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A Directional Locomotion Control of Cyborg Locusts for Complex Outdoor Environments

Journal of Bionic Engineering 2025年第2期22卷 596-607页

作者： Xin Huang Tiancheng Li Kaixuan Sun Meisong Yuan Bo Yang School of Instrument Science and Engineering Southeast UniversityNanjing210096China Key Laboratory of Micro-Inertial Instruments and Advanced Navigation Technology Ministry of EducationNanjing210096China

The ability of cyborg locusts to achieve directional movement in complex outdoor environments is critical for search and rescue ***,there is a lack of research on motion control for cyborg locusts in outdoor *** this study,we developed cyborg locusts capable of performing directional locomotion in intricate outdoor environments,including jumping over obstacles,climbing slopes,traversing narrow pipelines,and accurately reaching predetermined targets along specified *** designed a miniature electrical backpack(10 mm×10 mm,0.75 g)capable of receiving stimulus parameters(frequency,duty ratio,and stimulation time)via Bluetooth commands from mobile *** stimulation of locust sensory organs,such as the antennae and cercus,induced turning and jumping ***-mental testing of locust movement control was conducted under outdoor conditions with a short electrical stimulation *** showed a positive correlation between locust turning angles and electrical stimulation parameters within a specified range,with an average jumping height exceeding 10 ***,the success rate of locust turning and jumping behaviors correlated positively with the interval time between electrical *** these intervals during forward crawling phases increased the likelihood of the locusts jumping *** conclusion,this study success-fully achieved directional locomotion control of cyborg locusts outdoors,providing insights and references for advancing search and rescue capabilities.

关键词： Cyborg locusts Turning and jumping control Directional locomotion Search and rescue

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White-light cavity and mode splitting effect in a three-turn lossy microfiber coil resonator

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Chinese Optics Letters 2025年第1期23卷 113-119页

作者： Feilin Zhang Xiyuan Chen Yulu Zhong Qixuan Li Mengmeng Sha Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of EducationSchool of Instrument Science and EngineeringSoutheast UniversityNanjing 210096China

Under a specified loss condition,the resonant mode in a three-turn lossy microfiber coil resonator exhibits periodic evolution among normal resonance,white-light cavity effect,and resonance mode splitting in response to alterations in the phase shift and coupling *** exhibits normal resonance when the coupling state exceeds a threshold with specific *** white-light cavity effect is activated when the coupling state matches *** resonant phase bifurcates as the coupling state falls below the *** excitation conditions for each resonant mode have been derived,and the critical coupling conditions exist for both normal resonance and mode splitting in the case of relatively small losses.

关键词： white-light cavity effect mode splitting microfiber coil resonator

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Full Symmetric MEMS Rate Gyroscope Automatic Mode-Matching Method Based on Pendulum Variable Demodulation and Phase-Shifted Virtual Coriolis Force Modulation

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IEEE Sensors Journal 2025年第9期25卷 15317-15330页

作者： Li, Bei Huang, Chenghao Li, Zhuonan Zhao, Zihao Wang, Xi Chen, Xiyuan Yang, Bo Southeast University Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Nanjing210096 China Microsystem and Terahertz Research Center Chengdu610000 China Institute of Electronic Engineering CAEP Mianyang621000 China Institute of Advanced Navigation Technology School of Instrument Science and Engineering Southeast University Nanjing210096 China

