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Sensor Technology For Robotics PCRUT205 Module-4

The document outlines Module 4 of the PCRUT205 course on Sensor Technology for Robotics, focusing on optical and special sensors. It details various types of optical sensors, including photo conductive, photovoltaic, and laser range sensors, as well as special sensors like acoustic and vision sensors. The principles of operation for photoconductive and photovoltaic cells are also explained, emphasizing their role in converting light into electrical signals.

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100% found this document useful (4 votes)

16 views80 pages

Sensor Technology For Robotics PCRUT205 Module-4

Uploaded by

murshid

We take content rights seriously. If you suspect this is your content, claim it here.

MODULE 4

PCRUT205

SENSOR TECHNOLOGY FOR

ROBOTICS
2nd Semester | B. Tech Robotics & Automation Engineering | Course Credits: 4

Department of Robotics & Automation Engineering

2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 2

I. Optical Sensors
• Photo Conductive Cell

SENSORS
II. Special Sensors
• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 3

OPTICAL SENSORS

I. Optical Sensors Optical sensors detect and measure light intensity by converting light rays into electrical
• Photo Conductive Cell signals. These sensors are connected to electrical triggers that respond to changes in
• Photo Voltaic Cell light. Optical sensors are used in various devices, including computers and motion
• Photo Resistive Cell
detectors.
• Photodiodes
• Phototransistors
• Laser Range Sensor (LIDAR) ❖ The primary principle behind optical sensors is the transmission and reception of light.
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645

II. Special Sensors ❖ Light that is reflected or interrupted by a target object is analyzed using several optical
• Acoustic Sensors
• Vision & Imaging Sensors devices, depending on the type of material, such as wood, metal, plastic, or transparent
• Micro Sensors
• Nano Sensors
and colored products.
❖ The two most commonly used light sources are
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
❖ Light-Emitting Diodes (LEDs) and
❖ Light Amplification by Stimulated Emission of Radiation (LASER).

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 4

TYPES OF OPTICAL SENSORS

I. Optical Sensors Through-Beam Sensors

• Photo Conductive Cell
In through-beam sensors, the transmitter and receiver are positioned opposite
• Photo Voltaic Cell
each other. When the light beam is interrupted, the receiver interprets the
• Photo Resistive Cell
interruption as a switch signal. These sensors can cover significant operating
• Photodiodes
• Phototransistors
distances and accurately detect object surfaces, structures, and colors.
• Laser Range Sensor (LIDAR)
OPTICAL
Retro-Reflective Sensors
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
SENSORS
II. Special Sensors Retro-reflective sensors have a transmitter and receiver housed within the
• Acoustic Sensors same system. Like through-beam sensors, these sensors operate via a switching
• Vision & Imaging Sensors
mechanism and can cover large operating distances. They can independently
• Micro Sensors
and accurately detect any object that interrupts the light beam.
• Nano Sensors

MODEL QUESTIONS © MURSHIDDiffuse

N (Assistant Professor, Department
Reflection Sensors of Robotics and Automation Engineering)
In diffuse reflection sensors, both the receiver and transmitter are integrated
into a single system. These sensors detect light reflected off the surface of
objects, enabling accurate detection based on reflected light.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 5

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 6

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 7

PHOTO CONDUCTIVE CELLS

I. Optical Sensors
• Photo Conductive Cell
• Photo Voltaic Cell A photoconductive cell, also
• Photo Resistive Cell
• Photodiodes
known as a photoresistor or light-
• Phototransistors
dependent resistor (LDR), is a
• Laser Range Sensor (LIDAR)
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
light-sensitive semiconductor
II. Special Sensors
• Acoustic Sensors device whose resistance
• Vision & Imaging Sensors
• Micro Sensors decreases as the intensity of
• Nano Sensors
incident light increases.
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 8

PHOTO CONDUCTIVE CELLS

II. Special Sensors 100 Ω) in bright light.

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors As a result, very high sensitivity to light is

MODEL QUESTIONS
possible. © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 9

PHOTO CONDUCTIVE CELLS

I. Optical Sensors
• Photo Conductive Cell
• Photo Voltaic Cell
• Photo Resistive Cell
• Photodiodes Some photocells can function
• Phototransistors
• Laser Range Sensor (LIDAR)
as photoresistors because their
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
impedance decreases (output increases)
II. Special Sensors
• Acoustic Sensors as the light intensity increases.
• Vision & Imaging Sensors
• Micro Sensors Photocells used in this manner are
• Nano Sensors
termed photoconductive cells.
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 10

