Handbook of modern sensors physics, designs, and application

HANDBOOK OF

MODERN SENSORS
P H Y S I C S, D E S I G N S, a n d A P P L I C A T I O N S
Third Edition


Springer
New York
Berlin
Heidelberg
Hong Kong
London
Milan
Paris
Tokyo


HANDBOOK OF

MODERN SENSORS
P HY S I C S, D E S I G N S, a n d A P P L I C AT I O N S

Third Edition

JACOB FRADEN
Advanced Monitors Corporation
San Diego, California
With

403 Iillustrations


Jacob Fraden
Advanced Monitors Corporation
6255 Ferris Square, Suite M
San Diego, CA 92121
USA


Library of Congress Cataloging-in-Publication Data
Fraden, Jacob
Handbook of modern sensors : physics, designs, and applications / Jacob Fraden.–3rd ed.
p. cm.
Includes bibliographical references and index.
ISBN 0-387-00750-4 (alk. paper)
1. Detectors–Handbooks, manuals, etc. 2. Interface circuits–Handbooks, manuals, etc.
I. Title.
TA165.F723 2003
681 .2—dc21

ISBN 0-387-00750-4

2003044597

Printed on acid-free paper.

AIP Press is an imprint of Springer-Verlag, Inc.
© 2004, 1996 Springer-Verlag New York, Inc.
All rights reserved. This work may not be translated or copied in whole or in part without the written

permission of the publisher (Springer-Verlag New York, Inc., 175 Fifth Avenue, New York, NY 10010,
USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with
any form of information storage and retrieval, electronic adaptation, computer software, or by similar or
dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of
trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to
be taken as an expression of opinion as to whether or not they are subject to proprietary rights.
Printed in the United States of America.
9 8 7 6 5 4 3 2 1

SPIN 10919477

www.springer-ny.com
Springer-Verlag New York Berlin Heidelberg
A member of BertelsmannSpringer Science+Business Media GmbH


To the memory of my father


This page intentionally left blank


Preface

Seven years have passed since the publication of the previous edition of this book.
During that time, sensor technologies have made a remarkable leap forward. The
sensitivity of the sensors became higher, the dimensions became smaller, the selectivity became better, and the prices became lower. What have not changed are the
fundamental principles of the sensor design. They are still governed by the laws of
Nature. Arguably one of the greatest geniuses who ever lived, Leonardo Da Vinci,
had his own peculiar way of praying. He was saying, “Oh Lord, thanks for Thou do

not violate your own laws.” It is comforting indeed that the laws of Nature do not
change as time goes by; it is just our appreciation of them that is being refined. Thus,
this new edition examines the same good old laws of Nature that are employed in
the designs of various sensors. This has not changed much since the previous edition.
Yet, the sections that describe the practical designs are revised substantially. Recent
ideas and developments have been added, and less important and nonessential designs
were dropped. Probably the most dramatic recent progress in the sensor technologies
relates to wide use of MEMS and MEOMS (micro-electro-mechanical systems and
micro-electro-opto-mechanical systems). These are examined in this new edition with
greater detail.
This book is about devices commonly called sensors. The invention of a microprocessor has brought highly sophisticated instruments into our everyday lives.
Numerous computerized appliances, of which microprocessors are integral parts,
wash clothes and prepare coffee, play music, guard homes, and control room temperature. Microprocessors are digital devices that manipulate binary codes generally
represented by electric signals. Yet, we live in an analog world where these devices
function among objects that are mostly not digital. Moreover, this world is generally
not electrical (apart from the atomic level). Digital systems, however complex and
intelligent they might be, must receive information from the outside world. Sensors
are interface devices between various physical values and electronic circuits who
“understand” only a language of moving electrical charges. In other words, sensors
are the eyes, ears, and noses of silicon chips. Sensors have become part of everyone’s
life. In the United States alone, they comprise a $12 billion industry.


