16-311Intro.toRobotics.ppt

16-311 Intro. to Robotics Sensing and Sensors Steve Stancliff Credits Much borrowage from Mel Siegel’s 16-722 slides “Ranging Sensors” section from the old 16-311 slides by: Sean Pieper Bob Grabowski Howie Choset Outline Why Sense? Senses / Sensors Transduction Interfacing - Hardware Interfacing - Software References Why Sense? Why not just program the robot to perform its tasks without sensors? Uncertainty Dynamic world Detection / correction of errors Human Sensing Sense: Vision Audition Gustation Olfaction Tactition Human Sensing Sense Thermoception Nociception Equilibrioception Proprioception Animal Sensing Magnetoception (birds) Electroception (sharks, etc.) Echolocation (bats, etc.) Pressure gradient (fish) Human Sensors Sense: Vision Audition Gustation Olfaction Tactition Human Sensors Sense: Thermoception Nociception Equilibrioception Proprioception Robot Sensors Sense: Vision Audition Gustation Olfaction Tactitions Thermoception Nociception Robot Sensors Sense: Equilibrioception Proprioception Magnetoception Electroception Echolocation Pressure gradient 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 – A Sampling Transduction What do all of these sensors have in common? They all transduce the measurand into some electrical property (voltage, current, resistance, capacitance, inductance, etc.) Transduction Many sensors are simply an impedance (resistance, capacitance, or inductance) which depends on some feature of the environment: Thermistors: temperature ? resistance Humidity sensors: humidity ? capacitance Magneto-resistive sensors: magnetic field ? resistance Photo-conductors: light intensity ? resistance Transduction Other sensors are fundamentally voltage sources: Electrochemical sensors: chemistry ? voltage Photovoltaic sensors: light intensity ? voltage Transduction Still other sensors are fundamentally curre