PHOTO CONDUCTIVE CELLS

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 11

WORKING OF PHOTO CONDUCTIVE CELLS

I. Optical Sensors ❖ Photoconductive cells are based on the principle that

II. Special Sensors

• Acoustic Sensors cadmium selenide (CdSe).
• Vision & Imaging Sensors
• Micro Sensors
❖ When light shines on a photoconductive cell, it absorbs
• Nano Sensors
photons, which excite electrons in the semiconductor
MODEL QUESTIONS material,©causing
MURSHID Nthem
(Assistant
to Professor,
becomeDepartment
free andof Robotics
move moreand Automation Engineering)

easily, thus increasing conductivity and decreasing

resistance.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 12

PHOTOVOLTAIC CELL

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS A photovoltaic (PV) cell,

© MURSHID also known
N (Assistant asDepartment
Professor, a solar cell, is anand
of Robotics electronic
Automationdevice that converts
Engineering)

sunlight directly into electricity using the photovoltaic effect, a process where light energy
excites electrons in a semiconductor material, creating an electric current.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 13

WORKING OF PHOTOVOLTAIC CELL

I. Optical Sensors ❖ PV cells are made of semiconductor

II. Special Sensors

• Acoustic Sensors transferred to electrons in the
• Vision & Imaging Sensors
• Micro Sensors
material.
• Nano Sensors
❖ The energized electrons become
MODEL QUESTIONS © MURSHID
free and N (Assistant
can move Professor,
through theDepartment of Robotics and Automation Engineering)
material, creating an electric
current.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 14

WORKING OF PHOTOVOLTAIC CELL

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 15

PHOTODIODE

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 16

PHOTODIODE

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 17

PHOTODIODE

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors ❖ A photodiode is a semiconductor device with a P-N junction that converts photons
• Micro Sensors
• Nano Sensors (or light) into electrical current.
MODEL QUESTIONS ❖ The P layer has anN abundance
© MURSHID of holes
(Assistant Professor, (positive),
Department and the
of Robotics N layer has
and Automation an abundance
Engineering)

of electrons (negative).

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 18

WORKING OF PHOTODIODE

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
❖ A photon can strike an atom within the device and release an electron if the photon has
• Micro Sensors
• Nano Sensors
enough energy.
❖ This creates an electron-hole pair (e- and h+) where a hole is simply an “empty space” for
MODEL QUESTIONS an electron.© MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
❖ If photons are absorbed in either the P or N layers, the electron hole pairs will be
recombined in the materials as heat if they are far enough away (at least one diffusion
length) from the depletion region

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 19

WORKING OF PHOTODIODE

❖ Photons absorbed in the depletion region (or close to it) will create electron hole pairs
I. Optical Sensors
• Photo Conductive Cell that will move to opposite ends due to the electric field.
• Photo Voltaic Cell
• Photo Resistive Cell ❖ Electrons will move toward the positive potential on the Cathode, and the holes will
• Photodiodes
• Phototransistors
move toward the negative potential on the Anode.
• Laser Range Sensor (LIDAR)
❖ These moving charge carriers form the current (photocurrent) in the photodiode.
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645

II. Special Sensors

❖ The depletion region creates a capacitance in the photodiode where the boundaries of
• Acoustic Sensors
• Vision & Imaging Sensors the region act as the plates of a parallel plate capacitor.
• Micro Sensors
• Nano Sensors ❖ Capacitance is inversely proportional to the width of the depletion region.

MODEL QUESTIONS
❖ Reverse bias voltageN also
© MURSHID influences
(Assistant Professor,the capacitance
Department of the
of Robotics andregion.
Automation Engineering)

❖ Semiconductor materials such as silicon, germanium, cadmium sulfide, and cadmium

selenide are commonly used in photodiodes.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 20

PHOTOTRANSISTORS

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
The phototransistor is a semiconductor device that is able to sense light levels and alter
the current flowing between emitter and collector according to the level of light it
receives.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 21

Working of PHOTOTRANSISTORS

II. Special Sensors

turn causes a larger current to
• Acoustic Sensors
• Vision & Imaging Sensors flow between the collector and
• Micro Sensors
• Nano Sensors emitter terminals.