VIII

Preface

In the course of my engineering work, I often felt a strong need for a book that
would combine practical information on diversified subjects related to the most important physical principles, design, and use of various sensors. Surely, I could find almost
all I had to know in texts on physics, electronics, technical magazines, and manufacturers’ catalogs. However, the information is scattered over many publications, and

almost every question I was pondering required substantial research work and numerous trips to the library. Little by little, I have been gathering practical information
on everything that in any way was related to various sensors and their applications
to scientific and engineering measurements. Soon, I realized that the information I
collected might be quite useful to more than one person. This idea prompted me to
write this book.
In setting my criteria for selecting various sensors for this edition, I attempted to
keep the scope of this book as broad as possible, opting for brief descriptions of many
different designs (without being trivial, I hope) rather than fewer treated in greater
depth. This volume attempts (immodestly perhaps) to cover a very broad range of
sensors and detectors. Many of them are well known, but describing them is still
useful for students and those who look for a convenient reference. It is the author’s
intention to present a comprehensive and up-to-date account of the theory (physical
principles), design, and practical implementations of various (especially the newest)
sensors for scientific, industrial, and consumer applications. The topics included in
the book reflect the author’s own preferences and interpretations. Some may find a
description of a particular sensor either too detailed or too broad or, contrary, too
brief. In most cases, the author tried to make an attempt to strike a balance between
a detailed description and a simplicity of coverage.
This volume covers many modern sensors and detectors. It is clear that one book
cannot embrace the whole variety of sensors and their applications, even if it is called
something like The Encyclopedia of Sensors. This is a different book, and the author’s task was much less ambitious. Here, an attempt has been made to generate a
reference text that could be used by students, researchers interested in modern instrumentation (applied physicists and engineers), sensor designers, application engineers,
and technicians whose job is to understand, select, and/or design sensors for practical
systems.
The previous editions of this book have been used quite extensively as desktop
references and textbooks for the related college courses. Comments and suggestions
from the sensor designers, professors, and students prompted me to implement several
changes and correct errors.
Jacob Fraden
San Diego, California

November 2003


Contents

Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . VII
1

Data Acquisition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.1 Sensors, Signals, and Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1
1.2 Sensor Classification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7
1.3 Units of Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2

Sensor Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Transfer Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 Span (Full-Scale Input) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Full-Scale Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.4 Accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.6 Calibration Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.7 Hysteresis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.8 Nonlinearity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.9 Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.10 Repeatability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.11 Dead Band . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.12 Resolution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.13 Special Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.14 Output Impedance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.15 Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.16 Dynamic Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.17 Environmental Factors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.18 Reliability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.19 Application Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.20 Uncertainty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

13
13
15
16
17
18
19
20
20
22
23
23
23
24
24
25
25
29

31
33
33
35


X

Contents

3

Physical Principles of Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Electric Charges, Fields, and Potentials . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Capacitance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Capacitor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Dielectric Constant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Magnetism . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Faraday’s Law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Solenoid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Toroid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.4 Permanent Magnets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 Induction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5 Resistance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Specific Resistivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 Temperature Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.3 Strain Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.4 Moisture Sensitivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 Piezoelectric Effect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1 Piezoelectric Films . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7 Pyroelectric Effect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8 Hall Effect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.9 Seebeck and Peltier Effects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.10 Sound Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.11 Temperature and Thermal Properties of Materials . . . . . . . . . . . . . . . .
3.11.1 Temperature Scales . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.11.2 Thermal Expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.11.3 Heat Capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.12 Heat Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.12.1 Thermal Conduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.12.2 Thermal Convection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.12.3 Thermal Radiation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.12.3.1 Emissivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.12.3.2 Cavity Effect . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.13 Light . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.14 Dynamic Models of Sensor Elements . . . . . . . . . . . . . . . . . . . . . . . . . .
3.14.1 Mechanical Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.14.2 Thermal Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.14.3 Electrical Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.14.4 Analogies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

37
38
44
45
46
50
52
54

55
55
56
59
60
62
64
65
66
72
76
82
86
92
94
95
96
98
99
99
102
103
106
109
111
113
115
117
118
119

119

4

Optical Components of Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 Radiometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Photometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 Mirrors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

