Class – X

Lesson Plan 2
Sensor in Robotics

Introduction

Sensors are devices that detect and measure physical or chemical properties of the environment and convert them into
electrical signals. In robotics, sensors play a crucial role in enabling robots to perceive and interact with their surroundings.
Importance of sensor
• Perception: Sensors enable robots to "see" and "feel" their surroundings.
• Environmental interaction: Sensors allow robots to respond to changes in their
environment.
• Feedback and control: Sensors provide feedback to robots' control systems, ensuring smooth and
accurate movement.
• Safety: Sensors help robots avoid collisions and other hazardous situations.
• Autonomous navigation: Sensors enable robots to navigate their environment without human
intervention.
• Object recognition: Sensors help robots identify and classify objects.
• Adaptive behavior: Sensors allow robots to adapt their behavior to changing conditions.
• Human-robot interaction: Sensors facilitate natural and intuitive interaction between robots and
humans.
Role of Sensors in Enabling Safe Human- Robot Interaction
• Proximity sensors: Detect the presence of humans nearby, ensuring safe operation and preventing collisions.

• Force sensors: Monitor the force applied by the robot, preventing harm to humans during physical interactions.
• Touch sensors: Allow robots to sense delicate contact, enabling safe and gentle interactions with humans.

• Vision-based sensors: Provide visual information about human presence and gestures, facilitating intuitive communication.

• Safety monitoring systems: Continuously monitor the robot's environment and behavior, automatically triggering safety
measures if necessary.
Types of Sensors
Classification of Sensors in Robotics:
1. Internal sensors:
A. Position sensors: Measure the robot's position within
its own frame of reference.
B. Velocity sensors: Measure the robot's linear and
angular velocity.
C. Acceleration sensors: Measure the robot's linear and
angular acceleration.
D. Force sensors: Measure the forces applied to the
robot's body or joints.
2. External sensors:
A. Contact sensors: Detect physical contact between the
robot and its environment, such as touch sensors and
force sensors.
B. Non-contact sensors: Detect objects and obstacles
without physical contact, such as proximity sensors,
rangefinders, and cameras.
 Functions of Different Types of Sensors:
• Measurement: Quantify physical or chemical properties, such as temperature, pressure, or distance.
• Detection: Indicate the presence or absence of a specific stimulus, such as smoke or motion.
• Monitoring: Continuously track changes in a parameter over time, such as temperature or vibration.
• Positioning and motion control: Determine the position and orientation of a robot or object, and provide feedback for movement
control.
• Environmental monitoring: Measure environmental parameters such as air quality, humidity, or light intensity.
• Imaging and vision: Capture and analyze visual information to provide robots with "sight.“
• Biometric sensing: Identify and authenticate individuals based on unique physical or behavioral characteristics, such as fingerprints or
voice patterns.
Factors Influencing Sensor Selection and Implementation in Robotics Applications:
o Accuracy: Higher accuracy sensors provide
more precise measurements, but may be more
expensive and power-hungry.
o Cost: Lower cost sensors are more affordable,
but may have lower accuracy or functionality.
o Power consumption: Lower power
consumption sensors extend battery life and
reduce heat generation.
o Size and weight: Smaller and lighter
sensors are more suitable for compact or
mobile robots.
o Environmental conditions: Sensors must be
compatible with the operating environment,
such as extreme temperatures or harsh
chemicals.
o Integration: Sensors should be easy to
integrate with the robot's hardware and
software systems.
Sensors in Daily Life
• Temperature sensor: Thermostats, medical devices,
weather stations
• Proximity sensor: Touchless faucets, automatic doors,
smartphones
• Accelerometer sensor: Fitness trackers, pedometers,
motion-controlled gaming
• GPS sensor: Navigation systems, location-based
services, tracking devices
• Pressure sensor: Barometers, altimeters, tire pressure
monitoring systems
• Humidity sensor: Hygrometers, humidifiers, HVAC
systems
• Light sensor: Automatic lighting, photography, solar
panels
• PH sensor: Water quality testing, medical diagnostics,
agriculture
• Gas sensor: Smoke detectors, air quality monitors,
industrial safety systems
• Motion sensor: Security systems, automatic lighting,
gesture control
Emerging Sensors Technology
• LiDAR (Light Detection and Ranging): 3D
mapping, autonomous navigation, object
recognition
• 3D Vision: Depth perception, facial
recognition, virtual/augmented reality
• Bio-inspired sensors: Mimicking biological
systems for sensing and perception
• Magnetic-field sensors: Navigation, medical
imaging, industrial automation
• Gas and Chemical sensors: Environmental
monitoring, industrial safety, medical
diagnostics
• Force and Torque sensors: Robotics,
prosthetics, manufacturing
• Hyperspectral imaging: Material identification,
remote sensing, medical imaging
• Wearable and Body-mounted sensors: Health
monitoring, fitness tracking, human-computer
interaction
 Sensor Fusion
Sensor fusion: combines data from multiple sensors to create a more accurate
and comprehensive representation of the environment. It is used to overcome
the limitations of individual sensors and improve decision-making.
➢ Increased Accuracy: Elevating sensor fusion performance with heightened
accuracy.
➢ Redundancy and Reliability: Strengthening sensor fusion through
redundancy and reliability for optimal performance.
➢ Comprehensive Perception: Enhancing sensor fusion for a comprehensive
and detailed perception.
➢ Improved Robustness: Enhancing sensor fusion to achieve improved
robustness in various operational conditions.
➢ Multimodal Perception: Integrating sensor fusion for enhanced multimodal
perception across different data sources.
➢ Environmental Adaptation: Implementing sensor fusion for adaptive
environmental perception to optimize performance in changing conditions.
➢ Improved Decision Making: Leveraging sensor fusion to enhance decision-
making through comprehensive and accurate data integration.
➢ Adaptability and Flexibility: Using sensor fusion for adaptable and flexible
data integration to meet varying requirements and conditions.
 Challenges Associated with sensor integration in Robotics
Challenges associated with sensor integration include ensuring compatibility between different types of sensors, dealing
with data inconsistencies and errors, and managing the complexity of merging data from multiple sources for accurate
and reliable insights.