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 22

II. Special Sensors

• Acoustic Sensors PHOTOTRANSISTOR
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 23

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 24

LiDAR (Light Detection And Ranging)

I. Optical Sensors LiDAR, which stands for Light Detection and

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 25

Working of LiDAR (Light Detection And Ranging)

❖ LiDAR systems emit short pulses of laser light

II. Special Sensors

❖ By knowing the speed of light and the round-
• Acoustic Sensors
• Vision & Imaging Sensors trip time, the distance to the target can be
• Micro Sensors
• Nano Sensors calculated.

MODEL QUESTIONS ❖ By scanning multiple

© MURSHID points,
N (Assistant LiDARDepartment
Professor, creates aof Robotics and Automation Engineering)
dense 3D representation of the environment,
known as a point cloud.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 26

Applications of LiDAR (Light Detection And Ranging)

Mapping and Navigation

II. Special Sensors

LiDAR can be used to monitor vegetation, assess forest health, and study ecosystems.
• Acoustic Sensors
• Vision & Imaging Sensors Geospatial Analysis
• Micro Sensors
LiDAR data is used for a variety of geospatial applications, including land management, resource
• Nano Sensors
assessment, and disaster response
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
Archaeology
LiDAR can reveal hidden structures and features beneath vegetation, aiding in archaeological
discoveries.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 4 27

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 28

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

the branch of physics concerned with the properties of sound.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 29

Acoustic Sensor

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS Acoustic©sensors are

MURSHID N devices
(Assistant that Department
Professor, detect, measure,
of Robotics and analyze Engineering)
and Automation sound waves,
converting them into electrical signals for interpretation, with applications
ranging from environmental monitoring to healthcare and security.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 30

Working of Acoustic Sensor

I. Optical Sensors Acoustic sensors typically convert sound waves into

• Photo Conductive Cell
• Photo Voltaic Cell electrical signals that can be processed and
• Photo Resistive Cell
• Photodiodes interpreted by electronic devices.
• Phototransistors
• Laser Range Sensor (LIDAR)
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
Examples:
II. Special Sensors
• Acoustic Sensors ❖ Microphones
• Vision & Imaging Sensors
• Micro Sensors ❖ Hydrophones (for underwater sound detection)
• Nano Sensors
❖ Seismometers (for detecting ground vibrations)
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
❖ Wearable acoustic sensors in smartwatches,
headphones, and gloves

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 31

Types of Acoustic Sensor

Acoustic Vector Sensor (AVS)

I. Optical Sensors Consists of a pressure sensor and particle velocity sensors to acquire both acoustic pressure
• Photo Conductive Cell and particle velocity data simultaneously
• Photo Voltaic Cell
Surface Acoustic Wave (SAW)
• Photo Resistive Cell
• Photodiodes
Prominent in chemical sensing applications.
• Phototransistors Bulk Acoustic Wave (BAW)
• Laser Range Sensor (LIDAR)
Valued for their high working frequencies, providing greater sensitivity and
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645

II. Special Sensors

resolution.
• Acoustic Sensors Quartz Crystal Microbalance (QCM)
• Vision & Imaging Sensors A historical example of an acoustic sensing device, used in various sensing
• Micro Sensors
applications.
• Nano Sensors
Distributed Acoustic Sensors (DAS)
MODEL QUESTIONS
Utilize © fiber opticNcables
MURSHID toProfessor,
(Assistant monitorDepartment
and classify acoustic
of Robotics andvibration
Automationpattern.
Engineering)
Phononic-fluidic cavity sensors
Measure volumetric liquid properties by confining a fluidic cavity resonator within a
phononic band gap.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 32

Applications of Acoustic Sensor

Robotics
I. Optical Sensors
Enabling robots to "hear" and react to sounds.
• Photo Conductive Cell
• Photo Voltaic Cell
• Photo Resistive Cell
Environmental Monitoring
• Photodiodes
Detecting and analyzing noise levels, vibrations, and other
• Phototransistors
acoustic signal
• Laser Range Sensor (LIDAR)