123
125
129
132
134


Contents

XI

4.5 Lenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6 Fresnel Lenses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7 Fiber Optics and Waveguides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8 Concentrators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 Coatings for Thermal Absorption . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10 Electro-optic and Acousto-optic Modulators . . . . . . . . . . . . . . . . . . . .
4.11 Interferometric Fiber-optic Modulation . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5

136
137
140
144
145
146
148
149

Interface Electronic Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 Input Characteristics of Interface Circuits . . . . . . . . . . . . . . . . . . . . . .
5.2 Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1 Operational Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.2 Voltage Follower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.3 Instrumentation Amplifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.4 Charge Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Excitation Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.1 Current Generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.2 Voltage References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.3 Oscillators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3.4 Drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4 Analog-to-Digital Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1 Basic Concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.2 V/F Converters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.3 Dual-Slope Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.4 Successive-Approximation Converter . . . . . . . . . . . . . . . . . . .
5.4.5 Resolution Extension . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Direct Digitization and Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6 Ratiometric Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 Bridge Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.1 Disbalanced Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.2 Null-Balanced Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.3 Temperature Compensation of Resistive Bridge . . . . . . . . . . .
5.7.4 Bridge Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 Data Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.1 Two-Wire Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.2 Four-Wire Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.3 Six-Wire Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9 Noise in Sensors and Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.1 Inherent Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.2 Transmitted Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.3 Electric Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.4 Bypass Capacitors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.5 Magnetic Shielding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.9.6 Mechanical Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

151
151
156
156
158
159
161
164
165
169
171
174
175

175
176
181
183
185
186
190
192
193
194
195
200
201
202
203
204
204
205
207
212
214
215
217


XII

Contents

5.9.7 Ground Planes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9.8 Ground Loops and Ground Isolation . . . . . . . . . . . . . . . . . . . .
5.9.9 Seebeck Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10 Batteries for Low Power Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10.1 Primary Cells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10.2 Secondary Cells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

218
219
221
222
223
224
225

6

Occupancy and Motion Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Ultrasonic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Microwave Motion Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3 Capacitive Occupancy Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Triboelectric Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Optoelectronic Motion Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1 Sensor Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1.1 Multiple Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1.2 Complex Sensor Shape . . . . . . . . . . . . . . . . . . . . . . .
6.5.1.3 Image Distortion . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5.1.4 Facet Focusing Element . . . . . . . . . . . . . . . . . . . . . . .
6.5.2 Visible and Near-Infrared Light Motion Detectors . . . . . . . . .
6.5.3 Far-Infrared Motion Detectors . . . . . . . . . . . . . . . . . . . . . . . . .

6.5.3.1 PIR Motion Detectors . . . . . . . . . . . . . . . . . . . . . . . .
6.5.3.2 PIR Sensor Efficiency Analysis . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

227
228
228
233
237
238
240
241
241
241
242
243
244
245
247
251

7

Position, Displacement, and Level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Potentiometric Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Gravitational Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 Capacitive Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4 Inductive and Magnetic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.1 LVDT and RVDT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.2 Eddy Current Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.4.3 Transverse Inductive Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.4 Hall Effect Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.5 Magnetoresistive Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.6 Magnetostrictive Detector . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5 Optical Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1 Optical Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.2 Proximity Detector with Polarized Light . . . . . . . . . . . . . . . . .
7.5.3 Fiber-Optic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.4 Fabry–Perot Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.5 Grating Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.6 Linear Optical Sensors (PSD) . . . . . . . . . . . . . . . . . . . . . . . . . .
7.6 Ultrasonic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7 Radar Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

253
254
256
258
262
262
264
266
267
271
274
275
275
276
278
278

281
283
286
289


Contents

XIII

7.7.1 Micropower Impulse Radar . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.7.2 Ground-Penetrating Radar . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8 Thickness and Level Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8.1 Ablation Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8.2 Thin-Film Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.8.3 Liquid-Level Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

289
291
293
293
296
296
298

8

Velocity and Acceleration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1 Accelerometer Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.2 Capacitive Accelerometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3 Piezoresistive Accelerometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4 Piezoelectric Accelerometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5 Thermal Accelerometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.1 Heated-Plate Accelerometer . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5.2 Heated-Gas Accelerometer . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6 Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.1 Rotor Gyroscope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.2 Monolithic Silicon Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . .
8.6.3 Optical Gyroscopes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.7 Piezoelectric Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

