Module 3-4: Measurement and Estimation

We  studied fundamentals of sensor measurement: measure magnitude of physical quantity and convert it to a signal that can be read and processed by a processor.

We also learnt how to estimate parameters based on collected sensory data through experiments. Approximation is mostly based on probabilistic model. Basic methods of circuit fitting techniques to find a mathematical model and standard deviation used to examine sensory data are briefed.

A case study of infrared ranging sensor is presented to illustrate the concepts of measurement and estimation with sensory data. 

Lecture 3-3: Perception

The lecture about sensing vs. perception was given. 

We emphasized on how a machine can interpret a situation based on raw sensory data and context. The recipe is a combination of raw data + probabilistic model + context.

All the concepts and processes were explained through examples and video demonstrations of our research works (www.morelab.org).

Lecture 3-2: Advanced Sensors and their work principles

We studied the functionalities of advanced sensors consisting of infrared ranging sensors, heading sensors (gyroscope, accelerometer, compass), GPS, ultrasound ranging sensors, laser ranging scanner, 3D camera, and omni-directional camera.

More importantly, we discussed about the working principles of such sensors as well as how they can be used in the real-world applications.

Lecture 3-1 Introduction to Sensors and Sensing

We overviewed the key elements of a mechatronic system and discussed about the role of sensors in mechatronic system.

At first, we studied human sensing capacities and sensors inspired by human sensing capacity. We extended our knowledge with animal sensing capacities and compared them with human sensing capacities.

We reviewed the existing sensors and classified them in terms of what they are and how they work.

Common characteristics of sensors in terms measured values were covered and interfacing were briefly explained. The role of sensor calibration (offline and online) were emphasized.

Mini-project 2 released

The mini-project 2 has been released. Click on this link!

The deadline for submission: Monday, November 04, 2:00pm

Demo and Q&A: Tuesday, November 5, 11:30am

Lab 2-1 Principles of actuators and its drivers

Click on Lab assignments to access Lab 2-1.

Note that this lab is to set the foundation for your mini-project 2, so you should follow the guidance and hints to complete all the requirements. 

Lecture 2-2: Principles of Actuators and Drivers

We have studied the electromagnetic principle for generating forces/motion of actuators.

The working principle of a DC motor was illustrated. The relationship between the current and torque, torque and speed was explained.

The key driver, named H-bridge, and PWM control signal for DC motor was introduced and analyzed. In addition, we introduced the working principles of DC motors and Stepper motors, and how to control it, especially with Arduino board (using PWM signal generated by the Timers/Counters).

Lab exercises will be given to strengthen learnt knowledge.