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A novel gyroscope based on the slow surface acoustic wave in a phononic metamaterial

microsystems & Nanoengineering 2024年第6期10卷 109-122页

作者： Fei Ge Liye Zhao Jiawen Xu Xukai Ding Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of EducationSchool of Instrument Science and EngineeringSoutheast University210096 NanjingChina

Limited to the direct modulation on the surface acoustic wave(SAW)by the rotation,the conventional SAW gyroscopes incur weak Coriolis effects and gyroscopic *** this paper,we innovatively utilize a phononic metamaterial(PM)operated at whispering-gallery modes(WGMs)as the vehicle for the Coriolis effect rather than SAW *** gyroscopic effects of this PM are investigated,and a new SAW gyroscope is subsequently proposed based on the slow SAW in *** show,combining theoretical modeling and finite element method simulation,that the rate of rotation can linearly induce the splitting of WGMs and modulate the phase velocity of SAW down to 4600 m/s(initial phase velocity of 5355 m/s);the direction of rotation results in the chiral symmetry of the PM vibration and the asymmetric distribution of the transmissive ***,the proposed SAW gyroscope measures the angular velocity by detecting the phase shift resulting from rotation-dependent slow SAW in PM,obtaining a sensitivity of 0.016 deg/Hz when 50-cell *** with the existing SAW gyroscopes based on phase velocity modulation,the gyroscopic gain factor in this paper is enhanced by 430–1600 *** work jumps out of the framework of directly modulating SAW in gyroscopes and provides an innovative scheme of the indirect modulations from the rotation-dependent PM on SAW,showing excellent performance and potential for angular velocity measurement in extreme environments.

关键词： rotation wave angular

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Design and simulation of an accelerometer based on NV center spin–strain coupling

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Chinese Physics B 2024年第1期33卷 192-198页

作者：季鲁敏赵立业王裕海 Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of EducationDepartment of Instrument Science and EngineeringSoutheast UniversityNanjing 210096China

The nitrogen-vacancy (NV) center quantum systems have emerged as versatile tools in the field of precision measurement because of their high sensitivity in spin state detection and miniaturization potential as solid-state *** this paper,an acceleration sensing scheme based on NV spin–strain coupling is proposed,which can effectively eliminate the influence of the stray noise field introduced by traditional mechanical *** the finite element simulation,it is found that the measurement bandwidth of this ensemble NV spin system ranges from 3 kHz to hundreds of kHz with structure√*** required power is at the sub-μW level,corresponding to a noise-limited sensitivity of 6.7×10^(-5) /√*** with other types of accelerometers,this micro-sized diamond sensor proposed here has low power consumption,exquisite sensitivity,and integration *** research opens a fresh perspective to realize an accelerometer with appealing comprehensive performance applied in biomechanics and inertial measurement fields.

关键词： nitrogen-vacancy(NV)accelerometer spin–strain diamond

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A Directional Locomotion Control of Cyborg Locusts for Complex Outdoor Environments

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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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DR-REMOVER: An Efficient Dynamic Object Remover Using Dual-Resolution Occupancy Grids for Constructing Static Point Cloud Maps

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2024年 1-13页

作者： Zhang, Guangyi Zhang, Tao Wang, Rui Hou, Lanhua School of Instrument Science and Engineering Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education Southeast University Nanjing China

Localization and navigation of vehicles using 3D point cloud maps is an important strategy in autonomous driving. In this work, we propose a new method for offline building static maps based on dual-resolution grids, called DR-REMOVER. Our method first extracts low-resolution grids containing dynamic objects, and then utilizes high-resolution grids for verifying dynamic points and reverting static points. The proposed method fully considers the sparsity of the point cloud and the environment features around the dynamic objects. As validated by experiments on SemanticKITTI and Apollo datasets, DR-REMOVER achieves more than 95% Preservation Rate (PR) for static points and Rejection Rate (RR) for dynamic points on all experimental sequences, which is significantly better than other state-of-the-art methods. Furthermore, DR-REMOVER shows excellent performance on unmanned ground vehicle (UGV) dataset with highly crowded environments. The implementation of our method is released here: https://***/zhongbusishaonianyou/DR-REMOVER. IEEE

关键词： Image segmentation

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UAV remote sensing detection and target recognition based on SCP-YOLO

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Neural Computing and Applications 2024年第28期36卷 17495-17510页

作者： Wang, Lihui Miao, Zhan Liu, Endong Key Laboratory of Micro-inertial Instrument and Advanced Navigation Technology Ministry of education School of Instrument Science and Engineering Southeast University Nanjing210096 China

Identifying small, overlapping wheat ears in UAV images continues to be a difficult task. This paper proposes SCP-YOLO, a novel detection model that addresses this limitation. Initially, the dataset comprises remote sensing images of wheat kernels captured at two periods and three altitudes. Using the YOLOv8n network as a baseline, SCP-YOLO processes the network’s low-resolution feature layer using the space-to-depth (SPD) approach. At the stage of feature fusion, the Context-Aggregation structure is executed to facilitate the aggregation and interaction of data on the feature map on a global scale. The PConv method ingeniously implements the lightweight detection head structure. On top of that, a new detection scale that integrates more superficial information with location data is positioned. The experimental outcomes demonstrate that the proposed method outperformed several established state-of-the-art detection models by achieving a detection speed of 90 frames per second and an AP@50 value of 96.3%. Compared with the baseline network, the AP@0.5, and AP@0.5:95 exhibited respective increases of 2.5% and 6.3%, respectively. Experimental results indicate that the methodology demonstrates exceptional robustness for six scenario datasets. About counting, it is exact and capable of quantifying wheat ears in images acquired through remote sensing. © The Author(s), under exclusive licence to Springer-Verlag London Ltd., part of Springer Nature 2024.