301
303
305
307
309
309
309
310
313
313
314
317
319
321

9

Force, Strain, and Tactile Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1 Strain Gauges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2 Tactile Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3 Piezoelectric Force Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

323
325
327
334
336

10

Pressure Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1 Concepts of Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2 Units of Pressure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3 Mercury Pressure Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4 Bellows, Membranes, and Thin Plates . . . . . . . . . . . . . . . . . . . . . . . . .
10.5 Piezoresistive Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6 Capacitive Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.7 VRP Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.8 Optoelectronic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9 Vacuum Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9.1 Pirani Gauge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9.2 Ionization Gauges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.9.3 Gas Drag Gauge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

339

339
340
341
342
344
349
350
352
354
354
356
356
357


XIV

11

Contents

Flow Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1 Basics of Flow Dynamics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2 Pressure Gradient Technique . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.3 Thermal Transport Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.4 Ultrasonic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.5 Electromagnetic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.6 Microflow Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.7 Breeze Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.8 Coriolis Mass Flow Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.9 Drag Force Flow Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

359
359
361
363
367
370
372
374
376
377
378

12 Acoustic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1 Resistive Microphones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2 Condenser Microphones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3 Fiber-Optic Microphone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4 Piezoelectric Microphones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5 Electret Microphones . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6 Solid-State Acoustic Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

381
382
382
383
385
386

388
391

13

Humidity and Moisture Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1 Concept of Humidity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2 Capacitive Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3 Electrical Conductivity Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4 Thermal Conductivity Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.5 Optical Hygrometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.6 Oscillating Hygrometer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

393
393
396
399
401
402
403
404

14

Light Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.2 Photodiodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.3 Phototransistor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.4 Photoresistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

14.5 Cooled Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.6 Thermal Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.6.1 Golay Cells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.6.2 Thermopile Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.6.3 Pyroelectric Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.6.4 Bolometers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.6.5 Active Far-Infrared Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.7 Gas Flame Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

407
407
411
418
420
423
425
426
427
430
434
437
439
441


Contents

15

XV

Radiation Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.1 Scintillating Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2 Ionization Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.1 Ionization Chambers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.2 Proportional Chambers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.3 Geiger–Müller Counters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.4 Semiconductor Detectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

443
444
447
447
449
450
451
455

16 Temperature Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1 Thermoresistive Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.1 Resistance Temperature Detectors . . . . . . . . . . . . . . . . . . . . . .
16.1.2 Silicon Resistive Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.3 Thermistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.3.1 NTC Thermistors . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.1.3.2 Self-Heating Effect in NTC Thermistors . . . . . . . . .
16.1.3.3 PTC Thermistors . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.2 Thermoelectric Contact Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.2.1 Thermoelectric Law . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

16.2.2 Thermocouple Circuits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.2.3 Thermocouple Assemblies . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.3 Semiconductor P-N Junction Sensors . . . . . . . . . . . . . . . . . . . . . . . . . .
16.4 Optical Temperature Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.4.1 Fluoroptic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.4.2 Interferometric Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.4.3 Thermochromic Solution Sensor . . . . . . . . . . . . . . . . . . . . . . .
16.5 Acoustic Temperature Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
16.6 Piezoelectric Temperature Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

457
461
461
464
465
465
474
477
481
482
484
486
488
491
492
494
494
495
496

497

17

499
500
500
501
503
503
504
505
506
507
508
510
512
512
513

Chemical Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.1 Chemical Sensor Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.2 Specific Difficulties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.3 Classification of Chemical-Sensing Mechanisms . . . . . . . . . . . . . . . .
17.4 Direct Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.4.1 Metal-Oxide Chemical Sensors . . . . . . . . . . . . . . . . . . . . . . . .
17.4.2 ChemFET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.4.3 Electrochemical Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.4.4 Potentiometric Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.4.5 Conductometric Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

17.4.6 Amperometric Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.4.7 Enhanced Catalytic Gas Sensors . . . . . . . . . . . . . . . . . . . . . . . .
17.4.8 Elastomer Chemiresistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.5 Complex Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.5.1 Thermal Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


