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32.7.2 RADAR
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Radar systems work on the same basic principle as ultrasonics, but instead of highfrequency sound they use a high-frequency radio wave. Most people know about the high-
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ROBOT VISION
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powered radar equipment used in aviation, but lower-powered versions are commonly used in security systems, automatic door openers, automotive backup alarms, and of course, speed-measuring devices used by the police. Radar is less commonly found on robotics systems because it costs more than ultrasonics. This may change in the future with the availability of low-cost and low-power ultrawideband (UWB) radar. Rather than emitting a radio signal at a single frequency, UWB emits a signal at a wide range of frequencies (from 1 Hz to several GHz). This wide range of frequencies makes UWB radar sensitive to virtually all objects, allowing you to sense effectively all objects in front of the robot, without having to resort to multiple sensors to ensure that nothing is missed. As indicated, UWB radar is not yet available for hobby robotics, but this will change as it becomes available in more and more products and hackable units become available.
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32.7.3 PASSIVE INFRARED
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A favorite for security systems and automatic outdoor lighting, passive pyroelectric infrared (PIR) sensors detect the natural heat that all objects emit. This heat takes the form of infrared radiation a form of light that is beyond the limits of human vision. The PIR system merely detects a rapid change in the heat reaching the sensor; such a change usually represents movement. The typical PIR sensor is equipped with either a Fresnel or motion detection lens. The Fresnel lens focuses infrared light from a fairly wide area onto the pea-sized surface of the detector. In a robotics vision application, you can replace the Fresnel lens with a telephoto lens arrangement that permits the detector to view only a small area at a time. Mounted onto a movable platform, the sensor could detect the instantaneous variations of infrared radiation of whatever objects are in front of the robot. See 30, Object Detection, for more information on the use of PIR sensors. The motion detection lens is the faceted lens that you have probably seen on a burglar alarm object sensor. The facets pass infrared light from different positions to the PIR sensor. When there is a single infrared light source (e.g., an intruder), as they move across the motion detector lens field of view, the facets that pass the infrared light to the PIR sensor changes. This change results in a change in the amount of infrared light hitting the PIR sensor, allowing it to detect the motion of a hot object in front of it. To compensate for changing temperatures in a room, a new reference infrared light level is continually checked against the previously stored value and if the difference is within an acceptable range, the system accepts this as the new reference else it sounds the alarm.
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32.7.4 TACTILE FEEDBACK
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Many robots can be effective navigators with little more than a switch or two to guide their way. Each switch on the robot is a kind of touch sensor: when a switch is depressed, the robot knows it has touched some object in front of it. Based on this information, the robot can stop and negotiate a different path to its destination. To be useful, the robot s touch sensors must be mounted where they will come into contact with the objects in their surroundings. For example, you can mount four switches along the bottom periphery of a square-shaped robot so contact with any object will trig-
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32.8 FROM HERE
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ger one of the switches. Mechanical switches are triggered only on physical contact; switches that use reflected infrared light or capacitance can be triggered by the proximity of objects. Noncontact switches are useful if the robot might be damaged by running into an object, or vice versa. See 35, Adding the Sense of Touch, for more information on tactile sensors.
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