Course   Title:    Robotics   and   Automation
Session   Title:    Introduction   to   Robotics   Part   4:   Sensors
Performance   Objective:
At   the   end   of   the   lesson,   students   will   be   able   to   recall   the   theory   and   application   of   sensor   technology
by   passing   the   Sensor   Quiz   with   a   minimum   70   percent   score.
Specific   Objectives:

Recognize   the   concepts   of   transducers   and   sensors.

Describe   the   output   properties   of   a   variety   of   sensors.

Describe   sensors   according   to   the   physical   properties   they   measure.

Classify   or   group   sensors   into   a   variety   of   categories.

Recall   the   relationships   between   sensing,   computing,   and   programming.

Apply   sensors   in   robotic   and   computer   applications.
Preparation
TEKS   Correlations:
This   lesson,   as   published,   correlates   to   the   following   TEKS.
Any   changes/alterations   to   the   activities   may   result   in   the   elimination   of   any   or   all   of   the   TEKS   listed.
Robotics   and   Automation:

130.370(c)(5)(B)(C)
(B)   troubleshoot   and   maintain   systems   and   subsystems   to   ensure   safe   and   proper   function   and   precision   operation;
(C)   demonstrate   knowledge   of   process   control   factors;

130.370(c)(6)(C)(D)
(C)   demonstrate   knowledge   of   feedback   control   loops   to   provide   information;   and
(D)   demonstrate   knowledge   of   different   types   of   sensors   used   in   robotic   or   automated   systems   and   their   operations;

130.370(c)(10)(D)
(D)   understand   use   of   sensors   in   a   robotic   or   automated   system;
Interdisciplinary   Correlations:
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1

Chemistry:

112.35(c)(11)(A)(B)
(A)   understand   energy   and   its   forms,   including   kinetic,   potential,   chemical,   and   thermal   energies;
(B)   understand   the   law   of   conservation   of   energy   and   the   processes   of   heat   transfer;
Occupational   Correlation:   (reference:   O*Net   –   www.onetonline.org)
Remote   Sensing   Technicians   19 ‐ 4099.03
Similar   Job   Titles:
Apply   remote   sensing   technologies   to   assist   scientists   in   areas   such   as   natural   resources,   urban   planning,   or   homeland   security.
May   prepare   flight   plans   or   sensor   configurations   for   flight   trips.
Tasks:


Collect   geospatial   data,   using   technologies   such   as   aerial   photography,   light   and   radio   wave   detection   systems,   digital   satellites,   or   thermal   energy   systems.
Manipulate   raw   data   to   enhance   interpretation,   either   on   the   ground   or   during   remote   sensing   flights.



Adjust   remotely   sensed   images   for   optimum   presentation   by   using   software   to   select   image   displays,   defining   image   set   categories,   or   choosing   processing   routines.
Calibrate   data   collection   equipment.
Consult   with   remote   sensing   scientists,   surveyors,   cartographers,   or   engineers   to   determine


 project   needs.
Correct   raw   data   for   errors   due   to   factors   such   as   skew   or   atmospheric   variation.
Develop
Evaluate
or   maintain remote
geospatial sensing
project information
databases.
requirements   to
determine   the   types   of   equipment   or   computer   software   necessary   to   meet   project   requirements   such   as   specific   image   types   or   output   resolutions.


Integrate   remotely   sensed   data   with   other   geospatial   data.
Merge   scanned   images   or   build   photo   mosaics   of   large   areas   using   image   processing   software.
Soft   Skills:
Realistic;   Investigative;   Conventional
Teacher   Preparation:
Review   lesson   plan   and   Introduction   to   Robotics   Part   4:   Sensors   slide   presentation,   and   duplicate   Sensor
Quiz.
Teacher   should   search   the   internet   for   information   on   digital   fabrication   labs,   sensors,   and   systems   to   share   with   students.
References:
1. Search   internet   for   information   on   digital   fabrication   labs,   sensors,   and   systems.
2. http://tltl.stanford.edu/about
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2

