1.
SBOX
Burgos, Hector. Campos, Luis
Sensors & Actuators
Facultad de Ingeniería, UADY Mérida, Yucatán, México
Abstract— This report shows the methodology to develop a crack
detector from an analog sensor 2Y0A21 Sharp and the actuator,
which in this case was motor reducers. The purpose of using an
analog sensor over a digital sensor is to account for the sensor
output signal, the emission being in a range of values that vary
over time and proportional to the effects being measured. It is of
paramount importance the number of data collected to elaborate
the process of digital filter, implementing the filter, analyzing the
results and the graphs obtained from the use of the apparatus to
be elaborated.
I. INTRODUCTION
Sensors and actuators are two critical components of
every closed loop control system. Such a system isalso
called a mechatronics system. A typical mechatronics
system consists of a sensing unit, a controller, and an
actuating unit.
A sensing unit can be as simple as a single sensor or can
consist of additional components such as filters,
amplifiers, modulators, and other signal conditioners.
The controller accepts the information from the sensing
unit, makes decisions based on the control algorithm,
and outputs commands to the actuating unit. The
actuating unit consists of an actuator and optionally a
power supply and a coupling mechanism.
Sensor is a device that when exposed to a physical
phenomenon (temperature, displacement, force, etc.)
produces a proportional output signal (electrical,
mechanical, magnetic, etc.).
On the other hand, actuators are basically the muscle
behind a mechatronics system that accepts a control
command (mostly in the form of an electrical signal) and
produces a change in the physical system by generating
force,motion, heat, flow, etc [1].
Equipment
The equipment used during the project was:
 Development board Arduino UNO
 2Y0A21 Sharp Sensor
 H bridge
Kremer, Jeans. Puc, Jose.
Sensors & Actuators
Facultad de Ingeniería, UADY Mérida, Yucatán, México
 Two motor reducers
Materials:
 Cinchos
 Bearings
 Cable
 Threaded rod
 Smooth rod
 L-shaped rod.
 Rivets
II. METHODOLOGY
A. Mechanical system
After having the corresponding materials and the
appropriate equipment, the manufacturing of the project
was carried out the structure where all the electronic part
would go, for this the L-shaped rod was cut and
temporarily joined with rivets. A similar but small
structure was developed where the sensor will be placed.
For the structure to have movement on the X and Y axis,
the rods were used in such a way to give such
movements through actuators that would work with the
programming of a microcontroller.
The structure has measurements exceeding 15
centimeters in order that the displacement of the sensor
is in accordance with the specifications provided. It
should be emphasized that the place where the sensor
is noted must be parallel to the ground, so that the
moment the sensor displaces, there are no erroneous
measurements to decrease or increase the distance
between the sensor and the floor, without it being, this
problem a matter of manufacture.
B. Analog sensing
The sensor used was the Sharp 2Y0A21, according to
the specifications of the datasheet it has a measurement
distance range of 10 to 80 centimeters, it is an analog
output, it is powered with a voltage voltage of 4.5 to 5.5
v [2].
 C. Digital processing
For the digital processing, the microcontroller Arduino
Uno was selected, because it is compatible with each
component used, besides being able to be connected to
MatLab in order to apply the filter to the data obtained.
D. Filtering
The Arduino was connected to the MatLab so that by
obtaining the read values of the sensor, they were
processed to a vector, transforming it into an NxM matrix.
As the elaborated system has a movement in X and Y, it
was accommodated in such a way that the filtering
throws the correct matrix to the data, relative to the
positions of the plane to that of MatLab.
III. RESULTS
A. Mechanical system
In this part, were placed the electronic components
used, in the orange box is the used circuit. The
student structure measures 30 centimeters by 30
centimeters.
Figure 1 Mechanical System
B. Digital processing and Filtering
The professed and digitized data were of a 70x70 matrix,
that is, 4900 data, were captured in an hour and a half,
resulting in what is shown in Figure 2 and 3, was filtered
from a convolution in 3x3 matrices:
Figure 2. Processed data
Figure 3 Grayscale data
C. CONCLUSION
In conclusion, it is important the knowledge of sensors
and actuators, especially when carrying out projects
where both interfere to carry out a process, in most
systems that exist, these two instruments are important
for the tasks to be performed.
Thanks to the use of limit switches it was possible to
locate the initial position of the gear motors used, on the
other hand, the conversion of analog and digital data was
simple through the microcontroller used, which allows
with a simple programming, to carry out said process. On
the other hand, to make the uniformity detector work
properly, it was necessary to characterize, by making
several tests, modifying the code to adapt it to the needs
required for the project.
One of the problems presented that the infrared sensor
emits erroneous measurements at close distances,
another was the engine torque, because each engine had
a different one, which was arranged with delays in the
programming part.
Although this project has engineering applications in the
industrial maintenance where it is used to verify fissures
in the structures, to maintain in optimal conditions the
machines to be used.
D. REFERENCES
[1] M.Anjanappa, K.Datta, and T.Song. “Introduction to
Sensors andActuators” 2002 CRC Press LCC
[2] HARP, s.f.“GP2Y0A21YK/GP2Y0A21YK–General
Purpouse Type Distance Measuring Sensors”. USA:
SHARP. Available at:
https://www.sparkfun.com/datasheets/Components/GP2
Y0A21YK.pdf