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5.45 Toxic gas sensor
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Gas Sensor
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5.46 Toxic gas sensor test circuit
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Humidity
Passive resistive humidity sensors are a relatively new product that can be purchased.
Testing sensors
When designing and building sensor systems, it s a good idea to test them before committing to use the system on a robot. One method that I used was to build a small mobile robot whose only function is to test sensors. That way reliability and response time can be determined before committing the sensors on a more elaborate robot. The robot can test bump switches, light switches, bend sensors, and infrared and ultrasonic obstacle avoidance sensors. Other types of sensors may require a different test bed.
Building a tester robot
Tester is the name I ve given this small robot. The foundation of the robot is a small electric car that can be purchased for less than $10.00 (see Fig. 5.47). The schematic for Tester is shown in Fig. 5.48. The sensor connects to the trigger input of a 555 timer set up as a monostable
5.47 Tester
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Sensors
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5.48 Tester circuit schematic
pulse generator. The output (pin 3) of the 555 remains low until a negative pulse on the number 2 pin triggers its operation. Once triggered, the output (pin 3) of the 555 goes high for approximately 1 s. The output of the 555 connects to a 2N2222 NPN transistor. An output is taken off the emitter of the transistor and connected to a buffer on the 4049 hex inverting buffer IC. The buffers on the 4049 chip are connected to a four-MOSFET (metal oxide semiconductor field-effect transistor) H-bridge that controls the drive motor. When the output of the 555 timer is low, the H-bridge powers the robot s drive motor forward. The sensor to be tested is connected to the trigger input, pin 2 on the 555 timer. The sensor is wired in such a way as to cause a negative pulse (goes to ground) when it is activated or tripped. The negative pulse on pin 2 causes the output of the timer to go high for 1 s, which reverses the motor direction for 1 s. Tester can be used to check a variety of sensors and transducers.
Improving the tester robot
When I designed Tester, I had imagined most of the sensors I would test and use to be tiny miniature modules. This was not the case. In the process of prototyping different circuits I rarely had the time to produce a PCB, let alone miniaturize the circuit. If I were to build another tester robot, I would use a much larger electric car as a foundation. Having a lot of room to work on the robot makes it easier to secure different types of sensors and circuits. Parts for the projects outlined in this chapter are available from: Images Company P.O. Box 140742 Staten Island, NY 10314 (718) 698-8305
http://www.imagesco.com
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Sensors
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Intelligence
INTELLIGENCE PACKAGED IN A ROBOT TAKES ONE OF TWO forms: rule-based (expert) or neural. It s possible for both forms of intelligence to work in tandem. This synthesis of intelligence will be commonly used in robotics to create a robust intelligence system. Expert (rule-based) intelligence programs are familiar to most people; these are programs written in high-level or low-level languages like C , BASIC, and assembly. Neural systems on the other hand use electronic neurons and feedback to control (generate behavior of) the robot. This neural behavior-based robotic architecture was pioneered in the late 1940s and early 1950s by William Grey Walter. More recently, Rodney Brooks at the Massachusetts Institute of Technology (MIT) has been developing behavior-based robotic architecture under the name of subsumption architecture. We will look at behavior-based robotics in Chap. 8. In this chapter we will focus on rule-based systems and microcontrollers. Keep in mind that it is possible to mimic neural systems using rule-based systems programming. It is also noteworthy to know that almost all neural network software on the market today runs on existing rule-based computers, using rule-based programming that simulates neural networks.
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