Industrial Condition Monitoring

II. Special Sensors Identifying potential mechanical failures by analyzing acoustic

• Acoustic Sensors
signals emitted by machinery
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors Biosensing
Detecting and analyzing biological signals, such as heartbeats or
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
vocalizations

Automotive
Detecting tire noise, engine vibrations, and other acoustic events

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 33

I. Optical Sensors
• Photo Conductive Cell
• Photo Voltaic Cell
• Photo Resistive Cell
• Photodiodes

SENSORS
II. Special Sensors
• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 34

Image Sensor

I. Optical Sensors
• Photo Conductive Cell
• Photo Voltaic Cell ❖ An image of an object is indeed a valuable
• Photo Resistive Cell
• Photodiodes
source of information about that object.
• Phototransistors
❖ In this context, the imaging device is a
• Laser Range Sensor (LIDAR)
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
sensor, and an image is the sensed data.
II. Special Sensors
• Acoustic Sensors ❖ Depending on the imaging device, an image
• Vision & Imaging Sensors
• Micro Sensors can be of many varieties such as optical, thermal
• Nano Sensors
or infrared, x-ray, ultraviolet, acoustic,
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
ultrasound, and so on.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 35

Image Processing & Computer Vision

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS An image may© MURSHID

be processed (analyzed)
N (Assistant Professor, to obtain ofa Robotics
Department more refined imageEngineering)
and Automation from which useful
information such as edges, contours, areas, and other geometrical information can be
determined. This is called image processing.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 36

Image Processing & Computer Vision

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID

Computer vision N (Assistantimage
goes beyond Professor, Department and
processing of Robotics and Automation
performs Engineering) as object
such operations
recognition, pattern recognition and classification, abstraction, and knowledge-based
decision making using information extracted through image processing.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 37

Elements of Computer Vision

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 38

Elements of Computer Vision

The components of a vision system include the following basic seven elements.
I. Optical Sensors
Although each of these components serves its own individual function and can be
• Photo Conductive Cell
• Photo Voltaic Cell found in many other systems, when working together they each have a distinct role
• Photo Resistive Cell
• Photodiodes to play. To work reliably and generate repeatable results it is important that these
• Phototransistors
• Laser Range Sensor (LIDAR) critical components interact effectively.
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645

II. Special Sensors

1. The machine vision process starts with the part or
• Acoustic Sensors
product being inspected.
• Vision & Imaging Sensors
• Micro Sensors 2. When the part is in the correct place a sensor will trigger the
• Nano Sensors
acquisition of the digital image.
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
3. Structured lighting is used to ensure that the image
captured is of optimum quality.
4. The optical lens focuses the image onto the camera sensor.
MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering
Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 39

Elements of Computer Vision

I. Optical Sensors 5. Depending on capabilities

• Photo Conductive Cell
• Photo Voltaic Cell this digitizing sensor may perform
• Photo Resistive Cell
• Photodiodes
some pre-processing to ensure the
• Phototransistors
correct image features stand out
• Laser Range Sensor (LIDAR)

6. The image is then sent to

II. Special Sensors

• Acoustic Sensors the processor for analysis against the
• Vision & Imaging Sensors
• Micro Sensors set of pre-programmed rules.
• Nano Sensors
7. Communication devices are then used
MODEL QUESTIONS
to report©and
MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
trigger automatic events
such as part acceptance or rejection.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 40

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 41

Image Based Sensory System

❖ A complete image-based sensory system consists of a camera (e.g., CCD camera or

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 42

CAMERA

• A digital camera has an array or matrix

II. Special Sensors

• The image sensor of today’s digital
• Acoustic Sensors
cameras commonly uses
• Vision & Imaging Sensors
• Micro Sensors ❖ charge-coupled device (CCD)
• Nano Sensors
technology or
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
❖ complementary metal oxide
semiconductor (CMOS)
technology.
MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering
Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 43

CCD Image Sensor

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 44

CHARGE COUPLED DEVICES (CCD)

I. Optical Sensors Principle Rain Bucket

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 45

CHARGE COUPLED DEVICES (CCD)

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 46

CCD Image Sensor

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 47

CCD Image Sensor

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors
• A CCD sensor breaks the image elements into pixels.
MODEL QUESTIONS • Each pixel
© MURSHID N (Assistant
is converted intoProfessor, Department
an electrical of Robotics
charge whoseand Automation
intensityEngineering)
is related to the
intensity of light captured by that pixel.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 48

