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Module Code - Title:

ET4224 - ROBOTICS 1: SENSORS AND ACTUATORS

Year Last Offered:

2021/2

Hours Per Week:

Lecture

2

Lab

2

Tutorial

1

Other

0

Private

5

Credits

6

Grading Type:

N

Prerequisite Modules:

EE4102
EE4313
EE4101

Rationale and Purpose of the Module:

This module introduces students to fundamental principles of * Measurement of physical phenomena utilising various sensing techniques. * Transducer action and signal conversion * Various Actuator types and principles of operation. * Specification of a complete measurement system.

Syllabus:

Introduction to Physical Phenomenon:- * SI Units. * Principles of sensor operation (mechanical, thermal, sound, light). Sensors and Transducers:- * Concept of transducer action as signal conversion with particular emphasis on an electrical signal as the output. * The ideal transducer. * Resolution, accuracy, linearity definitions and relevance. * Review of some physical phenomena that result in electrical parameter variations Actuators * Magneto Motive Force & magnetic circuits, transformers, DC generators and motors. * Motors: DC machines with permanent magnet and field windings, Induction motors, Stepper Motors,. Stepper drives. * Motor Drive Circuits. Sensor Interfacing Circuitry introduction/review * Review of Op-Amp as applied to sensing systems, Instrumentation amplifiers, diff amps, etc. Simple DACs, ADCs successive approximation and integrating, operating principles and suitability for industrial applications. Overall concepts of accuracy, drift, resolution, and common mode rejection applied to a measurement system, complete system composed of a transducer, amplifier and ADC.

Learning Outcomes:

Cognitive (Knowledge, Understanding, Application, Analysis, Evaluation, Synthesis)

Cognitive (Knowledge, Understanding, Application, Analysis, Evaluation, Synthesis related to sensors and actuators). 1. Explain the concepts of linearity, stability. repeatability, resolution, etc for sensors. 2. Select a suitable sensor or appraise sensor options for a given application requirements based on sensor technical specilications. 3. Describe the operation of magnetic / electro-magnetic components and devices, such as solenoids, transformers, motors and generators. 4. Apply defining equations to analyse transformer, magnetic circuit and motor / generator circuits. 5. Evaluate the most suitable motor type for a given motion application. 6. Build sensor and actuator circuits, take measurements, analyse data and design sensor & actiator circuits in the laboratory.

Affective (Attitudes and Values)

Not relevant to technical module

Psychomotor (Physical Skills)

Npt relevant

How the Module will be Taught and what will be the Learning Experiences of the Students:

Two hours lectures per week. Laboratory sessions - where students follow a structured set of laboratory sessions which include PC based experiment tutorials followed by computer assisted/guided experiment execution. The lab is supported by a technician and teaching assistants. Labs tutorials and experiments are integrated to provide a comprehensive treatment of this technical lab based subject.

Research Findings Incorporated in to the Syllabus (If Relevant):

--

Prime Texts:

Storey, N (2004) Electrical and Electronic Systems , Pearson Education, ISBN 0130-93046-6

Other Relevant Texts:

Storey, N (1998) Electronics A systems Approach, 2nd Edition , Addison Wesley. , 020117796X
Bolton W (2003) Mechatronics, Electronic Control Systems in Mechanical and Electrical Engineering, 3nd Edition, , Longmann, ISBN 0131216333

Programme(s) in which this Module is Offered:

Semester - Year to be First Offered:

Spring - 06/07

Module Leader:

bob.strunz@ul.ie