XVI

Contents

17.5.2 Pellister Catalytic Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.5.3 Optical Chemical Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.5.4 Mass Detector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.5.5 Biochemical Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.5.6 Enzyme Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.6 Chemical Sensors Versus Instruments . . . . . . . . . . . . . . . . . . . . . . . . . .
17.6.1 Chemometrics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.6.2 Multisensor Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.6.3 Electronic Noses (Olfactory Sensors) . . . . . . . . . . . . . . . . . . .
17.6.4 Neural Network Signal (Signature) Processing for
Electronic Noses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17.6.5 “Smart” Chemical Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

527
530
530

Sensor Materials and Technologies . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

18.1 Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.1.1 Silicon as a Sensing Material . . . . . . . . . . . . . . . . . . . . . . . . . .
18.1.2 Plastics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.1.3 Metals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.1.4 Ceramics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.1.5 Glasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2 Surface Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2.1 Deposition of Thin and Thick Films . . . . . . . . . . . . . . . . . . . . .
18.2.2 Spin-Casting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2.3 Vacuum Deposition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2.4 Sputtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.2.5 Chemical Vapor Deposition . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3 Nano-Technology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3.1 Photolithography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3.2 Silicon Micromachining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3.2.1 Basic Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18.3.2.2 Wafer bonding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

533
533
533
536
540
542
543
543
543
544
544

545
546
547
548
549
549
554
555

Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.1
Chemical Symbols for the Elements . . . . . . . . . . . . . . . . . . . .
Table A.2
SI Multiples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.3
Derivative SI Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.4
SI Conversion Multiples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.5
Dielectric Constants of Some Materials
at Room Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.6
Properties of Magnetic Materials . . . . . . . . . . . . . . . . . . . . . . .
Table A.7
Resistivities and Temperature Coefficients
of Resistivity of Some Materials at Room Temperature . . . .
Table A.8
Properties of Piezoelectric Materials at 20◦ C . . . . . . . . . . . . .

557

557
558
558
559

18

514
514
516
519
520
520
523
524
524

564
564
565
565


Contents

Table A.9
Physical Properties of Pyroelectric Materials . . . . . . . . . . . . .
Table A.10 Characteristics of Thermocouple Types . . . . . . . . . . . . . . . . . .
Table A.11 Thermoelectric Coefficients and Volume Resistivities
of Selected Elements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table A.11a Thermocouples for Very Low and Very
High Temperatures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.12 Densities of Some Materials . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.13 Mechanical Properties of Some Solid Materials . . . . . . . . . . .
Table A.14 Mechanical Properties of Some Crystalline Materials . . . . . .
Table A.15 Speed of Sound Waves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.16 Coefficient of Linear Thermal Expansion
of Some Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.17 Specific Heat and Thermal Conductivity
of Some Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.18 Typical Emissivities of Different Materials . . . . . . . . . . . . . . .
Table A.19 Refractive Indices of Some Materials . . . . . . . . . . . . . . . . . . .
Table A.20 Characteristics of C–Zn and Alkaline Cells . . . . . . . . . . . . . . .
Table A.21 Lithium–Manganese Dioxide Primary Cells . . . . . . . . . . . . . .
Table A.22 Typical Characteristics of “AA”-Size Secondary Cells . . . . .
Table A.23 Miniature Secondary Cells and Batteries . . . . . . . . . . . . . . . . .
Table A.24 Electronic Ceramics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Table A.25 Properties of Glasses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

XVII

566
566
567
567
568
568
569
569
569

570
571
572
573
573
573
574
576
577

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579


This page intentionally left blank


1
Data Acquisition

“It’s as large as life, and twice as natural”
—Lewis Carroll, “Through the Looking Glass”