II. Special Sensors

the photons and
• Acoustic Sensors generate electrons.
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS
❖ The number © MURSHID N (Assistant
of electrons Professor,
in each pixelDepartment of Robotics
is directly and Automation
proportional to theEngineering)
intensity of light
captured by the pixel.
❖ After all the electrons have been generated, they undergo a shifting process that moves
them toward an output node, where they're amplified and converted to voltage.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 49

Digital image generation by a CCD camera

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 50

CHARGE COUPLED DEVICES (CCD)

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 51

CMOS (Complementary Metal Oxide Semiconductor)

II. Special Sensors of objects by extracting light,

• Acoustic Sensors
• Vision & Imaging Sensors
captured by a lens, as electrical
• Micro Sensors
signals for each pixel.
• Nano Sensors

MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 52

CMOS (Complementary Metal Oxide Semiconductor)

I. Optical Sensors ❖ CMOS image sensors are made of an array

II. Special Sensors

• Acoustic Sensors are only three colors to filter, one color
• Vision & Imaging Sensors
• Micro Sensors
must repeat.
• Nano Sensors

MODEL QUESTIONS ❖ The color©green wasN chosen

MURSHID (Assistant as the repeating
Professor, color
Department because
of Robotics its frequency
and Automation is the color
Engineering)

the human eye is most sensitive to. This arrangement of colors, called a Bayer filter
pattern, is blue-green repeated on the odd rows and green-red on the even rows.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 53

CMOS (Complementary Metal Oxide Semiconductor)

❖ Each photodetector is built

II. Special Sensors an amplifier, and a reset

• Acoustic Sensors
• Vision & Imaging Sensors
transistor.
• Micro Sensors ❖ The photodetector is topped by a color filter and a microlens that focuses light onto
• Nano Sensors
the photodiode.
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
❖ This array of photodetectors is centered on a chip as the focal surface of a lens
assembly. The array is also surrounded by analog and digital circuits used to assemble
and output a digital image.
MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering
Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 54

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 55

I. Optical Sensors
• Photo Conductive Cell
• Photo Voltaic Cell CCD CMOS
• Photo Resistive Cell
The electrons from the photodiode are The electrons are fed directly into
• Photodiodes
• Phototransistors
captured into a series of capacitors and transistors and amplified at the detector.
• Laser Range Sensor (LIDAR) then amplified.
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
the capacitors are behind the The transistors in a CMOS sensor are next
II. Special Sensors
• Acoustic Sensors
photodiode, giving a larger light to the photodiode, leaving as little as
• Vision & Imaging Sensors absorbing area for each pixel 30% of the surface area, called the fill
• Micro Sensors factor, for light detection.
• Nano Sensors
Expensive Less expensive
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 56

COLOR IMAGES

I. Optical Sensors ❖ A gray-scale image can be represented by a

• Photo Conductive Cell
• Photo Voltaic Cell single image frame. On the other hand, at
• Photo Resistive Cell
• Photodiodes
least three image frames are needed to
• Phototransistors
represent a color image.
• Laser Range Sensor (LIDAR)

❖ For example in the RGB model, a red (R)

II. Special Sensors

• Acoustic Sensors image, a green (G) image, and a blue (B)
• Vision & Imaging Sensors
• Micro Sensors image are formed using red, green, and blue
• Nano Sensors
filters. The resulting three separate image
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
frames can be combined to for the original
color image.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 57

COLOR IMAGES

❖ In terms of human perception/description of

II. Special Sensors represents the degree of white light mixed

• Acoustic Sensors
• Vision & Imaging Sensors with a dominant color in the image, and
• Micro Sensors
• Nano Sensors intensity (I) represents the level of brightness

MODEL QUESTIONS
of the image. There are analytical
© MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
relationships that convert an RGB model into
an HIS model.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 58

DIGITAL IMAGE PROCESSING

II. Special Sensors

• Acoustic Sensors ❖ There is some element of analog image processing carried out by the electronics in the
• Vision & Imaging Sensors
• Micro Sensors camera (e.g., analog filtering and amplification).
• Nano Sensors
❖ However, the focus now is the digital image processing done by the computer.
© MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
MODEL QUESTIONS
❖ The objective of digital image processing is to remove unwanted elements and noise in
the image, enhance the important features, and extract the needed geometric
information from the processed data.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 59

