Improving the accuracy of the six-axis force sensor Six-axis force sensors (hereafter collectively referred to as 6a-sensors) is a systematic problem, which mainly involves the optimization and improvement of three aspects: the design of the elastic body of the 6a-sensors, the acquisition and processing of the weak signal, and the decoupling of the inter-dimensional data of the force and torque of each dimension. To attain high stiffness, sensitivity, and minimal coupling, a design scheme of cross beam elastomer based on titanium alloy material is proposed. In order to realize the acquisition and processing of multi-channel weak differential signals with high gain, high linearity and precision, a high-speed programmable weak signal processing circuit design scheme is proposed. To efficiently address the interdependence issue among signal dimensions in the 6a-sensors. This paper innovatively proposes a BP-PSO decoupling algorithm using Particle Swarm Approach (PSO) to optimise the optimiser of BP neural network. To validate the algorithm’s effectiveness, comparative experiments are conducted with the 6a-sensors. designed and studied in this paper by sampling and self-designed calibration system. The sensitivity of the 6a-sensor designed in this paper reaches 4mV/V. In terms of accuracy, there is an improvement of about 1%. In terms of crosstalk, there is an improvement of about 0.2%. providing a new and improved idea for the six-dimensional force decoupling algorithm. In order to further verify the practicability of the algorithm, a flexible surface grinding robot based on six-axis force is developed based on Siasun robot platform. The grinding strength control is accurate, and the running trajectory is uniform and smooth, which can effectively meet the practical application requirements of flexible and intelligent control.

This paper introduces a novel approach combining quantum particle swarm optimization (QPSO) and Kalman filter to enhance the anti-noise performance of micro-electro-mechanical system (MEMS) tilt sensors, which are susceptible to external environmental noise interference, affecting their measurement accuracy and reliability. The parameters of Kalman filter are adaptively optimized by QPSO, which addresses the issues of local optima and premature convergence during the optimization and correction process of prediction system. Then Kalman filter is carried out with the optimal parameters to achieve the effect of denoising. To validate the denoising performance of proposed algorithm, an experimental scene was set up with a six-dimensional space vibration test bench. According to the experimental findings, the proposed method exhibits a superior noise reduction effect, as evidenced by its smaller mean absolute error (MAE) and mean square error (MSE) compared to alternative techniques such as variational mode decomposition (VMD) combined with wavelet transform (WT), back propagation (BP) neural network optimized Kalman filter and particle swarm optimization (PSO) improved Kalman filter. The contribution lies in the innovative integration of QPSO with Kalman filtering, addressing a critical need in engineering by fortifying the anti-noise capabilities of MEMS tilt sensors, thereby bolstering their measurement accuracy and reliability in challenging environmental conditions.

This letter proposed the Cryptogenic particle swarm optimization (CPSO) and a novel design methodology for multi-sense antennas. The TM10 mode with varying phase delays of the proposed antenna is implemented by incorporating two coupled lines, and the phase diversity of the TM10 modes enables the antenna to achieve orthogonal circular polarization across a few adjacent frequency bands. CPSO integrates the cryptogenic mechanism within particle swarm optimization (PSO) to direct the design of multi-sense antennas. When the antenna design process reaches local optimality, CPSO can offer a means to transition to a more optimal solution. The proposed antenna attains the impedance bandwidths of 128MHz (2.326GHz ∼2.454GHz) and 23MHz(2.541GHz∼2.564GHz), with the circular polarization operating bands of 2.354GHz∼2.369GHz (Left-handed circular polarization), 2.432GHz∼2.448GHz (Right-handed circular polarization), and 2.549GHz∼2.56GHz (Left-handed circular polarization), respectively. The frequency ratio between the highest and lowest operating bands is 1.08. This represents the inaugural implementation of multi-sense antennas.

This letter proposed an algorithm utilizing the continuous phase superposition method to efficiently coding multi-beam 1-bit programable metasurface array. This method enables rapid metasurface array multi-beam coding, which involves first calculating and superimposing the continuous phase matrix, then the resulting code matrix is discretized. Additionally, an optimized algorithm is presented to lower the complexity of the overall procedure. The proposed algorithm enables the direct calculation of a maximum of 32 beam codes. the proposed algorithm exhibits high computational speed, low hardware resource consumption, and achieves high accuracy in generating beam pointing. The proposed algorithm addresses the issue of combining the number of beams, processing speed, and accuracy in the calculation of metasurface coding, which is not possible with standard algorithms. The algorithm is tested and validated using a 64×64 scale 1-bit metasurface array with meta-element full-wave simulation. during the test, 32 independent beams with arbitrary pointing directions is generated by the proposed algorithm. A maximum off-axis angle of 45 degrees for the scanning range is supported by the proposed algorithm. Generated beams are both independent and clear, and the beam pointing error is limited to a maximum of 0.25%. The proposed algorithm for dual-beam coding achieves an average computation time of 1.18ms, which is about 30,000 times faster than the typical nonlinear iterative optimization algorithm that takes 38s.

The accuracy of aerial work platform weighing is essential for safety. However, in practice, the same weight placed at different locations on the platform can yield varying readings, which is a phenomenon known as eccentric load. Measurement errors caused by eccentric loads can lead to missed detections and false alarms in the vehicle safety system, seriously affecting the safety of aerial work. To overcome the influence of eccentric load, the current engineering practice relies on multiple measurements at multiple points and averaging the results to eliminate the eccentric load, which greatly increases the work intensity of workers. To address the aforementioned issues, this paper proposes a three-dimensional force/torque shear force compensation scheme based on bending torque and torsional torque for pressure. The goal is to ensure that the sensor on the aerial work vehicle platform can accurately measure the anti-eccentric load under single-point measurement conditions. A three-box structure anti-eccentric load-weighing sensor for the aerial work platform was designed. Its structure has the advantages of high mechanical strength and no radial effect, ensuring the safety of aerial work, improvement of measurement sensitivity, and enabling of real-time and accurate acquisition of force/torque in three directions. In order to further improve the measurement accuracy of 3D force/torque compensation, a particle swarm optimization algorithm was adopted to optimize the 3D force/torque shear force compensation, thereby improving the safety of engineering operations. Through the verification of a self-made testing platform, the anti-eccentric load sensor designed in this study can ensure that the measurement error of objects at any position on the platform is less than 1.5%, effectively improving the safety of high-altitude platform engineering operations.

This letter introduces a broadband magneto-electric dipole antenna with a stable broadside radiation pattern. The proposed antenna incorporates rectangular parasitic elements and grooves on the arc-shaped radiating patch, which introduce a current cancellation mechanism. This mechanism ensures that the main radiation pattern remains highly consistent across the operating band, thereby guaranteeing radiation pattern stability over the entire frequency range. Furthermore, in combination with the metal bracket, the design enables orthogonal superposition of the electric and magnetic current distributions, contributing to broadside radiation pattern. The antenna features a compact aperture size of 0.4λ₀ × 0.4λ₀ × 0.1λ₀. Within the operating band, the radiation efficiency exceeds 85%. Both simulated and measured results demonstrate an impedance bandwidth (IBW) of 77% (0.4–0.9 GHz), a peak gain of 5.07 dBi with a variation of only 0.37dBi, and an E-plane half-power beamwidth (HPBW) ranging from 92° to 123°.