关键词： Remote sensing

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AUV Tightly Coupled Terrain Aided navigation Strategy Based on Isogonal MBES Modeling Method

IEEE Transactions on Intelligent Vehicles

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IEEE Transactions on Intelligent Vehicles 2023年第9期9卷 1-14页

作者： Pan, Shaohua Xu, Xiaosu Yao, Yiqing Zhang, Jiayu Zhang, Liang Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology School of Instrument Science and Engineering Ministry of Education Southeast University Nanjing China

Long-endurance, high-precision navigation and positioning of autonomous underwater vehicle (AUV) is regarded as an urgent need for marine intelligent transportation systems. However, the dead reckoning system alone cannot achieve such a task. The existing terrain aided navigation system is greatly affected by the terrain environment, and it is difficult to balance system complexity and positioning performance. Therefore, a tightly coupled terrain aided navigation strategy based on isogonal multibeam echosounder (MBES) modeling method is proposed. An integrated navigation system based on inertial navigation, MBES, and Doppler velocity log is designed, and a new isogonal multibeam echosounder modeling method based on two-step iteration is proposed, which improves the modeling problem of the system from the sensor level. Furthermore, a tightly coupled framework is proposed to realize the organic fusion of multi-sensor data, which can reduce the system scale and identify the internal errors of the system. Simulation and lake test results show that the proposed method has higher positioning accuracy, reliability, and stability. Accurate navigation and localization of the AUV can even be achieved with a lower resolution prior map, larger initial position error, and fewer particles. IEEE

关键词： Autonomous underwater vehicles

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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年第5期74卷 7313-7326页

作者： Wu, Jianfeng Cheng, Xianghong Liu, Fengyu Tang, Xingbang Gu, Wendong 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 Company 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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A spatial layout method based on feature encoding and GA-BiLSTM 23

A spatial layout method based on feature encoding and GA-BiL...

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2023 International Conference on Robotics, Control and Vision Engineering, RCVE 2023

作者： Liu, Fengyu Cheng, Xianghong Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Southeast University China

ISBN: (纸本)9798400707742

Aiming at the problems that current spatial layout mainly relies on manual experience, and there also exists long design period, low efficiency, and difficulty in realizing intelligence, this paper proposes a spatial layout method based on feature encoding and genetic-Algorithm-optimized bidirectional long-Term short-Term memory neural network (GA-BiLSTM). First, a feature encoding algorithm is introduced to digitally extract the floorplan image information, and then the bidirectional structure is used based on LSTM to process the relationship between spatial sequences. Afterwards, a fine-Tuned GA algorithm is proposed to optimize the number of hidden layers, the number of hidden and output layer neurons of the network to enhance the applicability and prediction accuracy of the neural network model. Finally, the optimization effect of the spatial layout scheme is realized. The experimental results indicates that the average prediction accuracy, precision, and recall of the proposed method on the test set are 94.65%, 94.53% and 94.31%, respectively, which are 10.08%, 10.69% and 11.42% higher than the LSTM model. © 2023 ACM.

关键词： Genetic algorithms

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Enhanced refractive index and inertial sensing in a multicoil resonator based on microfiber

Enhanced refractive index and inertial sensing in a multicoi...

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2023 International Conference on Optoelectronic Materials and Devices, ICOMD 2023

作者： Zhang, Feilin Zhong, Yulu Li, Qixuan Sha, Mengmeng Chen, Xiyuan Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Southeast University Nanjing China

ISBN: (纸本)9781510674509

The multicoil resonator based on microfiber possesses a three-dimensional configuration in which the entire cavity is situated within the coupling region, such that its resonant modes are not only related to the transmission phase, but also affected by the coupled state. Therefore, the transmission of light in the multicoil resonator and its sensitivity enhancement in refractive index and inertial sensing are explored. The sensitivity enhancement for refractive index sensing in an MCR can be significantly improved up to 2.5 when the MCR has more than 6 turns. Moreover, this sensitivity enhancement is expected to remain consistent for inertial sensing. © 2024 SPIE. All rights reserved.

关键词： Resonators

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Fault Prediction Method for SINS/GNSS Integrated navigation System Based on SD-RBF Neural Network 3

Fault Prediction Method for SINS/GNSS Integrated Navigation ...

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3rd International Conference on Innovations and Development of Information Technologies and Robotics, IDITR 2024

作者： Zhang, Shuaishuai Zhang, Tao Hu, Bin Wang, Zijian The Key Laboratory of Micro-Inertial Instrument and Advanced Navigation Technology Ministry of Education School of Instrument Science and Engineering Southeast University Nanjing China

ISBN: (纸本)9798350385694

In response to the problem of difficult prediction of slowly changing faults in Strapdown Intertial navigation System / Global navigation Satellite System(SINS/GNSS) integrated navigation system, this paper proposes a sliding window based double-layer Radial Basis Function(SD-RBF) fault prediction model when the system model and data distribution characteristics are difficult to obtain. This algorithm combines the explanatory model with the RBF based time series model. It uses system residuals to establish a time series prediction model and extracts fault trend information through residual analysis, achieving the prediction of slowly changing faults in SINS/GNSS integrated navigation. The simulation results show that the algorithm can predict slowly changing faults in 3 seconds, and the accuracy can reach 88%. © 2024 IEEE.

关键词： Radial basis function networks

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