This article has been accepted for publication in a future issue of this journal, but has not been
fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
A Novel Absolute Magnetic Rotary Sensor
Zijian Zhang, Fenglei Ni, Yangyang Dong, Chuangqiang Guo, Minghe Jin and Hong Liu
Abstract—To measure angular position of motors, robot joints,
etc, an absolute magnetic rotary position sensor is developed,
which possesses small-size, light, robust, and easy-to-integrate
properties. The sensor consists of two inductors, a code disc, and a
signal processing part. Both of the two inductors are embedded
with a big planar spiral copper coil and four smaller ones by
employing MEMS technology, and there are two circles of regular
copper sheets listing on the surface of the code disc. Besides,
mathematical analysises of the inductor structure, the
relationships of position and dimension among the coils and the
copper sheet are addressed. Finite element simulation results
demonstrate that one group of the optimal sine and cosine signals
can be generated by each inductor. Then, the absolute position
measurement method is validated by mathematical method. At
last, experiments are performed on the high-speed and the
low-speed testing platforms to assess effectiveness and accuracy of
the sensor.
Index Terms—Absolute magnetic rotary sensor, angular sensor,
electromagnetic sensor, magnetic encoder, resolver, sine-cosine
sensor.
I. INTRODUCTION
A bsolute angular position measurement is important in
automotive industry such as motor and robot arm control
[1,2]. The magnetic sensors, one type of the most frequently
used sensors in servo drive systems [3], have been developed
by many different researchers and companies [4]. According to
the excitation signal-generating mode - the electromagnetic
induction or the Hall effect, the magnetic sensors are divided
into two types. 1
Resolvers and the inductosyn sensors belong to the first type
as their signals are generated by the excitation coils. Their
primary winding resides on the rotor which is energized by a
high frequency alternating voltage, two secondary windings
located in quadrature position of the stator sense magnetic filed
changes and export sine and cosine signals [5]. Most recent
researches focused on the resolvers including improving
mathematical model [ 6 ] and developing novel
Manuscript received June 22, 2014; revised September 5, 2014 and October
16, 2014; accepted December 02, 2014.
Copyright (c) 2014 IEEE. Personal use of this material is permitted.
However, permission to use this material for any other purposes must be
obtained from the IEEE by sending a request to pubs-permissions@ieee.org.
The work was sponsored by the National Key Basic Research and
Development Program (973 Program) 2013CB733103 and National High
Technology Research and Development Program of China (State 863 project)
2011AA7045041.
Zijian Zhang, Fenglei Ni, Chuangqiang Guo, Minghe Jin and Hong Liu are
with State Key Laboratory of Robotics and System, Harbin Institute of
Technology, Harbin, Heilongjiang, 150001, China (corresponding author to
provide phone: 0451-86402360; fax: 0451-86418306; e-mail:
hit_lfn2002@aliyun.com).
Yangyang Dong is with Shenzhen Graduate School, Harbin Institute of
Technology, Shenzhen, Guangdong, 518055, China (e-mail:
dongyang1314@126.com).
0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
resolver-to-digital conversion method [ 7 ] to improve
performance of the resolver. In [8], a linear inductosyn sensor
with one excitation coil and two sensing coils had been
developed. All these magnetic sensor have many advantages
such as robustness and tolerance of dirt, oil, vibration and
low-noise effects [9,10,11]. However, the drawbacks of heavy
weight and large volume are limitations to the sensors.
In the other type, the permanent magnet is commonly used to
generate excitation signals and the magnetic encoder is one
typical delegate. Based on the arrangement forms, the magnetic
encoder can be divided into two types. In [12], the spin valve
used to generate signals was listed on the axial direction of the
permanent magnet. In this form, the sensor cannot be used in
the hollow devices. In the other form, the sensing elements are
on the radial direction of the magnetic ring. To the encoders of
this form, Z signal used to determine absolute zero point
generates only once per circle. Therefore, they are usually
relative position sensors. To measure absolute angular position,
[13] developed a multi-pole magnetic rotary encoder. However,
the encoders are difficult to be magnetized [14]. Besides, as the
sine and cosine analog signals have to be transformed to digital
pulse signals, the advantages of sinusoidal signals such as
simple, accurate and reliable to represent angular position are
lost [15]. What’s worse, the encoders require additional signal
interpolation process both in hardware and software [16, 17]
and various dedicated converter schemes were designed
[18,19]. To make up these disadvantages of the encoders, some
other sensors were developed. Seung-Ho Jeong etc. [14] had
designed a rotary magnetic position sensor with a sinusoidally
magnetized permanent magnet and two hall elements. The
position information is obtained as the magnetic flux density of
the permanent magnet is different in different position. An
absolute magnetic encoder which has four hall sensors and a
magnet ring was designed in [9]. As the magnetic ring and the
hall sensors rotating around different axes, the four
trigonometric function signals with different phases and
amplitudes can be generated to determine angular position. In
[ 20 ], four linear hall sensors were displaced (90+k360)°
electrically to determine sine and cosine signals and then the
absolute position can be obtained. However, in all these sensors,
the permanent magnets are used which can be easily disturbed
by the external magnetic field.
Compared with all magnetic sensors, an absolute magnetic
rotary sensor is developed in the paper. Similar to the resolvers,
it has an excitation coil which can generate high frequency
carrier wave signals. Therefore, it is resistant to low frequency
magnetic field disturbance. Besides, a code disc is used to
minimize weight and volume of the sensor to ensure the sensor
can be integrated into the hollow devices. Furthermore, the
sensor has common advantages compared with the magnetic
sensors such as robustness, tolerance to dust and oil.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