Full symmetric micro-gyroscopes, such as MEMS Hemispherical Resonator Gyroscopes (µHRGs) and nested-rings disk resonator gyroscopes (DRGs), offer advantages in terms of smaller size, lower cost, and reduced power consumption compared to traditional MEMS gyroscopes. However, the mode mismatch caused by MEMS processing errors limits the performance improvement of these gyroscopes. This article presents an automatic mode-matching technique for µHRG utilizing pendulum variable demodulation and phase-shifted virtual Coriolis force modulation. Initially, a force-to-rebalance (FTR) control loop scheme based on pendulum-variable demodulation is designed. Through an analysis of FTR mode performance optimization, it is concluded that suppressing stiffness errors can significantly reduce zero bias error, suppress circuit noise, and improve dynamic performance. Therefore, this study utilizes negative stiffness effects and phase-shifted virtual Coriolis force modulation to design an automatic identification, decoupling, and compensation (AIDC) process for stiffness errors based on phase-shifted virtual Coriolis force modulation to realize mode-matching. The experimental findings indicate that this method achieves a tuning accuracy of 1.04 MHz. After eliminating the stiffness error using the AIDC process, the bias instability (BI) improves to 0.195◦/h, and the angle random walk decreases to (Formula presented). Compared to the mode mismatch condition, the BI and angle random walk (ARW) of the µHRG are improved by 61.91 and 50.53 times, respectively. © 2001-2012 IEEE.

关键词： Pendulums

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Design of a Novel Vibration Sensor Based on Quartz MEMS Resonant Accelerometer

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IEEE Sensors Journal 2025年第9期25卷 14875-14882页

作者： Yang, Zeyu Zhang, Han Lin, Shengshou Xu, Chengcheng Tao, Ran Li, Zhe Liang, Jinxing Southeast University Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Nanjing210096 China Southeast University School of Instrument Science and Engineering Nanjing210096 China Shanghai Jiao Tong University Department of Electrical Engineering Shanghai200240 China

To address the limitations of traditional vibration sensors in low-frequency response while ensuring a relatively wide bandwidth, this article proposes a resonant accelerometer based on a double-ended tuning fork (DETF) structure. The study focuses on the design, simulation, fabrication, and testing of the DETF-based resonant accelerometer. Optimized through design and simulation, the sensor demonstrates high sensitivity and stability, enabling it to adapt to various environmental conditions. Test results show that the accelerometer achieves a quality factor of approximately 19158.93 and a resonant frequency of 102.4813 kHz, confirming the effectiveness of its design. Dynamic and static tests reveal a sensitivity of 2.88 Hz/g, with excellent linearity in the range of 0-1 g. Furthermore, bandwidth tests indicate that the sensor maintains stable performance up to a frequency range of 3000 Hz while ensuring reliable low-frequency vibration measurements. This study provides a novel approach to advanced vibration monitoring, addressing key technical gaps in the field of vibration sensors. © 2025 IEEE.

关键词： Accelerometers

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Broadband, high-linearity TFLN electro-optic modulator for integrated microwave photonics using reconfigurable dual-parallel modulation

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Optics Express 2025年第6期33卷 13805-13815页

作者： Qin, Yan-Yan Gu, Xiao-Wen Tang, Jie Ye, Hui-Yan Dong, Wen-Hao Song, Yuan-Jun Qian, Guang Zhang, Xiao-Yang Zhang, Tong Southeast University Joint International Research Laboratory of Information Display and Visualization School of Electronic Science and Engineering Jiangsu Nanjing210096 China National Key Laboratory of Solid-state Microwave Devices and Circuits Nanjing210016 China Nanjing Electronic Devices Institute Nanjing210016 China Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Southeast University Jiangsu Nanjing210096 China Suzhou Key Laboratory of Metal Nano-optoelectronic Technology Southeast University Suzhou Campus Jiangsu Suzhou215123 China

Integrated electro-optic modulators with large bandwidth, high linearity and low driving voltage are key building blocks for integrated microwave photonic (IMWP) links to transmit broadband signals with high fidelity. In this work, thin-film lithium niobate electro-optic modulator consisting of a thermo-optic reconfigurable coupler and dual-parallel Mach-Zehnder modulation scheme is proposed and demonstrated to achieve spurious-free dynamic range of 112.87/107.71 dB·Hz2/3 at 1/10 GHz while keeping large bandwidth (>67 GHz) and low half-wave voltage (2.7 V) simultaneously. The demonstration of this device paves a new route for high-performance electro-optic modulators in future functional IMWP systems. © 2025 Optica Publishing Group under the terms of the Optica Open Access Publishing Agreement.

