVABLE DIAPHRAGM
 HIGH PERFORMANCE-
(POLARIZATION BASED SENSORS)
 OPERATING PRESSURE RANGES
FROM 0-70,000 torr
22

23. DISPLACEMENT AND
POSITION SENSORS
 ONE OF THE FIRST
OPTOELECTRONIC SENSORS TO BE
DEVELOPED.
 SIMPLE SENSORS RELY ON THE
CHANGE IN RETROREFLECTANCE
DUE TO A PROXIMAL MIRROR
SURFACE
 ALSO REFERRED AS LIQUID LEVEL
SENSORS
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24. 24
WHY OPTICAL SENSORS
 ELECTROMAGNETIC IMMUNITY
 ELECTRICAL ISOLATION
 COMPACT AND LIGHT
 BOTH POINT AND DISTRIBUTED
CONFIGURATION
 WIDE DYNAMIC RANGE
 AMENABLE TO MULTIPLEXING

25. 25
APPLICATIONS
 MILITARY AND LAW ENFORCEMENT
THIS SENSOR ENABLES LOW LIGHT IMAGING AT TV
FRAME RATES AND ABOVE WITHOUT THE
LIMITATIONS OF VACUM TUBE BASED SYSTEMS.

26. 26
NIGHT VISION CAMERA (contd.)
COMPRISES OF :
 AMPLIFIED CCD SENSOR
 ANTI BLOOMING TECHNOLOGY
 CRYSTAL POLYMER SHUTTER
ADVANTAGES :
 EXCEPTIONAL DAY LIGHT RESOLN.
 IMMUNE TO OVER EXPOSURE
 VERY HIGH CONTARAST LEVELS
 NO HALOING OR SCINTILLATIONS

27. 27
BIOMETRICS
YOUR FACE, FINGERS AND EYES IN A WHOLE NEW
LIGHT
• IMAGE CAPTURE
• IMAGE PROCESSING
• FEATURE EXTRACTION
• FEATURE COMPARISON

28. 28
PARTIAL DISCHARGE DETECTION
USES OPTICAL FIBER SENSORS
OPTICAL FIBER SENSORS ARE BEING TESTED FOR
USE IN DETECTING PARTIAL DISCHARGES IN
ELECTRICAL TRANSFORMERS. PINPOINTING SUCH
DISCHARGES IS ESSENTIAL TO PREVENTING
INSULATION BREAKDOWN AND CATASTROPHIC
FAILURES.