DIGITAL IMAGE PROCESSING

I. Optical Sensors
1. Filtering (to remove noise and enhance the image) including directional filtering (to
• Photo Conductive Cell
• Photo Voltaic Cell
enhance edges, for edge detection)
• Photo Resistive Cell 2. Thresholding (to generate a two-level black-and-white image where the gray levels
• Photodiodes above a set threshold are assigned white and those below the threshold are assigned
• Phototransistors black)
• Laser Range Sensor (LIDAR)
3. Segmentation (to subdivide an enhanced image, identify geometric shapes/objects, and
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645

II. Special Sensors

capture properties such as area and dimensions of the identified geometric entities)
• Acoustic Sensors 4. Morphological processing (sequential shrinking, filtering, stretching, etc. to prune out
• Vision & Imaging Sensors unwanted image components and extract those that are important)
• Micro Sensors 5. Subtraction (e.g., subtract the background form the image)
• Nano Sensors
6. Template matching (to match a processed image to a template—useful in object
MODEL QUESTIONS
detection)© MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
7. Compression (to reduce the quantity of data that is needed to represent the useful
information of an image)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 60

APPLICATIONS OF IMAGE BASED SENSING

II. Special Sensors 3. Visual serving. Here the actual position of an object is measured (using camera
• Acoustic Sensors
• Vision & Imaging Sensors images) and compared with the position of a robotic end effector (gripper, hand, tool,
• Micro Sensors
• Nano Sensors
etc.). The difference (error) is used to generate a motion command for the robot so
that the ©end effector would reach the object. The same approach can be used in the
MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
MODEL QUESTIONS

navigation of mobile robots and automated vehicles.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 61

APPLICATIONS OF IMAGE BASED SENSING

II. Special Sensors

• Acoustic Sensors
automated processing.
• Vision & Imaging Sensors
• Micro Sensors
5. In telemedicine to
• Nano Sensors
examine a patient from a
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
distant location.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 62

APPLICATIONS OF IMAGE BASED SENSING

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 63

MICRO SENSORS

❖ A microsensor is a minuscule device built to sense and

II. Special Sensors environment.

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors ❖ These sensors are made using microtechnology, crafting them on a microscopic scale.
• Nano Sensors
❖ Due to their small size, they can be integrated into numerous devices and systems,
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
from smartphones and wearables to industrial machinery and medical instruments.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 64

MICRO SENSORS

II. Special Sensors

• Acoustic Sensors
❖ Their miniature size, precision, and ability to gather
• Vision & Imaging Sensors
valuable information make them essential
• Micro Sensors
• Nano Sensors components in modern technology, enhancing
MODEL QUESTIONS functionalities
© MURSHID N (Assistant Professor, Department ofand enabling
Robotics smarter
and Automation and
Engineering) more
efficient devices.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 65

MICRO SENSORS

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

Polhemus Micro Sensor for Motion Tracking Visit

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 66

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 67

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 68

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 69

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 70

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 71

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 72

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 73

MICRO SENSORS NANO SENSORS

I. Optical Sensors SIZE 1 mm to 100 nm 100 nm or less

• Photo Conductive Cell
• Photo Voltaic Cell
Widely used in various fields like Biomedical applications (drug delivery,
• Photo Resistive Cell
APPLICATIONS environmental monitoring, industrial diagnostics), environmental
• Photodiodes control, and medical applications monitoring, and chemical sensing
• Phototransistors Temperature sensors, pressure sensors, Nanobiosensors, carbon nanotube
• Laser Range Sensor (LIDAR) EXAMPLES
flow sensors, and gas sensors. sensors, and quantum dot sensors.
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645

II. Special Sensors Nanofabrication techniques like

Utilize microfabrication techniques like
• Acoustic Sensors FABRICATION atomic layer deposition and chemical
photolithography and etching
• Vision & Imaging Sensors vapor deposition
• Micro Sensors
Extremely small size, high sensitivity,
• Nano Sensors Miniaturization, high sensitivity, and
ADVANTAGES and potential for single-molecule
low power consumption
detection.
© MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
MODEL QUESTIONS
Can be sensitive to environmental Complex fabrication processes,
DISADVANTAGES factors and may require complex potential for instability, and challenges
fabrication processes. in signal transduction