1.1 Sensors, Signals, and Systems
A sensor is often defined as a device that receives and responds to a signal or stimulus.
This definition is broad. In fact, it is so broad that it covers almost everything from
a human eye to a trigger in a pistol. Consider the level-control system shown in Fig.
1.1 [1]. The operator adjusts the level of fluid in the tank by manipulating its valve.
Variations in the inlet flow rate, temperature changes (these would alter the fluid’s
viscosity and, consequently, the flow rate through the valve), and similar disturbances
must be compensated for by the operator. Without control, the tank is likely to flood, or

run dry. To act appropriately, the operator must obtain information about the level of
fluid in the tank on a timely basis. In this example, the information is perceived by the
sensor, which consists of two main parts: the sight tube on the tank and the operator’s
eye, which generates an electric response in the optic nerve. The sight tube by itself is
not a sensor, and in this particular control system, the eye is not a sensor either. Only
the combination of these two components makes a narrow-purpose sensor (detector),
which is selectively sensitive to the fluid level. If a sight tube is designed properly,
it will very quickly reflect variations in the level, and it is said that the sensor has a
fast speed response. If the internal diameter of the tube is too small for a given fluid
viscosity, the level in the tube may lag behind the level in the tank. Then, we have to
consider a phase characteristic of such a sensor. In some cases, the lag may be quite
acceptable, whereas in other cases, a better sight tube design would be required. Hence,
the sensor’s performance must be assessed only as a part of a data acquisition system.
This world is divided into natural and man-made objects. The natural sensors,
like those found in living organisms, usually respond with signals, having an electrochemical character; that is, their physical nature is based on ion transport, like in the
nerve fibers (such as an optic nerve in the fluid tank operator). In man-made devices,


2

1 Data Acquisition

Fig. 1.1. Level-control system. A sight tube and operator’s eye form a sensor (a device which
converts information into electrical signal).

information is also transmitted and processed in electrical form—however, through
the transport of electrons. Sensors that are used in artificial systems must speak the
same language as the devices with which they are interfaced. This language is electrical in its nature and a man-made sensor should be capable of responding with signals
where information is carried by displacement of electrons, rather than ions.1 Thus,
it should be possible to connect a sensor to an electronic system through electrical

wires, rather than through an electrochemical solution or a nerve fiber. Hence, in this
book, we use a somewhat narrower definition of sensors, which may be phrased as
A sensor is a device that receives a stimulus and responds with an
electrical signal.
The term stimulus is used throughout this book and needs to be clearly understood.
The stimulus is the quantity, property, or condition that is sensed and converted into
electrical signal. Some texts (for instance, Ref. [2]) use a different term, measurand,
which has the same meaning, however with the stress on quantitative characteristic
of sensing.
The purpose of a sensor is to respond to some kind of an input physical property
(stimulus) and to convert it into an electrical signal which is compatible with electronic
circuits. We may say that a sensor is a translator of a generally nonelectrical value
into an electrical value. When we say “electrical,” we mean a signal which can be
channeled, amplified, and modified by electronic devices. The sensor’s output signal
may be in the form of voltage, current, or charge. These may be further described
in terms of amplitude, frequency, phase, or digital code. This set of characteristics is
called the output signal format. Therefore, a sensor has input properties (of any kind)
and electrical output properties.
1 There is a very exciting field of the optical computing and communications where informa-

tion is processed by a transport of photons. That field is beyond the scope of this book.


1.1 Sensors, Signals, and Systems

3

Fig. 1.2. A sensor may incorporate several transducers. e1 , e2 , and so on are various types of
energy. Note that the last part is a direct sensor.

