Robotics and Mechatronics

5.

Sensors and Perception Systems

5.1.

Principles of Sensing

5.1.1.

Sensor Characteristics

5.1.1.1.

5.1.1.2.

5.1.1.3.

5.1.1.4.

5.1.1.5.

5.1.1.6.

5.1.1.7.

5.1.1.8.

5.1.1.9.

Drift and Stability

5.1.2.

Sensor Calibration

5.1.2.1.

Calibration Procedures

5.1.2.2.

5.1.2.3.

Compensation Techniques

5.2.

Sensor Types and Applications

5.2.1.

Proprioceptive Sensors

5.2.1.1.

5.2.1.1.1.

Incremental Encoders

5.2.1.1.2.

Absolute Encoders

5.2.1.1.3.

Optical Encoders

5.2.1.1.4.

Magnetic Encoders

5.2.1.2.

5.2.1.2.1.

Construction and Operation

5.2.1.2.2.

Signal Processing

5.2.1.3.

Inertial Measurement Units

5.2.1.3.1.

5.2.1.3.1.1.

Capacitive Accelerometers

5.2.1.3.1.2.

Piezoelectric Accelerometers

5.2.1.3.2.

5.2.1.3.2.1.

Mechanical Gyroscopes

5.2.1.3.2.2.

MEMS Gyroscopes

5.2.1.3.3.

5.2.1.3.3.1.

Hall Effect Magnetometers

5.2.1.3.3.2.

Fluxgate Magnetometers

5.2.1.4.

Motor Current Sensing

5.2.1.4.1.

Current Transformers

5.2.1.4.2.

Hall Effect Sensors

5.2.1.4.3.

Shunt Resistors

5.2.2.

Exteroceptive Sensors

5.2.2.1.

Proximity Sensors

5.2.2.1.1.

Infrared Sensors

5.2.2.1.2.

Ultrasonic Sensors

5.2.2.1.3.

Capacitive Sensors

5.2.2.1.4.

Inductive Sensors

5.2.2.2.

5.2.2.2.1.

5.2.2.2.1.1.

Time-of-Flight LiDAR

5.2.2.2.1.2.

Phase-Shift LiDAR

5.2.2.2.1.3.

Scanning Mechanisms

5.2.2.2.2.

Time-of-Flight Cameras

5.2.2.2.3.

Structured Light Sensors

5.2.2.2.4.

5.2.2.2.4.1.

5.2.2.2.4.2.

5.2.2.3.

Tactile Sensors

5.2.2.3.1.

5.2.2.3.1.1.

5.2.2.3.1.2.

5.2.2.3.2.

5.2.2.3.3.

Pressure Sensors

5.2.2.3.3.1.

Piezoresistive Sensors

5.2.2.3.3.2.

Capacitive Pressure Sensors

5.2.2.4.

5.2.2.4.1.

5.2.2.4.1.1.

Monocular Cameras

5.2.2.4.1.2.

5.2.2.4.1.3.

5.2.2.4.1.4.

5.2.2.4.2.

Lenses and Optics

5.2.2.4.2.1.

5.2.2.4.2.2.

5.2.2.4.2.3.

Distortion Correction

5.2.2.4.3.

5.2.2.4.3.1.

5.2.2.4.3.2.

5.2.2.4.4.

5.2.2.4.4.1.

5.2.2.4.4.2.

5.2.2.4.5.

5.2.2.4.5.1.

Structured Light

5.2.2.4.5.2.

5.3.

Signal Conditioning and Processing

5.3.1.

5.3.1.1.

Signal Amplifiers

5.3.1.2.

5.3.2.

5.3.2.1.

Analog Filtering

5.3.2.1.1.

5.3.2.1.2.

5.3.2.2.

Digital Filtering

5.3.2.2.1.

5.3.2.2.2.

5.3.3.

Noise Reduction

5.3.3.1.

Shielding Techniques

5.3.3.2.

Grounding Strategies

5.3.3.3.

Signal Averaging

5.3.3.4.

Isolation Techniques

5.4.

5.4.1.

5.4.1.1.

Linear Kalman Filter

5.4.1.2.

Prediction Step

5.4.1.3.

5.4.1.4.

Covariance Matrices

5.4.2.

Extended Kalman Filter

5.4.2.1.

Nonlinear System Modeling

5.4.2.2.

Jacobian Linearization

5.4.3.

Unscented Kalman Filter

5.4.4.

Particle Filter

5.4.4.1.

Monte Carlo Methods

5.4.4.2.

Resampling Techniques

5.4.5.

Applications of Sensor Fusion

5.4.5.1.

Navigation Systems

5.4.5.2.

State Estimation

5.4.5.3.

Multi-Sensor Integration

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