Sensors

and Actuators
with Arduino
Hans-Petter Halvorsen, M.Sc.

System Overview
NTC Thermistor

Arduino

Download Code

Computer

TMP36

Pt-100

Sensors (Input)
Actuators (Output)
Examples:

Push Button

Programming

Cloud
LED

Sound

Data Logging

Lab Topics
Get Overview of the Arduino Platform
Sensors and Actuators Overview in general
Overview of Temperature Sensors, such as
- Pt-100, Thermistor, Thermocouple

Basic Data Acquisition (DAQ), Data Logging

Calibration, Uncertainty, Resolution, Accuracy, Range, etc.
Lowpass Filter implementation in Software
Network Communication
Reading Data sheets

Assignment Overview
1. Arduino Basics: Explore the different Sensors and Actuators
available with the Arduino Kit
2. Temperature Sensors
3. Pt-100: Create your own Pt-100 sensor with Transmitter from
scratch and Read Temperature values using Arduino
4. Create a Temperature Data Logger/Embedded DAQ System.
Select one of the following alternatives:
a) Save Data using SD Card available on Arduino Shields
b) Use an online web-based Data Logging Service like Temboo/Xively
c) Use Wireless Communication to your PC using XBee Modules

See next slides for details...

Arduino
Arduino Sketch IDE

Software

Software

Programming with Arduino is simple and intuitive!

Example:
// include the TinkerKit library
#include <TinkerKit.h>
// creating the object 'led' that belongs to the 'TKLed' class
TKLed led(O0);
void setup()
{
}
void loop()
{
led.on();
delay(1000);
led.off();
delay(1000);
}

The syntax is similiar to C programming

//do something here

//
//
//
//

set the LED on

wait for a second
set the LED off
wait for a second

This program makes a LED blink

Software Installation: http://arduino.cc/en/Main/Software

Arduino UNO Device

Hardware

Hardware

Breadboard

Pt-100
Tools
Sensors and Actuators

Pt-100 Transmitter

Multimeter

Sensors and Actuators

Theory

A Sensor is a converter that measures a physical quantity and

converts it into a signal which can be read by an observer or by
an (today mostly electronic) instrument.
An Actuator is a type of motor for moving or controlling a
mechanism or system. It is operated by a source of energy,
typically electric current, hydraulic fluid pressure, or pneumatic
pressure, and converts that energy into motion. An actuator is
the mechanism by which a control system acts upon an
environment.
http://en.wikipedia.org/wiki/Sensor

http://en.wikipedia.org/wiki/Actuator

Sensors
Calibration: A comparison between measurements. One of
known magnitude or correctness made or set with one device
and another measurement made in as similar a way as possible
with a second device. The device with the known or assigned
correctness is called the standard. The second device is the unit
under test, test instrument, or any of several other names for
the device being calibrated.

Theory

Accuracy: How close the

measured value is the the
actual/real value, eg., 0.1 %

Resolution: The smallest change it can detect in the

quantity that it is measuring. The followig formula may be
used (where S is the measurment span, e.g., 0-100deg.C):

In the assignment you need to deal with these parameters. You find information about these parameters in the Data
sheet for your device
http://en.wikipedia.org/wiki/Calibration
http://en.wikipedia.org/wiki/Measurement_uncertainty

http://en.wikipedia.org/wiki/Accuracy_and_precision

Arduino Basics
Getting Started with Arduino

Hans-Petter Halvorsen, M.Sc.

 Arduino is an open-source physical computing platform

designed to make experimenting with electronics and
programming more fun and intuitive.
Arduino has its own unique, simplified programming language
and a lots of premade examles and tutorials exists.
With Arduino you can easily explore lots of small-scale sensors
and actuators like motors, temperature sensors, etc.
The possibilities with Arduino are endeless.
http://www.arduino.cc

10

Arduino UNO
https://www.arduino.cc/en/Guide/HomePage

http://www.arduino.cc

Pin Overview: http://pighixxx.com/unov3pdf.pdf

The Arduino Programming Environment (IDE)

The Arduino Integrated Development Environment - or Arduino
Software (IDE) - contains a text editor for writing code, a
message area, a text console, a toolbar with buttons for
common functions and a series of menus. It connects to the
Arduino hardware to upload programs and communicate with
them.

https://www.arduino.cc/en/Guide/HomePage

12

Books

Free download from Internet

These books gives you an introduction to Arduino. These books are available on the lab. Lots of
Arduino books are also available on Safari Books Online

Selected eBooks from Safari Online available for free for

Students and Teachers at TUC
http://proquest.safaribooksonline.com/

Arduino Uno Board

Arduino Basics

Breadboard

Sensors and Actuators

15

The Arduino Kit

Arduino Uno Board

Small-size Sensors and Actuators

Getting Started with Arduino: http://arduino.cc/en/Guide/HomePage

The Arduino Kit

Ardiono Home Page: http://arduino.cc
The Arduino Starter Kit:
http://arduino.cc/en/Main/ArduinoStarterKit
Starter Kit Videos:

https://www.youtube.com/playlist?feature=edit_ok&list=PLT6
rF_I5kknPf2qlVFlvH47qHvqvzkknd
17

Getting Started
Arduino with Breadboard Sensors/Actuators:

LED
Push Button
Potentiometer
Different Temperature Sensors
etc.