Any sensor is an energy converter. No matter what you try to measure, you always deal with energy transfer from the object of measurement to the sensor. The
process of sensing is a particular case of information transfer, and any transmission of
information requires transmission of energy. Of course, one should not be confused
by an obvious fact that transmission of energy can flow both ways—it may be with
a positive sign as well as with a negative sign; that is, energy can flow either from
an object to the sensor or from the sensor to the object. A special case is when the
energy is zero, and it also carries information about existence of that particular case.
For example, a thermopile infrared radiation sensor will produce a positive voltage
when the object is warmer than the sensor (infrared flux is flowing to the sensor) or
the voltage is negative when the object is cooler than the sensor (infrared flux flows
from the sensor to the object). When both the sensor and the object are at the same
temperature, the flux is zero and the output voltage is zero. This carries a message
that the temperatures are the same.
The term sensor should be distinguished from transducer. The latter is a converter
of one type of energy into another, whereas the former converts any type of energy into
electrical. An example of a transducer is a loudspeaker which converts an electrical
signal into a variable magnetic field and, subsequently, into acoustic waves.2 This is
nothing to do with perception or sensing. Transducers may be used as actuators in
various systems. An actuator may be described as opposite to a sensor—it converts
electrical signal into generally nonelectrical energy. For example, an electric motor
is an actuator—it converts electric energy into mechanical action.
Transducers may be parts of complex sensors (Fig. 1.2). For example, a chemical
sensor may have a part which converts the energy of a chemical reaction into heat
(transducer) and another part, a thermopile, which converts heat into an electrical signal. The combination of the two makes a chemical sensor—a device which produces
an electrical signal in response to a chemical reaction. Note that in the above example,
a chemical sensor is a complex sensor; it is comprised of a transducer and another
sensor (heat). This suggests that many sensors incorporate at least one direct-type
sensor and a number of transducers. The direct sensors are those that employ such
physical effects that make a direct energy conversion into electrical signal generation or modification. Examples of such physical effects are photoeffect and Seebeck
effect. These will be described in Chapter 3.

2 It is interesting to note that a loudspeaker, when connected to an input of an amplifier, may

function as a microphone. In that case, it becomes an acoustical sensor.


4

1 Data Acquisition

In summary, there are two types of sensors: direct and complex. A direct sensor
converts a stimulus into an electrical signal or modifies an electrical signal by using
an appropriate physical effect, whereas a complex sensor in addition needs one or
more transducers of energy before a direct sensor can be employed to generate an
electrical output.
A sensor does not function by itself; it is always a part of a larger system that
may incorporate many other detectors, signal conditioners, signal processors, memory
devices, data recorders, and actuators. The sensor’s place in a device is either intrinsic
or extrinsic. It may be positioned at the input of a device to perceive the outside effects
and to signal the system about variations in the outside stimuli. Also, it may be an
internal part of a device that monitors the devices’ own state to cause the appropriate
performance. A sensor is always a part of some kind of a data acquisition system.
Often, such a system may be a part of a larger control system that includes various
feedback mechanisms.
To illustrate the place of sensors in a larger system, Fig. 1.3 shows a block diagram
of a data acquisition and control device. An object can be anything: a car, space ship,
animal or human, liquid, or gas. Any material object may become a subject of some
kind of a measurement. Data are collected from an object by a number of sensors.
Some of them (2, 3, and 4) are positioned directly on or inside the object. Sensor 1
perceives the object without a physical contact and, therefore, is called a noncontact
sensor. Examples of such a sensor is a radiation detector and a TV camera. Even if

Fig. 1.3. Positions of sensors in a data acquisition system. Sensor 1 is noncontact, sensors 2
and 3 are passive, sensor 4 is active, and sensor 5 is internal to a data acquisition system.


1.1 Sensors, Signals, and Systems

5

we say “noncontact”, we remember that energy transfer always occurs between any
sensor and an object.
Sensor 5 serves a different purpose. It monitors internal conditions of a data
acquisition system itself. Some sensors (1 and 3) cannot be directly connected to
standard electronic circuits because of inappropriate output signal formats. They require the use of interface devices (signal conditioners). Sensors 1, 2, 3, and 5 are
passive. They generate electric signals without energy consumption from the electronic circuits. Sensor 4 is active. It requires an operating signal, which is provided
by an excitation circuit. This signal is modified by the sensor in accordance with the
converted information. An example of an active sensor is a thermistor, which is a
temperature-sensitive resistor. It may operate with a constant-current source, which
is an excitation circuit. Depending on the complexity of the system, the total number
of sensors may vary from as little as one (a home thermostat) to many thousands (a
space shuttle).
Electrical signals from the sensors are fed into a multiplexer (MUX), which is a
switch or a gate. Its function is to connect sensors one at a time to an analog-to-digital
(A/D) converter if a sensor produces an analog signal, or directly to a computer if
a sensor produces signals in a digital format. The computer controls a multiplexer
and an A/D converter for the appropriate timing. Also, it may send control signals to
the actuator, which acts on the object. Examples of actuators are an electric motor, a
solenoid, a relay, and a pneumatic valve. The system contains some peripheral devices
(for instance, a data recorder, a display, an alarm, etc.) and a number of components,
which are not shown in the block diagram. These may be filters, sample-and-hold