Instructional   Aids:
1.
Introduction   to   Robotics   Part   4:   Sensors   slide   presentation
2.
Sensor   Quiz   key
3.
Internet
Materials   Needed:
1.
Sensor   Quiz   for   each   student
2.
Pen   or   pencil
Equipment   Needed:
1.
Computer   with   internet   access
2.
Projector   and   screen
Learner   Preparation:
Introduction   to   Robotics   Parts   1 ‐ 3   lessons
Introduction
Introduction   (LSI   Quadrant   I):
SAY:   When   we   talk   about   how   “smart”   or   “intelligent”   or   “powerful”   a   computer   or   electronic   device   is,   we   are   really   talking   about   what   it   does   when   we   want   it   to   do   something.
SAY:   When   we   want   it   to   do   something,   we   provide   it   with   something   called   an   “input”   which   is   something   we   do   or   that   happens   in   the   external   environment.
ASK:   Humans   are   considered   to   be   smart,   but   what   could   we   do   if   we   had   no   senses   at   all?
(Wait   for   answers   or   discussion.)
SHOW:   slides   2 ‐ 6   in   the   presentation
SAY:   So   an   electronic   device   gets   an   input   through   its   senses,   which   are   called   sensors.
ASK:   We   know   about   input   devices   for   a   computer.
What   are   some   examples?
SHOW:   a   computer   keyboard
SAY:   This   keyboard   is   one   of   the   most   common   input   devices   for   a   computer.
ASK:   Is   this   keyboard   considered   a   sensor?
(Wait   for   answers.)
SAY:   Well,   not   the   entire   keyboard;   each   individual   key   is   a   button,   and   each   button   is   a   switch,   and   each   switch   is   a   form   of   sensor.
SAY   and   SHOW:   It   senses   when   you   push   the   button,   like   this.
SAY:   This   is   just   one   example;   there   are   a   lot   of   others.
Any   intelligent   device   has   to   have   a   bunch   of   sensors.
The   more   sensors   it   has,   the   more   things   it   can   be   told   to   do,   and   the   more   intelligent   it   seems.
We   are   going   to   learn   about   sensors,   what   they   are,   and   how   they   work   (Go   to   slide   7).
Outline
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Outline   (LSI   Quadrant   II):
Instructors   can   use   the   slide   presentation,   slides,   handouts,   and   note   pages   in   conjunction   with   the   following   outline.
MI   Outline   Notes   to   Instructor
I.
Introduction   to   sensors:
A.
Stop   on   slide   2   and   ask   students   if   they   can   share   what   sensors   they   know   about   and   how   they   think   they   work.
B.
After   going   through   slides   2 ‐ 6,   students   should   have   a   better   idea   and   they   should   be   able   to   come   up   with   better   answers   to   what   sensors   are,   what   sensors   they   know   about,   and   how   sensors   work.
Begin   Introduction   to
Robotics   Part   4:   Sensors   slide   presentation.
Slides   1 ‐ 6
Build   student   interest   by   having   a   lot   of   discussion   about   sensors.
What   do   students   know?
II.
C.
Temperature   sensors   are   very   common   in   the   home,   and   are   used   in   air   conditioning   thermostats,   ovens,   refrigerators,   and   other   places.
D.
Other   sensors   include   smoke   detectors,   moisture   detectors   (in   the   dryer),   light   in   motion   detectors,   magnetic   contact   in   alarm   systems,   current   in   GFCI   outlets   and   breakers.
1.
How   about   the   touch   mechanism   on   a   cell   phone?
2.
How   do   you   think   the   touch   function   works?
Sensor   definitions   and   characteristics:
A.
A   sensor   is   always   a   transducer,   converting   the   measured   value   into   (usually)   an   electrical   quantity.
B.
Characteristics   of   a   sensor   are   important.
C.
A   linear   relationship   between   measured   value   and   output   is   ideal.
D.
Ask   students   what   happens   if   a   sensor   does   not   have   ideal   characteristics.
E.
Students   know   about   their   own   senses,   but   not   necessarily   how   they   work;   a   recommended   topic   for   research   is   to   have   students   pick   a   sense   and   research   it.
F.
Relate   the   millions   of   individual   sensors   humans   have   to   the   sensors   used   in   technology.
Another sensor touch
example technology mechanism
of
is
on function   works.
See    slide   6   presentation
the a   cell   phone.
Ask   students   how   they   think   the   touch
notes   for   explanation   of   how   it   works.
Slides   7 ‐ 11
Continue   to   build   student   interest   by   focusing   on   the   human   senses.
Ask   students   what   the   senses   are   and   how   they   work.
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III.
How   sensors   work:
A.
Electricity   is   easy   to   measure   because   it
produces   forces.
B.
Older   sensors   work   from   mechanical    properties   like   a   mercury   thermometer.
C.
A   galvanometer   produces   an   indication   that   can   be   read,   and   the   meter   does   not   even   have   to   be   local.
D.
Computers   work   based   on   numbers,   but   voltage   can   be   easily   converted   to   a   number.
This   means   there   are   often   two   (or   more)   conversion   steps   for   a   sensor   to   be   useful   in   our   digital   world.
E.
Talk   about   GPS   and   how   complicated   things   that   look   simple   in   our   world   actually   are.
F.
Someone   had   to   measure   where   things   like   roads   and   buildings   are   to   compare   them   to   position   data   from   a   GPS;   using   a   computer   is   the   only   way   to   do   this.
IV.
The   link   between   sensors   and   computers:
A.
