ME8843

ME 8843 Advanced Mechatronics

Instructor: Professor I. Charles Ume Lecture #1
Ultrasonic Sensors (Sonic Distance Sensors) Photo Interrupt Pressure Sensors Accelerometers Hall effect Sensors Variable Reluctance Sensors
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Ultrasonic transducer (piezoelectric transducer) is device that converts electrical energy into ultrasound Upon receiving sound echo (pressure wave) back from surface, ultrasound transducer will turn sound waves into electrical energy which can be measured and displayed
Ultrasound are sound waves above normal range of human hearing (greater than 20K hertz).

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Since piezoelectric crystal generates voltage when force is applied to it, same crystal can be used as an ultrasonic detector Some systems use separate transmitter and receiver components while others combine both in single piezoelectric transceiver Alternative methods for creating and detecting ultrasound include magnetostriction and capacitive actuation.
Pulse echo sensor

Transmit-Receive sensor

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Sound is transmitted through propagation of pressure in air Speed of sound in air is normally 331 m/sec at 0oC and 343 m/sec at 20oC for dry air Digital signal processor embedded in sensor calculates distance between sensor and object

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x = vsound . t Where Vsound is known, t = 0.5 (time of flight), x is distance between sensor head and object Range of sensor varies between 5 cm to 20 m Sensor is not appropriate for very short distance measurements Frequency response (distance measurement update rate) varies with distance measured
In general, it is about 100 Hz

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Piezoelectric crystals have property of changing size when voltage is applied Applying alternating current (AC) across them causes them to oscillate at very high frequencies, thus producing very high frequency sound waves. Ultrasonic sensors work on principle similar to radar or sonar Evaluate attributes of target by interpreting echoes from radio or sound waves respectively

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Ultrasonic sensors generate high frequency sound waves and evaluate echo which is received back by the sensor
Sensors calculate time interval between sending signal and receiving echo to determine distance to object.

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Applications

Medical:
Medical ultrasonic transducers (probes) come in variety of different shapes and sizes for use in making pictures of different parts of body.
Transducer may be passed over surface of body or inserted into body opening such as rectum or womans reproductive organ Clinicians who perform ultrasound-guided procedures often use a probe positioning system to hold the ultrasonic transducer.

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Technology can be used for measuring:

Often used in robots for obstacle avoidance Wind speed and direction (anemometer), Fullness of tank, and speed through air or water Measuring amount of liquid in tank, sensor measures distance to surface of fluid. Other applications include: burglar alarms, non-destructive testing, and etc

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Photo Interrupt

Uses emitter and detector photo diode pair With no obstruction detector is high When an object blocks the light the detector is low Advantages
Simple to interface Inexpensive Reliable
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Photo Interrupt
Types

Wide variety of packages and orientations Types

Logic (digital 5 volts) Transistor/diode (analog)

Manufacturers
Fairchild Honeywell

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Photo Interrupt
Applications

Encoder wheel for angular measurements.

Computer mouse with a ball

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Photo Interrupt
Applications

Detect holes or slots for positioning of liner slides

Elevators

Detect the location of products

Assembly line

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Pressure Sensors

Used to detect pressure of fluids or gasses. Technologies (many)

Strain gage Piezoresistive Microelectromechanical systems (MEMS)

Each sensor has a pressure range that it works in. Most have analog outputs that need amplification
Some have built-in amplifiers for direct connection into microcontroller
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Pressure Sensors
Types

Differential Pressure
Difference between two or more pressures introduced as inputs to the sensing unit 2 input

Absolute/Gage Pressure
Pressure relative to perfect vacuum pressure or set pressure (such as pressure at sea level) 1 input
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Pressure Sensors
Applications

Measure pressure of gas or fluids Measure altitude

For planes or weather balloons

Measure flow
pressure sensors in conjunction with the venturi effect to measure flow

Measure depth of water

When measuring liquids, most sensors are not rated to have unclean liquids contact the sensor components. A small amount of air in the tube right before the sensor will create a barrier from the liquid.
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Accelerometers
Used to measure acceleration
Common SI units meters/second2 (m/s2) or popularly in terms of g-force (1 g is earths gravity)

At rest an acceleration will measure 1 g in the vertical direction They can come in 1, 2 or 3 axis configurations
With 3 axis it gives a vector of the accelerations direction (after Mechatronics, Georgia Tech accounting Advanced for gravity)