II. WORKING PRINCIPLE ANALYSIS OF THE SENSOR
A. Working principle of the sensor
Working principle of the sensor is illustrated in Fig.1.
specific amplitude and phase relationships, the position and
dimension relationships of all the coils and the copper sheets
are discussed.
B. Position and dimension relationships discussion of the
five coils
The relationships of dimension and position among all these
five coils and the copper sheet could refer to Fig.2. To be easily
observed, the coils are represented by the circles in Fig.2(a). In
the designing process, amplitudes of signals generated by L2 &
L3 and L4 & L5 are equal with each other and the phase
difference is 90 degree.

Fig. 1. Structure of the sensor.

There are five planar spiral copper coils L1-L5 and a copper
sheet C which are represented by different colors in Fig. 1. If a
high frequency sine voltage signals is applied to the big planar
spiral copper coil L1, a time-varying magnetic field can be
generated. The voltage signal is expressed as follows:
 2π 
V = A sin ( w × t ) = A sin  ×t (1)
 T 
In (1), A, w and T are amplitude, angular frequency and period
Fig. 2. Structure of the inductor.
of the signal.
Therefore, the position and dimension relationships among
The current of the big spiral coil is calculated by the following
equation: all the five coils are established and one group of the answer is

the following equation.
2A w× L  (2)
I = sin  wt − arctan   D 23 = D 24 = D35 = D 45 = 5R
Z  RL  
 3 5
where Z = RL 2 + ( w × L )  sin θ 2 =
2

 10 (5)
In (2), |Z|, RL and L are impedance, resistance and inductance  5
 sin θ 3 =
of coil L1, respectively.  5
According to the electromagnetic induction, the voltage  10
r = ( + 1 )R
signals generated by one of the smaller planar spiral copper  2
coils under effect of the big coil can be expressed as: If the large coil is located in the original point of the
d Φ 21 dI coordinate system, the center position parameters of the four
u 21 = = -M =
dt dt (3) smaller coils are easily obtained.
- 2 AwM  w× L  w× L O ( 0 , 0 ,0 )
sin  wt − arctan  cos（ wt − arctan ） 
RL + ( w × L )  R  RL  A ( -1 .5 R , 0 .5 R , Z )
2 2
L
 (6)
From (3), the four smaller copper coils generate cosine  B ( 0 .5 R ,1 .5 R , Z )

voltage signals under effect of L1. M denotes mutual inductance  C ( - 0 .5 R ,- 1 .5 R , Z )
coefficient.  D (1 .5 R ,- 0 .5 R , Z )

As shown in Fig.1(a), the magnetic filed generated by coil L1
After determining the position and dimension relationships
is affected if there is a conductor such as a copper sheet moving
of the coils in the XOY plane, the distance between the big coil
under the coils. According to the electromagnetic wave
and the smaller coils along Z-axis is discussed.
propagation theory, the electromagnetic wave can be reflected
by the cooper sheet. Therefore, when the copper sheet moves From equation (3), u21 is proportional to M. Therefore, to
under one of the smaller coils, the magnetic flux flowing into it maximize u21, we acquire the maximum value of M. As the
becomes small. Consequently, the mutual voltage u21 is small values of the mutual inductance coefficients of all these four
as shown in equation (3). smaller coils and big coil are the same, only the second coil L2
As shown in Fig.1(b), the amplitudes of the signals are is taken for example in the following analysis.
different when the copper sheet located at different positions. It is known that the planar spiral coil is treated as the
Therefore, as the cooper sheet moving from one side of coil L1 concentric coils approximately. Assuming the distance between
to the other side, the regular signals such as sine and cosine any two neighboring coils of L1 and L2 are Δ1 and Δ2, the
ones are generated. Five typical points in the signal generating concentric coil numbers N1 and N2 of L1 and L2 are calculated as
process are given in Fig.1(b). To ensure all the signals with follows:

0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

 rmax − rmin r j = r - ∆1 ( j - 1) j=1 to N 1 (15)

