Hitesh Choudhary
23VE1A6688
Sensors, Actuators & ROS:
Building Intelligent Systems
Essential Tools for Hobbyists & Engineers
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INTRODUCTION TO SENSORS
Sensors are the eyes and ears of any intelligent system, converting physical phenomena into
electrical signals that microcontrollers can understand.
Sensor Type Working Principle Voltage Range Applications Example Project
Ultrasonic Echo time-of-flight 5V DC Distance measurement, obstacle detection Autonomous robot navigation
IR (Infrared) Reflective light detection 3.335V DC Proximity sensing, line following Line-following robot
Temperature (Thermistor) Resistance changes with heat 3.335V DC HVAC, medical devices Smart thermostat
Light (LDR) Resistance changes with light Analog (035V) Auto brightness, solar tracking Light-sensitive lam
Gas (MQ series) Resistance changes in presence of gas 5V DC Smoke detection, breathalyzer Air quality monitor
Acceleromete r (ADXL345) Measures acceleration via capacitance 3.3V DC Motion detection, vibration sensing Fitness tracker
Pressure (BMP180) Measures air pressure via piezoresistive effect 3.3V DC Weather stations, altimeters Altitude logger
Humidity (DHT11) Capacitive sensing 3.335V DC Greenhouses, HVAC Smart agriculture system
Touch (Capacitive) Detects change in capacitance 3.335V DC Touchscreens, switches DIY touch lamp
Magnetic (Hall Effect) Voltage change in magnetic field 3.335V DC RPM counters, door sensors Magnetic door lock system
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ACTUATORS
Actuators are the muscles of a system, translating electrical signals into
physical motion or action.
Actuator Type Working Principle Voltage Range Applications Example Project
DC Motor Electromagnetic rotation 6–12V DC Wheels, fans Mobile robot
Servo Motor PWM-controlled rotation 5V DC Precise angle control Robotic arm
Stepper Motor Discrete steps via coils 5–12V DC CNC, 3D printers XY plotter
Solenoid Electromagnetic linear motion 12V DC Locks, valves Automatic door lock
Relay Electromechanical switch 5–12V DC High-power switching Home automation
Piezoelectric Vibration via crystal deformation Low voltage AC Buzzers, sensors Vibration alert system
Hydraulic Cylinder Fluid pressure movement Varies (high pressure) Heavy lifting Industrial press
Pneumatic Cylinder Compressed air movement 60–120 PSI Fast linear motion Pick-and-place robot
Linear Actuator Screw-driven linear motion 12–24V DC Adjustable furniture Smart desk
Electromagnetic Clutch Magnetic field engagement 12V DC Transmission systems Robotic gripper
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Robot Operating System (ROS)
What is ROS? ROS Architecture
A meta-operating system for robots, providing • Nodes: Independent processes.
libraries, tools, and conventions for building
complex robotic systems. Originated at Willow • Topics: Publish/subscribe communication.
Garage in 2007, fostering open-source robotics • Services: Request/response communication.
development.
• Parameter Server: Stores configuration data
Why Use ROS?
Modular, scalable, and open-source. Supports
hardware abstraction, message passing,
simulation, and visualization. Ideal for research,
education, and industrial automation
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Key ROS Tools & Industrial Use Cases
Essential Tools for ROS Development ROS in Industry
1.Rviz
Powerful 3D visualization tool for robot data and
environment.
Manufacturing Robotic arms, AMRs (Fetch Robotics, KUKA
2. Gazebo
Healthcare Surgical robots, rehabilitation systems
Physics-based simulator for realistic robot testing
in virtual environments. Logistics Warehouse navigation, material handling
3 roslaunch
Education Robotics curriculum, simulation labs
Utility to easily launch multiple ROS nodes and
configurations. ROS provides a robust framework that drives
4 rosbag innovation across diverse industrial sectors
Tool for recording and playing back ROS
message data for analysis and debugging
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TurtleBot with ROS: Your Mobile Robot Platform
What is TurtleBot?
A low-cost mobile robot platform designed for learning and prototyping
with ROS. It offers an accessible entry point into complex robotics.
Available in various models, including Burger, Waffle, and Waffle Pi,
offering different capabilities and price points.
Key Features
• Differential drive base for agile movement.
• LIDAR or 3D camera for environmental perception.
• Single Board Computer (Raspberry Pi or Jetson Nano).
• Fully compatible with ROS 1 and ROS 2.
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TurtleBot Applications & Simulation
Practical Applications Simulation Capabilities
1. SLAM Gazebo Integration:
Simultaneous Localization and Mapping for Easily simulate TurtleBot behavior in a realistic
building maps and determining position. physics-based environment, testing algorithms
without hardware.
2. Obstacle Avoidance
RViz Visualization
Detecting and navigating around physical
barriers using sensor data. Visualize robot sensor data, odometry, and planned
paths in 3D for better understanding and debugging
3.Autonomous Navigatio
Interactive Control
Path planning and execution to move
independently to target locations. Supports keyboard teleoperation for manual control,
mapping, and path planning within the simulated
4. Multi-Robot Coordination environment.
Enabling multiple robots to work together on Simulation is crucial for rapid prototyping and
complex tasks. algorithm development before deploying to physical
hardware 8
Wokwi Project-Smart Door Lock System
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Wokwi Project-Smart Door Lock System
Execution:
1.System Login Prompt 2.Password Input: 2004 (Valid)
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Wokwi Project-Smart Door Lock System
Execution:
3.Access Granted Confirmation 4.Password Input: 6542 (Invalid)
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Wokwi Project-Smart Door Lock System
Execution:
5.Access Denied Notification
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Why These Technologies Matter
Breadth of Functionality Industry Standard
Covers vision, motion, environment, and Widely used in real-world systems, from
interaction4the pillars of robotic perception and autonomous vehicles to smart factories.
control.
Educational Value
Perfect for learning and prototyping, supported
Modular & Open-Source by Arduino, Raspberry Pi, and ROS.
ROS provides a flexible framework, ideal for Scalability
collaborative development and customization
Start small and scale to complex systems like
SLAM and robotic arms.
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THANK YOU