circuits, amplifiers, and so forth.
To illustrate how such a system works, let us consider a simple car-door monitoring
arrangement. Every door in a car is supplied with a sensor which detects the door
position (open or closed). In most cars, the sensor is a simple electric switch. Signals
from all door sensors go to the car’s internal microprocessor (no need for an A/D
converter as all door signals are in a digital format: ones or zeros). The microprocessor
identifies which door is open and sends an indicating signal to the peripheral devices (a
dashboard display and an audible alarm). A car driver (the actuator) gets the message
and acts on the object (closes the door).
An example of a more complex device is an anesthetic vapor delivery system.
It is intended for controlling the level of anesthetic drugs delivered to a patient by
means of inhalation during surgical procedures. The system employs several active
and passive sensors. The vapor concentration of anesthetic agents (such as halothane,
isoflurane, or enflurane) is selectively monitored by an active piezoelectric sensor,
installed into a ventilation tube. Molecules of anesthetic vapors add mass to the
oscillating crystal in the sensor and change its natural frequency, which is a measure
of vapor concentration. Several other sensors monitor the concentration of CO2 , to
distinguish exhale from inhale, and temperature and pressure, to compensate for
additional variables. All of these data are multiplexed, digitized, and fed into the
microprocessor, which calculates the actual vapor concentration. An anesthesiologist
presets a desired delivery level and the processor adjusts the actuator (the valves) to
maintain anesthetics at the correct concentration.


6

1 Data Acquisition

Fig. 1.4. Multiple sensors, actuators, and warning signals are parts of the Advanced Safety
Vehicle. (Courtesy of Nissan Motor Company.)

Another example of a complex combination of various sensors, actuators, and
indicating signals is shown in Fig. 1.4. It is an Advanced Safety Vehicle (ASV) that is
being developed by Nissan. The system is aimed at increasing safety of a car. Among
many others, it includes a drowsiness warning system and drowsiness relieving system. This may include the eyeball movement sensor and the driver head inclination
detector. The microwave, ultrasonic, and infrared range measuring sensors are incorporated into the emergency braking advanced advisory system to illuminate the break
lamps even before the driver brakes hard in an emergency, thus advising the driver
of a following vehicle to take evasive action. The obstacle warning system includes
both the radar and infrared (IR) detectors. The adaptive cruise control system works
if the driver approaches too closely to a preceding vehicle: The speed is automatically
reduced to maintain a suitable safety distance. The pedestrian monitoring system detects and alerts the driver to the presence of pedestrians at night as well as in vehicle
blind spots. The lane control system helps in the event that the system detects and determines that incipient lane deviation is not the driver’s intention. It issues a warning
and automatically steers the vehicle, if necessary, to prevent it from leaving its lane.
In the following chapters, we concentrate on methods of sensing, physical principles of sensors operations, practical designs, and interface electronic circuits. Other
essential parts of the control and monitoring systems, such as actuators, displays,
data recorders, data transmitters, and others, are beyond the scope of this book and
mentioned only briefly.
Generally, the sensor’s input signals (stimuli) may have almost any conceivable
physical or chemical nature (e.g., light flux, temperature, pressure, vibration, displacement, position, velocity, ion concentration, . . .). The sensor’s design may be
of a general purpose. A special packaging and housing should be built to adapt it
for a particular application. For instance, a micromachined piezoresistive pressure
sensor may be housed into a watertight enclosure for the invasive measurement of
aortic blood pressure through a catheter. The same sensor will be given an entirely
different enclosure when it is intended for measuring blood pressure by a noninvasive