 N1 = ∆1
+1
 (7)  k ij 2 
 Ψ ij ( k ij ) =  1 − (16)
 N = R max − R min + 1   K ( k ) − E ( k )
 2 
 2 ∆2
According to elliptical equations,
where rmax, rmin and Rmax, Rmin are the maximum and the
 π  ( )
∞  2 n − 1 !! 
2

minimum radiuses of the planar spiral coils L1 and L2,  K ij ( k ij )= Fij ( ρ = π / 2, k ij ) = 1 + ∑  2n 
 k ij 
respectively.  2 n =1  2 n !!   (17)
 
From references [ 21 , 22 ], there are two circles named 
 π  ∞  ( 2 n − 1)!!  k ij 
2 2 n

primary and secondary coils. If the primary coil is injected with  E ij ( k ij ) = E ij ( ρ = π / 2, k ij ) = 1- ∑   
2  n =1  2 n !!  2 n − 1 
voltage signals, the mutual inductance coefficient M of two   
circular circles is calculated as follows: Therefore,
µ R 2π [ p1 cos ϕ + p 2 sin ϕ + p 3 ]Ψ ( k )  nπ k ij 2 π  ∞  ( 2 n − 1)!!  2 n
2

Ψ ij ( k ij ) = 
(8)
M = 0 S
π ∫
0
dϕ
k V03  2n − 1
−  ∑   k ij
(18)
 4  n =1  2 n !! 
In (8), μ0 is permeability of vacuum. Rs and Rp are radiuses of In the equation above, (x2,y2,z2): center location of the
the secondary and primary coils, respectively. The coordinates smaller coil L2. r: the maximum radius of the coil L1. rj: the
(xC, yC, zC) defining the center of the secondary coil. The radiuses of coils L1, j=1 to N1. Δ1: the radius difference between
secondary coil is located in a plane λ=ax+by+cz+d=0. Other any two neighboring coils of L1. φ: integral cell of the coils.
parameters are expressed as (9). Taking (5), (6) and all the conditions into the equation (10),
yC R y
p1 = ± γ = ± ；p 2 = m β ；p 3 = S ；p 4 = ± γ = ± C ； M is rewritten as follows:
RP RP RP
µ 0 Ri
N N
2π
× ∑ ∑ ∫ ℜdϕ
1 2

x 4V0 M =
p 5 = m β = m C ；k = π j =1 i =1
0

RP A0 + 2V0 (19)
nπ k ij 2π ∞ (2 n − 1)!! n 2
R   ρ 
2 2 (9) ( ± y 2 cos ϕ m x 2 sin ϕ + Ri )( − )∑ ( k ij )
RS  yC x  2n − 1
A0 = 1 +  S  +   +2 ± cos ϕ m C sin ϕ  ℜ=
4 n =1 2 n !!
 P
R  P 
R R P  R P R P  1
2Vij2

2  b2c2  c2 abc  r j 2 + z 2 2 + r j 2Vij2 + 2 r j 2Vij
V0 = α   1 − 2 2  cos ϕ + 2 sin ϕ + 2 sin 2ϕ 
2 2 2

 l L  l l L  As shown in equation (19), different concentric coils have

β ab - γ l 2 2αβ c the similar expressions, only the condition Ri=R and rj=r are
+ β 2 + γ 2 m 2α cos ϕ m sin ϕ ；
lL l discussed to simplify the discussion. The simplified expression
of (19) is shown in (20).
From (7) and (8), the mutual inductance coefficient of L1 and µ0 R 2π

L2 is calculated as follows:
M =
π ∫0
ℵdϕ

 R  p cos ϕ + p sin ϕ + p  Ψ ( k )  nπ k 2π ∞ ( 2 n − 1)!! 2 2 n (20)

µ0 )∑ (
N1 N2
 i  1j 3 ij  ( y 2 cos ϕ − x 2 sin ϕ + R )( −
2π
M L1 ,L2 = ∑∑ ∫  dϕ (10) ) k
2j ij

π   2n − 1 4 n =1 2 n !!
j =1 i =1
0
k V 3
ℵ=
 ij ij  1
2V02
In (10), r 2 + z 2 2 + r 2V 02 + 2 r 2V0
Ri = R - ∆2 ( i - 1) i=1 to N 2 (11) The equation (20) is simplified as follows:
μ0: permeability of vacuum which is often used as the  ellipticE ( R ,h ,cos ϕ , sin ϕ )  2π (21)
M =K 
permeability of the copper. R: the maximum radius of the coil  + ellipticK ( R ,h ,cos ϕ , sin ϕ )
0