Install the Arduino Sketch and Explore

some of these Sensors & Actuators, i.e.,
make 2-3 Examples.
Use the breadboard for creating your
circuits.
Use Arduino Sketch in order to create the
Programs that interface with the Sensors
& Actuators

Congratulations! - You are finished with the Task

19

Temperature Sensors

Hans-Petter Halvorsen, M.Sc.

Temperature Measurements

Theory

Different methods for measuring the Tempertature:

Thermocouples
Thermistors
RTD (Resistance Temperature Detector)
e.g. Pt100

Infrared
Thermometers
21

Temperature Sensors
Make the following Temperature Sensors work with Arduino:
NTC Thermistor

TMP36

Small-scale Temperature Sensors

TMP36
https://www.sparkfun.com/products/10988
https://www.elfa.se/elfa3~eu_en/elfa/init.do?item=73-889-29&toc=0&q=73-889-29

NTC Thermistor

https://www.elfa.se/elfa3~eu_en/elfa/init.do?item=60-260-41&toc=0&q=60-260-41
Tutorial: http://garagelab.com/profiles/blogs/tutorial-using-ntc-thermistors-with-arduino

23

TMP36

Theory

These sensors use a solid-state technique to determine the

temperature. That is to say, they don't use mercury (like old
thermometers), bimetalic strips (like in some home thermometers or
stoves), nor do they use thermistors (temperature sensitive resistors).
Instead, they use the fact as temperature increases, the voltage across
a diode increases at a known rate. (Technically, this is actually the
voltage drop between the base and emitter - the Vbe - of a transistor.)
By precisely amplifying the voltage change, it is easy to generate an
analog signal that is directly proportional to temperature. There have
been some improvements on the technique but, essentially that is how
temperature is measured.
Because these sensors have no moving parts, they are precise,
never wear out, don't need calibration, work under many
environmental conditions, and are consistant between sensors
and readings. Moreover they are very inexpensive and quite
easy to use.

https://learn.adafruit.com/tmp36-temperature-sensor

24

Datasheet Calculations

Theory

From the plot we have:

(x1, y1) = (750mV, 25C)

(x2, y2) = (1000mV, 50C)
Linear relationship:

You have to find a (slope) and b (intercept):

y-25C = ((50C-25C)/(1000mV-750mV)) * (x-750mV)

This gives:

y[C] = (1/10)*x[mv]-50

25

Voltage-based Sensors
According to the TMP36 datasheet, the relation of the output voltage
to the actual temperature uses this equation:

y[C] = (1/10)*x[mv]-50

TMP36

Where the voltage value is specified in millivolts.

However, before you use that equation, you must convert the integer value that the
analogRead function returns into a millivolt value.
10-bit analog to digital converter
You know that for a 5000mV (5V) value span the analogRead function will return
1024 possible values:
Where

voltage = (5000 / 1024) * output

mV

output = analogRead(aichannel)
0-1023

A0-A5

TMP36 Temperature Sensor Example

// We'll use analog input 0 to read Temperature Data
const int temperaturePin = 0;
void setup()
{
Serial.begin(9600);
}
void loop()
{
float voltage, degreesC, degreesF;
voltage = getVoltage(temperatur ePin );
// Now we'll convert the voltage to degrees Celsius.
// This formula comes from the temperature sensor datasheet:
degreesC = (voltage - 0.5) * 100.0;

Serial Monitor

// Send data from the Arduino to the serial monitor window

Serial.print("voltage: ");
Serial.print(voltage);
Serial.print("
deg C: ");
Serial.println(degreesC );
delay(1000); // repeat once per second (change as you wish!)
}
float getVoltage(int pin)
{
return (analogRead(pin) * 0.004882814);
// This equation converts the 0 to 1023 value that analogRead()
// returns, into a 0.0 to 5.0 value that is the true voltage
// being read at that pin.
}

27

TMP36 Temperature Wiring

28

Resistance-based Sensors

Theory

The problem with resistance sensors is that the Arduino analog

interfaces cant directly detect resistance changes.
Thermistor
This will require some extra electronic components. The easiest way to
detect a change in resistance is to convert that change to a voltage
change. You do that using a voltage divider, as shown below.
By keeping the power source output constant, as the
resistance of the sensor changes, the voltage divider circuit
changes, and the output voltage changes. The size of resistor
you need for the R1 resistor depends on the resistance range
generated by the sensor and how sensitive you want the
output voltage to change.