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Accelerometers
Because of earths gravity, the sensor will read 1 to 0 g as the sensor is rotated from being vertical to horizontal.
This can be used to measure angle the of tilt

Each sensor has a range that it works in. Most have analog outputs that need amplification
Some have built-in amplifiers for direct connection into microcontroller
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Accelerometers
How they work

Mechanically the accelerometer behaves as a mass-damper-spring system

Many use Microelectromechanical systems (MEMS). Which use very small cantilever beams with masses on them

Under the influence of gravity or acceleration, the proof mass deflects from its neutral position. This deflection is measured in an analog or digital manner
Commonly the capacitance between a set of fixed beams and a set of beams attached to the proof mass is measured. Integrating piezoresistors in the springs to detect spring deformation is another method
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Accelerometers

Applications Can be used to sense orientation, vibration and shocks. Used in electronics like the Wii and iPhone for user input. Acceleration integrated once gives velocity, integrated a second time gives position.
The integration process is not precise and introduces error into the velocity and position.
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Hall Effect Sensors

Hall Effect Sensor Sensing a Shaft Speed

Used to provide a noncontact means to detect and measure a magnetic field Named based on their use of the Hall Effect, discovered by Edwin Hall in 1879

http://farm1.static.flickr.com/62/227729006_fab88c1668.jpg?v= 0

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How they work

Depiction of the Hall Effect

Presence of magnetic field deflects electrons flowing through a conductive material As electrons move to one end of a conductive material, a potential is developed in the direction perpendicular to gross current flow

This potential indicates the strength of the magnetic field

http://upload.wikimedia.org/wikipedia/commons/a/ab/Ha ll_effect_A.png

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Applications

IC Engine Electronic Ignition Systems

Used to determine position of cam shaft

Brushless DC Motor Control

Sensors determine position of permanent magnet rotor

Assembly Lines
Shaft position and velocity sensors Contactless limit switches

Current Sensing ICs

Electrically isolated alternative to shunt resistors
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Hall Effect Sensor Types

Linear Hall Effect Sensors

Output is proportional to magnetic field strength

Hall Effect Digital Switches

Presence of field above threshold turns switch on Presence of field below threshold turns switch off

Hall Effect Digital Latches

North field turns latch on Advanced Mechatronics, Georgia Tech South field turns latch off

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Packaging and Manufacturers

SOT23 SIP
http://www.allegromicro.com/en/Products/P art_Numbers/1120/pinout.gif

ICs
Analog Devices:
AD22151G from Analog Devices

Allegro MicroSystems, Inc.

Wide range of linear, latching and switching sensors Great sampling policy

Many, many more

Packaged units
Honeywell Many, many more
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Hall Effect Sensor Module

http://sensing.honeywell.com/client_asset/do cument/1/5/4/0/3/5/document_C3697B35C930-CB7C-FE090DFFCE61FB22.jpg

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Implementation and Words of Warning

Sensors may be affected by temperature variation. Some sensors incorporate circuitry to reduce this error. Sensors may be directional, in which case care must be taken with respect to orientations of sensor and magnet Some Hall Effect sensors detect presence of ferromagnetic materials, not magnetic fields
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Variable Reluctance Sensors

Industrial Variable Reluctance Sensor

Used to measure speed and/or position of a moving metallic object Sense the change of magnetic reluctance/resistance (analogous to electrical resistance) near the sensing element Require conditioning circuitry to yield a useful signal (e.g. LM1815 from National Semi.)

http://www.motionsensors.com/railwithoring 2.jpg

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How Variable Reluctance Sensors Work

A magnet in the sensor creates a magnetic field As a ferrous object moves by the sensor, the resulting change in the magnetic flux induces an emf in the pickup coil
Variable Reluctance Sensor Construction Typical Configuration

http://www.instronics.com/images/sensoronix/image.ds.drawing.v Advanced Mechatronics, Georgia Tech r.jpg

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Typical Application

Shaft velocity sensor for ABS/traction control Crank and cam shaft position sensors
Sensor Schematic Installed on CV axle

http://www.me.gatech.edu/mechatronics_lab/Projects/Spring07/Group1/dorthy 6.JPG

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Interfacing Concerns

Emf is proportional to the rate of change of the magnetic flux.

Indictates the ferrous material must be moving for the sensor to generate a signal.

Output voltage depends on velocity of toothed wheel

Performance may be reduced at slow speeds

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