1. Data Processing and Analysis: Ensuring seamless communication and integration between different types of sensors
for comprehensive data analysis in robotics.
2. Cost and Accessibility: Balancing cost and accessibility considerations to procure and integrate high-quality sensors
within the constraints of a robotics project.
3. Sensor Compatibility: Overcoming compatibility issues between sensors and robotic systems to enable seamless
integration and data exchange for efficient operations.
4. Data Synchronization: Ensuring accurate and real-time data synchronization among multiple sensors to enable
precise decision-making and control in robotics applications.
Sensor questions:
MCQ:
1.Depth sensor is the example of
a. tactile sensor
b. vision sensor
c. gas sensor
d. pH sensor
2. Which sensor is used in agricultural for crop health monitoring?
a. Bio-inspired sensor
b. 3D -vision sensor
c. Lidar sensor
d. Hyperspectral imaging sensor
3. Which sensors are found in gaming controller?
a. Proximity sensor
b. Accelerometer
c. Pressure sensor
d. Light sensor
4. Through which sensor such as underground exploration has to be done ?
a. Lidar
b. Force sensor
c. Magnetic sensor
d. Gas sensor
5. What provides feedback on the or rotational movement of a motor or robotics joint
a. Biometric sensing
b. Imaging and vision
 c. Encoder
d. Fingerprint sensor
Answers the following:
1. Write down three functions of sensors with example
2. Explain about internal and external sensor with example.
3. Describe about few sensors that are used in daily life.
4. Write down four challenges that we have to face to select sensors in Robotics
5. Define sensor fusion.
6. Write down four benefits of sensor fusion.
7. Write down four emerging sensor technologies in Robotics.
8. Explain some factors influence the sensor selection in robotics.
9. Write down few functions of different sensors.
10. Write down the application of sensors with example.

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