E.g., the Steinhart-Hart Equation can

be used to find the Temperature:

Generally, a value between 1K and 10K ohms works just fine

to create a meaningful output voltage that you can detect in
your Arduino analog input interface.

NTC Thermistor Example

// Read Temerature Values from NTC Thermistor
const int temperaturePin = 0;
void setup()
{
Serial.begin(9600);
}
void loop()
{
int temperature = getTemp();
Serial.print("Temperatu re Value: ");
Serial.print(temperatur e);
Serial.println("*C");
delay(1000);
}

Serial Monitor

double getTemp()
{
// Inputs ADC Value from Thermistor and outputs Temperature in Celsius
int RawADC = analogRead(temperature Pin) ;
long Resistance;
double Temp;
// Assuming a 10k Thermistor.
Calculation is actually: Resistance = (1024/ADC)
Resistance=((10240000/R awAD C) - 10000);
// Utilizes the Steinhart-Hart Thermistor Equation:
// Temperature in Kelvin = 1 / {A + B[ln(R)] + C[ln(R)]^3}
// where A = 0.001129148, B = 0.000234125 and C = 8.76741E-08
Temp =
Temp =
Temp =
return
}

log(Resistance);
1 / (0.001129148 + (0.000234125 * Temp) + (0.0000000876741
Temp - 273.15; // Convert Kelvin to Celsius
Temp; // Return the Temperature

* Temp * Temp * Temp));

Steinhart-Hart Equation:

Congratulations! - You are finished with the Task

31

Pt-100 Measurements

Hans-Petter Halvorsen, M.Sc.

Temperature Measurements
Pt100: Create your own temporary Pt-100 sensor with
Transmitter (create the circuit on a breadboard) and
then Read Temperature values using Arduino.
Suggested Tasks:
Compare with Temperature Sensors available within the
Arduino Kit (TMP36, Thermistor,...)
Compare and Discuss the following Temperature
Measurements; Pt-100, Thermocouple, Thermistor
(Measurement principles, etc.)
33

This is a pre-made device.

Your job is to create this using
a Breadboard

Cable clamp

Ground

Output

+24 V

RTDred

RTDwhite

Create this circuit on

your breadboard

Internal
terminal block

Pt100
transducer

RTDred

Pt-100 Wiring

<<<<<<<

Pt100 element
+ 24 V

transducer

red
red

white
4-20 mA
R ~250

Pt100

+
1-5 V output
terminals

24 V PSU
Output terminals

Important! Test the output of your circuit BEFORE connecting it to the Arduino Analog Input with a
Multimeter to make sure the voltage is not higher than 5V, else the Arduino will be damaged!

Output

RTD

Output +

0 V

Create you own Pt-100 Sensor with Transmitter

Test the Device using Arduino
Temperature Transmitter (0-100deg. C)

Pt-100

https://www.elfa.se/elfa3~eu_en/elfa/init.do?item=76-69051&toc=0&q=76-690-51
https://www.elfa.se/elfa3~eu_en/elfa/init.do?item=76-89574&toc=0&q=76-895-74
24VDC/0.25A Power Supply

Breadboard

https://www.elfa.se/elfa3~eu_en/elfa/init.do?item=69-061-79&toc=0&q=69-061-79

35

Important!!!

0 V

+ 24 V
RTD

transducer

red
red

white
4-20 mA
R ~250

Pt100

+
1-5 V output
terminals

Test the output of your circuit BEFORE connecting it to the

Arduino Analog Input
Use a Multimeter to make sure the voltage is not higher than 5V
The Arduino will be damaged if the voltage is higher than 5V!
36

Congratulations! - You are finished with the Task

37

Temperature Data Logger/

Embedded DAQ System
Hans-Petter Halvorsen, M.Sc.

Temperature Data Logger/Embedded DAQ System

You use the PC when creating
the software, then you
download the software to the
Arduino and disconnect the
USB cable. Use e.g., a 9V
battery or an external Power
Supply.

NTC Thermistor

Use different Temperature

sensors for comparison, i.e log
data from 2 different sensors at
the same time.

