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obotic vision systems can be simple or complex to match your specific requirements and your itch to tinker. Rudimentary Cyclops vision systems are used to detect nothing more than the presence or absence of light. Aside from this rather mundane task, there are plenty of useful applications for an on/off light detector. More advanced vision systems decode relative intensities of light and can even make out patterns and crude shapes. While the hardware for making robot eyes is rather simple, using the vision information they generate is not. Except for the one-cell light detector, vision systems must be interfaced to a computer to be useful. You can adapt the designs presented in this chapter to just about any computer using a microprocessor data bus or one or more parallel printer ports.

The rotary actuator shown in Figure 1-54 operates on the principle of attraction and repulsion of opposite and like magnetic poles as a motor. In this case the electromagnetic flux from the actuator s solenoid interacts with the permanent magnetic field of a neodymium iron disk magnet attached to the armature but free to rotate. The patented Ultimag rotary actuator from the Ledex product group of TRW, Vandalia, Ohio, was developed to meet the need for a bidirectional actuator with a limited working stroke of less than 360 but capable of offering higher speed and torque than a rotary solenoid. This fast, short-stroke actuator is finding applications in industrial, office automation, and medical equipment as well as automotive applications The PM armature has twice as many poles (magnetized sectors) as the stator. When the actuator is not energized, as shown in (a), the armature poles each share half of a stator pole, causing the shaft to seek and hold mid-stroke. When power is applied to the stator coil, as shown in (b), its associated poles are polarized north above the PM disk and south beneath it. The resulting flux interaction attracts half of the armature s PM poles while repelling the other half. This causes the shaft to rotate in the direction shown.

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Summary

A number of simple electronic devices can be used as eyes for your robot. These include the following:

Photoresistors. These are typically a cadmium-sulfide (CdS) cell (often referred to simply as a photocell). A CdS cell acts like a light-dependent resistor (also referred to as an LDR): the resistance of the cell varies depending on the intensity of the light striking it. When no light strikes the cell, the device exhibits very high resistance, typically in the high 100 kilohms, or even megohms. Light reduces the resistance, usually significantly

Figure 1-54 This bidirectional rotary actuator has a permanent magnet disk mounted on its armature that interacts with the solenoid poles. When the solenoid is deenergized (a), the armature seeks and holds a neutral position, but when the solenoid is energized, the armature rotates in the direction shown. If the input voltage is reversed, armature rotation is reversed (c).

(a few hundreds or thousands of ohms). CdS cells are very easy to interface to other electronics, but they react somewhat slowly and are unable to discern when the light level changes more than 20 or 30 times per second. This trait actually comes in handy because it means CdS cells basically ignore the on/off flashes of AC-operated lights. Phototransistors. These are very much like regular transistors with their metal or plastic tops removed. A glass or plastic cover protects the delicate transistor substrate inside. Unlike CdS cells, phototransistors act very quickly and are able to sense tens of thousands of changes in light level per second. The output of a phototransistor is not linear; that is, there is a disproportionate change in the output of a phototransistor as more and more light strikes it. A phototransistor can become easily swamped with too much light. In this condition, even as more light shines on the device, the phototransistor is not able to detect any change. Photodiodes. These are the simpler diode versions of phototransistors. Like phototransistors, they are made with a glass or plastic cover to protect the semiconductor material inside them. And like phototransistors, photodiodes act very fast and can become swamped when exposed to a certain threshold of light. One common characteristic of most photodiodes is that their output is rather low, even when fully exposed to bright light. This means that to be effective the output of the photodiode must usually be connected to a small amplifier.

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