Slides   21 ‐ 22   bridge   between   one   topic   and   the   next,   and   can   be   used   either   with   the   previous   slides   or   with   the   next   group   of   slides,   depending   on   time.
B.
A   computer   is   used   to   make   a   decision   based   on   sensor   data.
C.
How   does   this   work?
D.
A   human   has   to   write   a   program   that   tells   the   computer   what   to   do   as   a   result   of   the   data.
V.
Categories   of   sensors:
A.
A   sensor   can   be   categorized   by   any   of   a   number   of   its   characteristics.
B.
There   are   temperature   sensors,   pressure   sensors,   contact   sensors,   light   sensors,   chemical   sensors,   and   many   other   types.
C.
Some   sensors   work   based   on   physical   properties   (bi ‐ metallic   strip,   mercury   thermometer),   electrical   properties   (RTDs,   thermocouples,   magnetic   contact,   capacitance   change),   touch   or   proximity   (switch),   and   sensors   that   use   light   absorption   or   emission,   etc.
D.
Types   of   output   include   voltage   change,
Slides   12 ‐ 20
Slides   21 ‐ 22
Slides   23 ‐ 28
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resistance   (conductivity)   change,   light   level,   physical   movement,   analog   versus   digital,   sound,   or   force.
Linear   versus   non ‐ linear   could   be   how   they   work   or   type   of   output.
E.
The   same   sensor   could   be   placed   in   different   categories   based   on   what   characteristic   is   important   or   the   method   of   categorization.
F.
Because   we   are   interested   in   using   sensors   in   robotics,   we   categorize   sensors   based   on   the   programming   needed   to   make   them   useful.
G.
Types   of   programming   include   binary   (2   state,   on/off),   analog   (signal   has   a   range   of   values),   or   digital   (many   possible   values   in   a   digital   word   format).
VI.
Using   a   switch   as   a   sensor:
A.
It   produces   only   one   of   two   outputs   (on   or   off,
1   or   0).
B.
It   is   the   easiest   to   program.
C.
Two   states   mean   only   two   program   options.
Slides   29 ‐ 34
VII.
Using   a   switch   in   a   computer   program:
A.
Switch   position   data   must   be   read.
B.
There   is   a   computer   command   to   read   data.
C.
This   command   is   detailed   in   its   entirety.
D.
This   is   one   of   potentially   many   commands   in   a   computer   program,   but   it   is   a   good   place   to   start   because   it   is   considered   a   simple   command.
Slides   35 ‐ 49
VIII.
Sensor   Quiz:
A.
Give   students   the   sensor   quiz.
B.
A   minimum   score   of   70%   is   required.
Distribute   the   Sensor
Quiz   to   students.
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Verbal
Linguistic
Logical
Mathematical
Visual
Spatial
Musical
Rhythmic
Bodily
Kinesthetic
Application
Intra ‐ personal
Inter ‐ personal
Naturalist   Existentialist
Guided   Practice   (LSI   Quadrant   III):
The   teacher   will   ask   questions,   listen   to   answers,   and   receive   student   feedback   during   the   presentation.
Independent   Practice   (LSI   Quadrant   III):
Students   will   research   sensors   on   the   internet,   and   may   use   the   quiz   as   a   take ‐ home   study   handout.
Summary
Review   (LSI   Quadrants   I   and   IV):
Question:   What   is   a   transducer?
Answer:   A   device   that   converts   one   form   of   energy   to   another   form   of   energy.
Question:   What   is   the   most   useful   type   of   output   from   a   sensor?
Answer:   An   electrical   output.
Evaluation
Informal   Assessment   (LSI   Quadrant   III):
Student   feedback,   question   and   answer
Formal   Assessment   (LSI   Quadrant   III,   IV):
Sensor   quiz
Extension
Extension/Enrichment   (LSI   Quadrant   IV):
Computer/internet   research   into   the   details   of   specific   types   of   sensors,   or   into   the   human   senses.
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3.
2.
1.
5.
4.
6.
Which   of   the   following   sensor   output   types   is   most   useful?
A   Mathematical
B   Linear
C   Non ‐ linear
D   Geometric
Where   are   human   senses   analyzed?
A   in   the   spinal   column
B   in   the   eye
C   throughout   the   body
D   in   the   brain
Which   of   the   following   is   the   most   useful   type   of   output   from   a   sensor?
A   electrical
B   physical
C   radiation
D   pressure
What   type   of   input   does   a   galvanometer   need   to   indicate   a   measurement?
A   pressure
B   resistance
C   voltage
D   force
What   part   physically   moves   on   a   galvanometer?
A   needle
B   scale
C   magnet
D   dial
An   RTD   produces   what   type   of   output   change?
A   temperature
B   voltage
C   resistance
D   force
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7.
A   thermocouple   produces   what   type   of   output   change?
A   temperature
B   voltage
C   resistance
8.
D   force
How
A
B
C
D
one two
many three four
satellites   are   necessary   for   GPS?
9.
What   does   a   GPS   actually   measure?
A   position
B   time
C   voltage
D   force
10.
Which   of   the   following   is   the   link   between   a   computer   and   a   sensor?
A   software   program
B   voltage
C   resistance
D   a   switch
11.
Which   of   the   following   uses   a   chemical   process   for   detection?
A   bi ‐ metallic   strip
B
C
smoke   detector photoresistor
D   galvanometer
12.
Which   of   the   following   uses   an   electrical   process   for   detection?
A   bi ‐ metallic   strip
B
C
D
smoke   detector photoresistor galvanometer
13.
Linear   or   non ‐ linear   is   a   type   of:
A   output
B   input
C   position
D   GPS
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9

