To deal with the influence of temperature drift for a Micro-Electro-Mechanical System (MEMS) gyroscope, this paper proposes a new temperature error parallel processing method based on a novel fusion algorithm. Firstly, immune based particle swarm optimization (IPSO) is employed for optimal parameters search for Variational Modal Decomposition (VMD). Then, we can get the optimal decomposition parameters, wherein permutation entropy (PE) is employed as the fitness function of the particles. Then, the improved VMD is performed on the output signal of the gyro to obtain intrinsic mode functions (IMFs). After judging by sample entropy (SE), the IMFs are divided into three categories: noise term, mixed term and feature term, which are processed differently. Filter the mixed term and compensate the feature term at the same time. Finally, reconstruct them and get the result. Compared with other optimization algorithms, IPSO has a stronger global search ability and faster convergence speed. After Back propagation neural network (BP) is enhanced by Adaptive boosting (Adaboost), it becomes a strong learner and a better model, which can approach the real value with higher precision. The experimental result shows that the novel parallel method proposed in this paper can effectively solve the problem of temperature errors.

In a bid to solve the gyroscope temperature drift problem, a parallel denoising model based on PE-ITD and SA-ELM has been proposed in this paper, wherein, Intrinsic time-scale decomposition(ITD) is an effective signal decomposition algorithm, Permutation entropy(PE) is a entropy to accurately determine the complexity of the signal, Extreme Learning machine(ELM) is a machine learning algorithm for predicting, and Simulated Annealing(SA) for finding the optimal parameter set. First, ITD is employed to decompose the output signal of the gyroscope and the PE can distinguish the decomposition results into noise-only component, mixed component and trend component. Secondly, the mixed component is filtered by Forward liner prediction(FLP), the denoised signal can be obtained after processing. Finally, the trend component is compensated by SA-ELM, through reconstruction, the compensation result can be obtained. As is shown in experimental results, the parallel model proposed in this paper is able to effectively eliminate the temperature error compared with the traditional serial model. Compared with the EMD analysis method, the ITD is superior to the EMD analysis method in terms of computational efficiency and instantaneous information. The proposed SA-ELM algorithm takes simulated annealing algorithm to find hidden layer neurons’ optimal number adaptively, which can improve the model’s accuracy and generalization. This paper demonstrates the superiority of this method.

Because the dual-mass MEMS gyroscope's output is greatly influenced by temperature, which can lead to errors that cannot be ignored. To solve this problem, a novel compensation method is proposed: a parallel processing algorithm, which integrates the Permutation entropy (PE), Local Characteristic-scale Decomposition (LCD) and Adaptive network-based fuzzy inference system (ANFIS). Firstly, LCD is used to decompose the output which contains temperature noises and drifts into a trend component and several intrinsic scale components (ISC), according to autocorrelation and complexity, three different categories will be obtained by PE: pure noise output, mixed output, and drift output. The different processes are as follows, the noise output is discarded, the mixed output is filtered by SG (Savitzky-Golay filter), then dual ANFIS is applied. Since the drift output completely reflects the temperature characteristics, the degree of non-linearity is high, the ANFIS with complex rules is used for processing. And the mixed output is composed of intermediate layer modes, containing a relatively small amount of temperature characteristics, simple rule ANFIS is adopted for processing. Finally, the signal is reconstructed. After that, the temperature error experiment is carried out, the result shows the method can effectively eliminate the error and compensate for the drift, it has a fast convergence speed and good effect, and has the advantage of good compensation efficiency.

The electronic skin has accurate digital sensing capability and human-like skin structure to realize in-situ measurement and perception. It has broad application prospects such as artificial intelligence, health monitoring, and robotics. However, multifunction integration, structure design, and signal demodulation are still the key points that hinder the development of e-skin. To solve this problem and for the application of robotic fingers, we propose a new multifunctional electronic skin in this paper with five sensing functions including temperature, thermosensation, pressure, wind speed and wind direction. It also has the characteristics of softness and smallness, which is suitable for fingers. Considering the geometry and application scenario of the “finger-sensor-object” touch, a new transient heat conduction model is developed and validated, which can achieve quantitative sensing and calculating of the material’s thermal parameters. Six objects were quantitatively identified in the experiments. Moreover, an interactive control logic between sensors and smart robots is innovatively proposed to improve the utilization of sensor-sensitive units. The proposed flexible multifunctional electronic skin provides a new idea for the application of wearable smart devices and intelligent sensing of robots.

MEMS gyroscopes are one of the core components of inertial navigation systems. The maintenance of high reliability is critical for ensuring the stable operation of the gyroscope. Considering the production cost of gyroscopes and the inconvenience of obtaining a fault dataset, in this study, a self-feedback development framework is proposed, in which a dualmass MEMS gyroscope fault diagnosis platform is designed based on MATLAB/Simulink simulation, data feature extraction, and classification prediction algorithm and real data feedback verification. The platform integrates the dualmass MEMS gyroscope Simulink structure model and the measurement and control system, and reserves various algorithm interfaces for users to independently program, which can effectively identify and classify seven kinds of signals of the gyroscope: normal, bias, blocking, drift, multiplicity, cycle and internal fault. After feature extraction, six algorithms, ELM, SVM, KNN, NB, NN, and DTA, were respectively used for classification prediction. The ELM and SVM algorithms had the best effect, and the accuracy of the test set was up to 92.86%. Finally, the ELM algorithm is used to verify the actual drift fault dataset, and all of them are successfully identified.

Thermal feedback plays an important role in tactile perception, greatly influencing fields such as autonomous robot systems and virtual reality. The further development of intelligent systems demands enhanced thermosensation, such as the measurement of thermal properties of objects to aid in more accurate system perception. However, this continues to present certain challenges in contact-based scenarios. For this reason, this study innovates by using the concept of semi-infinite equivalence to design a thermosensation system. A discrete transient heat transfer model was established. Subsequently, a data-driven method was introduced, integrating the developed model with a back propagation (BP) neural network containing dual hidden layers, to facilitate accurate calculation for contact materials. The network was trained using the thermophysical data of 67 types of materials generated by the heat transfer model. An experimental setup, employing flexible thin-film devices, was constructed to measure three solid materials under various heating conditions. Results indicated that measurement errors stayed within 10% for thermal conductivity and 20% for thermal diffusion. This approach not only enables quick, quantitative calculation and identification of contact materials but also simplifies the measurement process by eliminating the need for initial temperature adjustments, and minimizing errors due to model complexity.