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 74

II. Special Sensors

• Acoustic Sensors
• Vision & Imaging Sensors
• Micro Sensors
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 75

❖ Neuralink is a company founded by

Elon Musk that's developing brain-
I. Optical Sensors computer interfaces (BCIs)
• Photo Conductive Cell
designed to decode and stimulate
• Photo Voltaic Cell
brain activity.
• Photo Resistive Cell
• Photodiodes
❖ The company's goal is to create a
• Phototransistors device called "the Link" that can be
• Laser Range Sensor (LIDAR) implanted in the brain to allow
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
individuals to control computers
II. Special Sensors
and other devices with their
• Acoustic Sensors
• Vision & Imaging Sensors
thoughts.
• Micro Sensors ❖ Neuralink's first human implant
• Nano Sensors was performed in January 2024 on
a patient with paralysis, who has
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)
since been able to play chess and
learn new languages using the
device.

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 76

II. Special Sensors

15 a) Explain the working principle of photoconductive cell. CO 4 5
• Acoustic Sensors
• Vision & Imaging Sensors b) How are LIDARs used in robotics? CO 4 4
• Micro Sensors
• Nano Sensors
16 a) Differentiate between micro and nano sensors. CO 4 5
b) How are vision and imaging sensors used in robotics? CO 4 4
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 77

II. Special Sensors

15 a) Explain any one technology used in digital camera. CO 4 6
• Acoustic Sensors
• Vision & Imaging Sensors b) How color images are formed? CO 4 3
• Micro Sensors
• Nano Sensors 16 What is an optical sensor? Explain three types of optical sensors. CO 4 9

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 78

I. Optical Sensors
• Photo Conductive Cell Model Question - 2
• Photo Voltaic Cell
[Link]. SQ CO MARK
• Photo Resistive Cell
• Photodiodes 7 Illustrate the needs of nano sensors. CO 4 3
• Phototransistors
• Laser Range Sensor (LIDAR) 8 Compare computer vision and image processing. CO 4 3
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
15 a) Explain computer vision system with the help of a neat labelled diagram. CO 4 6
II. Special Sensors
• Acoustic Sensors b) Explain any three applications of acoustic sensors. CO 4 3
• Vision & Imaging Sensors
• Micro Sensors 16 a) Explain briefly about image sensors. CO 4 3
• Nano Sensors
b) Explain the working of photodiode and phototransistor. CO 4 6
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 79

I. Optical Sensors
• Photo Conductive Cell Model Question - 3
• Photo Voltaic Cell
[Link]. SQ CO MARK
• Photo Resistive Cell
• Photodiodes 7 Explain the types of nanosensors.. CO 4 3
• Phototransistors
• Laser Range Sensor (LIDAR) 8 Compare CCD and CMOS. CO 4 3
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
15 Explain concept, types and applications of acoustic sensors. CO 4 9
II. Special Sensors
• Acoustic Sensors 16 a) Explain briefly about digital image processing. CO 4 5
• Vision & Imaging Sensors
• Micro Sensors b) Explain some applications of image based sensing. CO 4 4
• Nano Sensors

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering
2nd Semester | PCRUT205 – SENSOR TECHNOLOGY FOR ROBOTICS | MODULE - 3 80

I. Optical Sensors
• Photo Conductive Cell Model Question - 4
• Photo Voltaic Cell
[Link]. SQ CO MARK
• Photo Resistive Cell
• Photodiodes 7 What are the elements of a computer vision system?. CO 4 3
• Phototransistors
• Laser Range Sensor (LIDAR) 8 Write a short note on phototransistor. CO 4 3
| mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645014544 | MURSHID | mrshdiu@[Link] | +91-9645
15 Explain the concept, working and applications of LIDAR CO 4 9
II. Special Sensors
• Acoustic Sensors 16 Explain briefly about; 9
• Vision & Imaging Sensors i. Photoconductive cell CO 4
• Micro Sensors ii. Photovoltaic cell
• Nano Sensors
iii. Photodiode
MODEL QUESTIONS © MURSHID N (Assistant Professor, Department of Robotics and Automation Engineering)

MURSHID N | Assistant Professor, Department of Robotics & Automation Engineering

Department of Robotics & Automation Engineering

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