Temperature Data Logger/

Embedded DAQ System
Create a Temperature Logger/Embedded DAQ System. Suggested Tasks:

Create and use a Lowpass Filter/Average Filter

Alarm functionality: Use LEDs with different colors when Temperature is

above/below the Limits

Use e.g., Arduino Wi- Fi/Ethernet Shield for Communication over a network - or
use the microSD card on these Shields

Save the data to a microSD card located on the Wi- Fi/Ethernet Shield - or
connect e.g., to xively.com or temboo.com - which are free datalogging sites.

Log Temperature Data for e.g., 24 hours and import Data into Excel, LabVIEW or
MATLAB for Analysis and Visualization

Use e.g. a 9V battery or an external power source to make it portable and small

Arduino Wi-Fi/Ethernet Shield

http://arduino.cc/en/Reference/WiFi

With the Arduino Wi-Fi/Ethernet Shield, this library allows an Arduino

board to connect to the internet. It can serve as either a server accepting
incoming connections or a client making outgoing ones.
Arduino Wi-Fi Library: http://arduino.cc/en/Reference/WiFi
Arduino Ethernet Library: http://arduino.cc/en/Reference/Ethernet
SD Library: http://arduino.cc/en/Reference/SD

41

Discrete Lowpass Filter

Lowpass Filter Transfer function:
We define:

Note! Implement the

Lowpass Filter as a
separate Function

Inverse Laplace gives the differential Equation:

We use the Euler Backward method:

This gives:

This gives:

Filter output

Noisy input signal

This algorithm can be easly implemented

in a Programming language

Arduino Libraries

The Arduino environment can be extended through the use of libraries, just like most
programming platforms.
Libraries provide extra functionality for use in sketches, e.g. working with hardware
or manipulating data. A number of libraries come installed with the IDE, but you can
also download or create your own.
You could say an Arduino Library is like a Class with Methods/Functions. It is a good
way to structure your code
Examples:
Ethernet Library for the Arduino Ethernet Shield
SD Library: The SD library allows for reading from and writing to SD cards, e.g. on the
Arduino Ethernet Shield or Arduino Wi-Fi Shield
Wi-Fi library for the Arduino Wi-Fi Shield

Writing your own libraries: https://www.arduino.cc/en/Hacking/LibraryTutorial

https://www.arduino.cc/en/Reference/Libraries

43

Arduino Ethernet/Wi-Fi Shield with SD Card

Arduino Wi-Fi Shield
Arduino UNO

Ethernet
Arduino Ethernet Shield

Web-based Logging Service

You may want to connect e.g., to xively.com, a free datalogging site
https://xively.com
Arduino xively.com: https://xively.com/dev/tutorials/arduino_wi-fi

http://www.twilio.com/

Use the Xively for Arduino library in order to

connect and store measurement data from your
Arduino device into the Xively cloud

Another alternative is:

www.temboo.com/arduino
SMS: http://www.twilio.com

www.temboo.com
45

Web-based Logging Service Sensor Data

Arduino Ethernet /Wi-Fi Shield
Arduino Ethernet Shield

stored in the
Cloud

Data Storage and Service

Sensors

Wi-Fi/Ethernet

Cloud
Presentation of Data

Logging Sensor Data to the Cloud

Arduino

Computer
MS Excel or similar

www.digi.com/xbee/

XBee - Wireless Communication

https://en.wikipedia.org/wiki/XBee
XBee Module

XBee USB Adapter Board

XBee 5V/3.3V Adapter Board

XBee SIP Adapter Board
Arduino Tutorial: Lets make XBee talk!:
http://www.norwegiancreations.com/2013/10/arduino-tutorial-1-lets-make-xbee-talk/
Making Things Talk, 2nd Edition (eBook available at Safari Books Online):
http://proquest.safaribooksonline.com/book/hardware-and-gadgets/9781449314668
Exploring XBees and XCTU:
https://learn.sparkfun.com/tutorials/exploring-xbees-and-xctu?_ga=1.116328385.696451024.1434708629

XBee Example
XBee 802.15.4 Module 1
XBee 802.15.4 Module 2
Wireless Communication
XBee SIP Adapter Board
or
XBee 5V/3.3V
Adapter Board

XBee USB Adapter Board

Arduino

USB Cable
PC

Breadboard

48

Congratulations! - You are finished with the Task

49

Fritzing
A open source tool for making simple wiring
diagram for your hardware wiring
https://en.wikipedia.org/wiki/Fritzing
http://fritzing.org
Wiring made with Fritzing

Congratulations! - You are finished with all the Tasks in the Assignment!

Hans-Petter Halvorsen, M.Sc.

University College of Southeast Norway
www.usn.no
E-mail: hans.p.halvorsen@hit.no
Blog: http://home.hit.no/~hansha/