关键词： Fiber optic communications Integrated photonics Lithium niobate microwave photonics Optical components Silicon modulators

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An adaptive NRTK ionospheric regional modeling method integrating baseline neighborhood enhancement and weighted lower-order surface model

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Measurement: Journal of the International Measurement Confederation 2025年 253卷

作者： Gao, Wang Zhang, Zeyu Pan, Shuguo Liu, Hao Tao, Xianlu Zhao, Qing School of Instrument Science and Engineering Southeast University Nanjing210096 China Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Southeast University Nanjing210096 China

In network RTK systems, conventional atmospheric modeling methods employ fixed models across modeling units, leading to inconsistent correction accuracy across spatial locations. This paper proposes an adaptive interpolation framework for star-shaped networks that dynamically adjusts atmospheric modeling based on interpolation point location. Analysis of ionospheric delay correlations revealed baseline angle and distance ratio as key determinants (supported by data from circumferential stations and co-linear stations). We developed two complementary methods: Baseline Neighborhood Enhancement (BNE) utilizing distance-to-baseline ratios for near-baseline regions, and Weighted Lower-order Surface Model (WLSM) incorporating angle/distance-dependent sample variance for broader areas. A Gaussian radial basis function seamlessly integrates both methods using interpolation uncertainty and baseline proximity as fusion weights. This integrated approach, named BNE-WLSM, ensures continuous and accurate interpolation results. Experimental validation with two network datasets showed BNE-WLSM outperforms DIM, LIM, and KRG methods, achieving up to 59.3 % accuracy improvement near baselines and 8.62 %–26.36 % enhancement across network regions. Ionospheric surface modeling further confirmed the method's superior performance under active ionospheric disturbance. This adaptive approach significantly reduces spatial accuracy disparities in atmospheric corrections, enhancing the reliability of network RTK services. © 2025

关键词： Interpolation

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LiDAR-Aided Visual-inertial Odometry Using Line and Plane Features for Ground Vehicles

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IEEE Transactions on Vehicular technology 2025年

作者： Wu, Jianfeng Cheng, Xianghong Liu, Fengyu Tang, Xingbang Gu, Wengdong Southeast University Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Nanjing210096 China Dafeng Longsheng Industry Co. Ltd Yancheng224100 China

With the conventional classification as edge and planar features, LiDAR point cloud tends to support visual-based odometry by focusing on visual point features depth estimation, while ignoring high dimensional visual features, i.e. line and plane. This paper proposes a novel light-weight visual-inertial odometry for ground vehicles and aerial vehicles with the help of a small portion of LiDAR measurements, which establishes correspondence between visual line as well as plane features and LiDAR point cloud. Specifically, proposed pipeline recovers depth of vertical and ground line via fitting points and line triming, which can avoid estimated depth drift generated by visual line triangulation. Furthermore, statistical information grid (STING) structure is adopted to detect plane using undistorted LiDAR points, while screened 3D mesh produced by 2D Delaunay triangulation are applied to determine correspondence between point as well as line features and plane. This strategy not only makes it more efficient to detect accurate surface but also avoids mis-assignment of features to plane. Both public dataset and man- mad data are implemented to verify progressiveness of proposed pipeline through comparison with state-of-the-art algorithm and ablation study. © 1967-2012 IEEE.

