臺灣博碩士論文加值系統

For a control system, using the static performance of a sensor is always a milestone of dynamic performance of the system. The static performance of a proximity sensor plays an important role due to it affects the dynamic properties quality of a mobile robot and the results of dynamic identification. A proximity sensor is a common sensor to search a metal guideline for a mobile robot. If the signal of a proximity sensor is unstable or noisy, it gets more disturbances for a mobile robot control.
In this study, the hand-made measurement system is successful developed, and 6 types of metals are measured. Beside, through a detailed study of theoretical knowledge and by some empirical methods of the conveyor belt sytem, the relationship of the parameters can be determined, such as: velocity, sensing distance, dimension of material, thickness of material, and so on.
Through measurement, the static and dynamic performances of a proximity sensor can be fast evaluated and analyzed, respectively. The experimental results show that the signals of ferrous, non-ferrous and alloy metal tape have giant differences. Simultaneously, for the dynamic measurement, the shape as the output signal depends both the type of sensor being used and thickness of material, velocity, sensing distance.
Determining how to rapidly and efficiently control a mobile robot therefore becomes the key point in using the measurement technique of static and dynamic performance.
In the future, to exploit the effectiveness of using proximity sensors, multiple coils are arranged in a row to precisely measure the horizontal displacement of a metal target to a tenth of a millimeter. A micro-controller evaluates the damping of the different coils by the target and thereby calculates the exact position. The measurement result is independent on the precision of the vertical guidance of the target.

ABSTRACT i
ACKNOWLEDGEMENT ii
TABLE OF CONTENTS iii
LIST OF FIGURES v
CHAPTER 1 INTRODUCTION 1
1.1 Research Background and Motivation 1
1.2 Research Objectives 4
1.3 The structure of this Study 5
1.4 Significance of the Study 6
CHAPTER 2 LITERATURE REVIEW 7
2.1 Historical development of proximity sensor 7
2.2 Inductive proximity sensor 8
2.2.1 Detection principle of inductive proximity sensor 9
2.2.2 Analog proximity sensor 11
2.2.3 Digital proximity sensor 13
2.3 Applications of proximity sensor 15
2.3.1 Detecting dynamic motion 15
2.3.2 Touch-pads 15
2.3.3 Aviation safety 15
2.3.4 Ground proximity warning system 15
2.3.5 Air gauging 15
2.3.6 Differential systems 16
2.3.7 Speeding 16
2.3.8 Conveyor system 16
2.4 Standard detectable static of inductive proximity sensor 16
2.4.1 Sensing distance 16
2.4.2 Hysteresis 18
2.5 Dynamic models to measure performance of the proximity sensor 19
CHAPTER 3 MEASUREMENT METHOD 23
3.1 Diagram and operating principle of static measurement system 23
3.2 Diagram and operating principle of dynamic measurement system 25
CHAPTER 4 RESULT AND DISCUSSION 28
4.1 Static performance measurement of proximity sensor 28
4.1.1. 301 Stainless steel, 0.06 mm thickness 28
4.1.2 99.99% Copper, 0.05 mm thickness 29
4.1.3 99.99% Copper, 0.025 mm thickness 30
4.1.4 Aluminum, 0.1 mm thickness 31
4.1.5 Aluminum, 0.15 mm thickness 31
4.1.6 Alloy, d=0.3 (mm) 32
4.2 Dynamic performance measurement of proximity sensor 33
4.2.1 Deformation of the aluminum tape with plastic tape and without plastic tape 33
4.2.2 The output signals with analog and digital proximity sensors respectively 34
4.2.3 The relationship between the speeds of conveyor belt (v), sensing distance (h) and the shape of the output signal (peak to peak voltage and duty cycle) 36
4.2.4 The shape output signal when adding a plastic tape underneath the aluminum tape 42
CHAPTER 5 CONCLUSION AND FUTURE WORK 46
5.1 Conclusion 46
5.2 Future work 47
REFERENCE 48