14.
Which   of   the   following   is   one   of   the   simplest   types   of   sensors?
A   GPS
B   temperature
C   vision
D   switch
15.
Which   of   the   following   assigns   a   memory   location   to   sensor   data?
A   =
B   int   switchdata
C   GetDigitalInput
D   input   (seven)
16.
Which   of   the   following   is   a   characteristic   of   a   good   sensor?
A   is   non ‐ linear
B
C
can is
influence sensitive   to
the   only measurement
one   physical
property
D   is   sensitive   to   more   than   one   physical
17.
What   is   the   definition   of   a   transducer?
property
18.
Describe   what   a   sensor   does.
19.
List   several   different   ways   to   categorize   sensors.
20.
List   several   things   a   sensor   can   be   used   to   measure.
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10

6.
5.
4.
3.
2.
1.
Which   of   the   following   sensor   output   types   is   most   useful?
A   Mathematical
B   Linear
C   Non ‐ linear
D   Geometric
Where   are   human   senses   analyzed?
A   in   the   spinal   column
B   in   the   eye
C   throughout   the   body
D   in   the   brain
Which   of   the   following   is   the   most   useful   type   of   output   from   a   sensor?
A   electrical
B   physical
C   radiation
D   pressure
What   type   of   input   does   a   galvanometer   need   to   indicate   a   measurement?
A   pressure
B   resistance
C   voltage
D   force
What   part   physically   moves   on   a   galvanometer?
A   needle
B   scale
C   magnet
D   dial
An   RTD   produces   what   type   of   output   change?
A   temperature
B   voltage
C   resistance
D   force
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11

7.
8.
A
A
D
thermocouple temperature
B   voltage
C   resistance   force
produces   what   type   of   output   change?
9.
How   many   satellites   are   necessary   for   GPS?
A   one
B
C
D
two three four
What   does   a   GPS   actually   measure?
A   position
B
C
D
time voltage force
10.
Which   of   the   following   is   the   link   between   a   computer   and   a   sensor?
A   software   program
B
C
D
voltage resistance a
switch
11.
Which   of   the   following   uses   a   chemical   process   for   detection?
A   bi ‐ metallic   strip
B   smoke   detector
C   photoresistor
D   galvanometer
12.
Which   of   the   following   uses   an   electrical   process   for   detection?
A   bi ‐ metallic   strip
B
C
D
smoke   detector photoresistor   galvanometer
13.
Linear   or   non ‐ linear   is   a   type   of:
A   output
B   input
C   position
D   GPS
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12

14.
Which   of   the   following   is   one   of   the   simplest   types   of   sensors?
A   GPS
B
C
D
temperature vision   switch
15.
Which   of   the   following   assigns   a   memory   location   to   sensor   data?
A   =
B
C
D
int   switchdata
GetDigitalInput input   (seven)
16.
Which   of   the   following   is   a   characteristic   of   a   good   sensor?
A   is   non ‐ linear
B
C
D
can is is
influence sensitive sensitive
to to
the   measurement only more
one
physical than   one
property physical
17.
What   is   the   definition   of   a   transducer?
property
A   device   that   converts   one   form   of   energy   into   another
18.
Describe   what   a   sensor   does.
Detects   the   external   environment
19.
List   several   different   ways   to   categorize   sensors.
What   they   measure
How   they   work
The   type   of   output   they   produce
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13

20.
List   several   things   a   sensor   can   be   used   to   measure.
Sound   level
Fluid   flow
Electrical   Current
Voltage
Temperature
Position
Pressure
Force
Proximity
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14