关键词： Triangulation

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White-light cavity and mode splitting effect in a three-turn lossy microfiber coil resonator

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Chinese Optics Letters 2025年第1期 118-124页

作者：张飞麟陈熙源钟雨露李启轩沙梦梦 Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and EngineeringSoutheast University

Under a specified loss condition, the resonant mode in a three-turn lossy microfiber coil resonator exhibits periodic evolution among normal resonance, white-light cavity effect, and resonance mode splitting in response to alterations in the phase shift and coupling state. It exhibits normal resonance when the coupling state exceeds a threshold with specific *** white-light cavity effect is activated when the coupling state matches loss. The resonant phase bifurcates as the coupling state falls below the threshold. The excitation conditions for each resonant mode have been derived, and the critical coupling conditions exist for both normal resonance and mode splitting in the case of relatively small losses.

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SINS in-motion Coarse Alignment Solution with Partial DVL Measurements

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IEEE Transactions on instrumentation and Measurement 2025年 74卷

作者： Yao, Yiqing Meng, Fanchen Pan, Shaohua Xu, Xiang Nan, Zihan Xu, Xiaosu Southeast University School of Instrument Science and Engineering Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology Ministry of Education Nanjing210096 China Advanced Ocean Institute of Southeast University Nantong226010 China Beijing Institute of Aerospace Control Devices China Nanjing University of Science and Technology School of Automation Nanjing210094 China

The partial DVL measurement problem is attracting more and more attention in the coupling period of Strapdown inertial navigation System (SINS)/ Doppler Velocity Log (DVL) integration system. However, it is seldom discussed in SINS/DVL coarse alignment period, where full 3-dimensional velocity information is still a requisite for the existing attitude determination methods. To expand the initial alignment ability of SINS/DVL integration system under partial DVL measurements scenario, a novel beam velocity aided SINS in-motion coarse alignment solution is proposed in this work. First, an initial attitude determination model is derived with DVL beam outputs, where the relationship between the original beam Doppler shifts and the initial attitude is investigated, rather than the direct DVL velocity output. Then, a Cubature Kalman filter (CKF) based parameter estimation algorithm is explored for the nonlinear model. Simulation and field test data are employed to evaluate the performance of the proposed solution, where various DVL configurations and valid beam distributions are involved. The experiment results show the effectiveness of the presented mechanism, confirming the possibility of partial DVL aided SINS coarse alignment scheme. © 1963-2012 IEEE.

关键词： inertial navigation systems

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Confidence Factor Based Robust Localization Algorithm with Visual-inertial-LiDAR Fusion in Underground Space

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IEEE Transactions on Circuits and Systems for Video technology 2025年

作者： Liu, Fengyu Cao, Yi Cheng, Xianghong Wu, Jianfeng Gu, Wendong Liu, Luhui Southeast University School of Instrument Science and Engineering China Southeast University Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education Nanjing210096 China Purple Mountain Laboratories Nanjing211111 China Dafeng Longsheng Industrial Co. Ltd Yancheng224100 China

The existing Visual-inertial-LiDAR localization methods lack consideration of sensors degradation in challenging scene, such as underground space, where light condition is poor, text feature is scarce and geometric structure is degraded. To enhance the robustness of the multi-sensor fusion, this paper proposes a confidence factor based robust localization algorithm. It mainly consists of two parts. In front-end, a lightweight DCE-Net is used to improve the image quality under low illumination, and then an improved feature extraction method based on Line Segment Detector and Manhattan World (LSD-MW) is proposed to extract robust point-line features and construct Manhattan Frame (MF) structure constraint for subsequent optimization, making visual feature more reliable in underground space. In back-end, a novel confidence factor graph optimization strategy is proposed to enhance the robustness in the case of sensor degradation. Where adaptive confidence factors are designed to assess the reliability of LiDAR and camera features based on their feature matching degree. These confidence factors are leveraged to weight the sensors residual factors to construct an iterative function based on Graduated Nonconvexity (GNC), mitigating the influence of outliers on state estimation in degradation scene of underground space. Experiments conducted on public and real-world dataset collected by the UAV platform we built verify the proposed method has promising performance. Ablation studies also show the robustness of our method. © 1991-2012 IEEE.

关键词： Graph algorithms

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