[1]P. Kucsera, "Sensors for mobile robot systems," Technology, vol. 5, pp. 645-658, 2006.
[2]L. Yang, X. Yang, K. He, M. Guo, and B. Zhang, "The research on mobile robot sensor simulation and visualization," in Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on, pp. 2286-2289,1997.
[3]H. Everett, Sensors for mobile robots: theory and application: AK Peters, Ltd., 1995.
[4]T. T. Tsung and H. Nguyen, "Measurement of static performance of inductive proximity switch for a mobile robot," Applied Mechanics and Materials, vol. 404, pp. 502-507, 2013.
[5]M. Jagiella and S. Fericean, "Miniaturized inductive sensors for industrial applications," in Sensors, 2002. Proceedings of IEEE, pp. 771-778, 2002,.
[6]R. C. Luo, "Sensor technologies and microsensor issues for mechatronics systems," Mechatronics, IEEE/ASME Transactions on, vol. 1, pp. 39-49, 1996.
[7]J. Fraden, Handbook of modern sensors: physics, designs, and applications: Springer, 2004.
[8]T. T. Tsung, T. T. K. Vy, and N. Hoai, "The Disturbance of Inductive Proximity Sensor for Mobile Robot " in Advanced Materials Research, pp. 909-912, 2015.
[9]Y. Arai, H. Asama, I. Endo, H. Kaetsu, S.-y. Kotosaka, and S. Suzuki, "Mobile robot sensor system," ed: Google Patents, 1998.
[10]B. Bury, "Proximity sensing for robots," in Robot Sensors, IEE Colloquium on, pp. 3/1-318, 1991.
[11]S. Mukherjee, "Intelligent Proximity Sensors," in Computers and Devices for Communication (CODEC), 2012 5th International Conference on, pp. 1-7, 2012.
[12]S. Y. Nof, Handbook of industrial robotics vol. 1: John Wiley & Sons, 1999.
[13]K. D. Anim-Appiah and S. M. Riad, "Analysis and design of ferrite cores for eddy-current-killed oscillator inductive proximity sensors," Magnetics, IEEE Transactions on, vol. 33, pp. 2274-2281, 1997.
[14]D. G. Silva, J. A. J. Ribeiro, and T. C. Pimenta, "Design of eddy current sensor IC for large displacement," in Industrial Electronics (ISIE), 2013 IEEE International Symposium on, pp. 1-6, 2013,.
[15]T. T. Tsung and N. Hoai, "Dynamic Performance Measurement of Proximity Sensors for a Mobile Robot," in Key Engineering Materials, pp. 683-688, 2014.
[16]http://www.controlengeurope.com/article/20839/Fifty-years-old--the-proximity-switch.aspx.
[17]T. Mizuno, T. Mizuguchi, Y. Isono, T. Fujii, Y. Kishi, K. Nakaya, et al., "Extending the Operating Distance of Inductive Proximity Sensor Using Magnetoplated Wire," Magnetics, IEEE Transactions on, vol. 45, pp. 4463-4466, 2009.
[18]C. Guichard and D. Leonard, "Inductive proximity sensor for detecting ferrous and non-ferrous objects," ed: Google Patents, 1996.
[19]A. Bonen and K. Smith, "Proximity Sensing," The Measurement, Instrumentation and Sensors Handbook, vol. 14, 1998.
[20]R. J. Crosby and H. W. Everson Jr, "Proximity sensor having a non-ferrous metal shield for enhanced sensing range," ed: Google Patents, 1998.
[21]R. J. Pond, "Inductive proximity sensor using coil time constant for temperature compensation," ed: Google Patents, 2007.
[22]T. A. Valerio, "Method and apparatus for sorting metal," ed: Google Patents, 2010.
[23]http://www.sensoplus.be/pdf/promixity/K/ANALOG%20SENSOR.pdf.
[24]S. Thoss, O. Machul, and B. J. Hosticka, "A novel architecture for inductive proximity sensors using sigma delta modulation," in Solid State Circuits Conference, 2007. ESSCIRC 2007. 33rd European, pp. 284-287, 2007.
[25]http://www.altechcorp.com/HTML/Sensors_Standard-A.html.
[26]J. J. Gartland, "Sensor system for conveyor belt," ed: Google Patents, 2004.
[27]S. Fericean and R. Droxler, "New noncontacting inductive analog proximity and inductive linear displacement sensors for industrial automation," Sensors Journal, IEEE, vol. 7, pp. 1538-1545, 2007.
[28]H. Krüger, H. Ewald, and A. Frost, "Multivariate data analysis for accuracy enhancement at the example of an inductive proximity sensor," in Sensors, 2009 IEEE, pp. 759-763, 2009.
[29]K. Morris, "What is hysteresis?," Applied Mechanics Reviews, vol. 64, p. 050801, 2011.
[30]R. R. Osterberg and R. B. Wolanski, "Method and apparatus for sorting non-ferrous metal pieces," ed: Google Patents, 1989.