L2, Ri: the radiuses of coils L2, i=1 to N2, Δ2: the radius
The relationship between M and h is established through
difference between any two neighboring coils of L2. parameter R. Sampling different points of the ratio h/R in the
The smaller circles are located in a plane λ=ax+by+cz+d=0, θ section [0, 100] and the relationship curve is illustrated in Fig. 3.
is the angle between Z-axis and Z’ axis. In the paper, the plane λ It is known that with the distance increases, the absolute value
is parallel to XOY, the plane expression λ=cz+d=0 and a=b=0, of M decreases. Therefore, if the condition h ≤ 2.4R is satisfied,
θ = 0. Therefore, the other parameters are defined as follows. the distance is as small as possible to maximize the absolute
 y value of M. Otherwise, we set h=5R as there is a peak value of
 p1 j = ± 2
 rj M at this point.
 (12)
 x2
 p2 j = m j=1 to N 1 ,i=1 to N 2
 r - ∆1 ( j - 1)
 R- ∆2 ( i - 1)
 p 3ij =
 r - ∆1 ( j - 1)

4V0 (13)
k ij = r j
r j 2 + z 2 2 + r j 2Vij2 + 2 r j 2Vij

Vij2 =
1
rj2
( Ri2 + x2 2 + y 2 2 ± 2 Ri y 2 cos ϕ m 2 Ri x2 sin ϕ ) (14)

0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

Fig. 3. Numerical relationship of M and h.

C. Copper Sheet Dimension and Position Discussion

The dimension parameters Wc and Lc of the copper sheet
shown in Fig. 2 are easily obtained.
W C = 2 R (22)

 LC ≥ 2 r = ( 10 + 2) R Fig. 4. Simulation model.
The five planar spiral copper coils are simplified to be five
The width parameter Dc of the copper sheet is larger than the
coils. A sine voltage signal with frequency of 40 kHz is applied
skin depth of the copper as shown in the following equation.
to the big coil. The moving speed of the copper sheet is 13 m/s
D c > δ = 2 ( w µσ ) (23)
and the simulation time is 1.18 ms. As the copper sheet moving
where w is the frequency of the electromagnetic wave, μ is the under the four smaller coils, the magnetic flux flowing into the
permeability of the copper, σ is the conductivity of the copper. smaller coils is influenced. The lower part of Fig. 4 shows us
In industrial applications, the permeability of vacuum μ0 = the magnetic field intensity changing process of coil 2 as the
4π×10-7 H/m is often used as the permeability of the copper. copper sheet moving from one side of the coil to the other.
The conductivity of the copper σ is about 5.8×107S/m.
Therefore, height of the copper sheet is determined by the
frequency of the electromagnetic wave. For example, assuming
the frequency of the signals is about 100MHz, the skin depth of
the copper sheet is about 1.66×10-2mm.
The parameter D, the distance between the coil L1 and the
copper sheet along the Z-axis, is determined by the
electromagnetic wave propagation theory. When the
electromagnetic wave propagates from air to the copper, the
reflection phenomenon is arising on the interface. Form the
Fresnel formula, the larger of the incident angle, the more
obvious reflection effect is. The magnetic induction lines
generated by coil L1 are the concentric circles around the coil L1
according to the right-hand rule. Therefore, to increase incident
angle of the magnetic field, the value of parameter D is as small
as possible. Besides, based on the Maxwell's equations, the
magnetic field strength is inversely proportional to the distance.
Therefore, the smaller of the distance, the more magnetic waves
are reflected and signal amplitudes of the inductor are larger.
D. Signals Generation Simulation
The simulation model which is a simplified model of the
sensor is established shown in Fig.4 and the signal generation
simulation is done in the software-ANSOFT. Fig. 5. Signals of the four small coils.
The detailed influence to the induced voltage of the four
smaller coils can be seen in Fig. 5. From equation (3), we know
the induced signals of the four smaller coils are cosine signals.
Besides, the frequency of the signals generated by the smaller
coils is same as the excitation sine signals. As the coils of the
same group are rotated in inverse direction, the signal phase
difference between coils L2, L3 and L4, L5 is π radian. Without
disturbance, the four groups of signals have the same amplitude.

0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

However, as shown in Fig. 4, amplitudes of the induced voltage θ 1 ≥ θ 2 ⇔ N1 = N 2 (26)

signals vary with positions of the copper sheet.
The summations of induced voltage signals of coil 2 and coil
3, coil 4 and coil 5 are presented as blue and red lines in Fig. 6.
Connecting all the maximum and minimum values of the
signals together, the sine and cosine signals are obtained.
Fig. 6. Sine and cosine signals of the sensor.
E. Absolute Angular Position Measurement Method
To measure absolute angular position, a method which is
similar to the vernier caliper measuring principle is proposed,.
According to the method, a code disc with two circles of copper
sheets is designed as shown in Fig. 7.

θ 1 < θ 2 ⇔ N1 = N 2 + 1
According to (25) and (26), the absolute angular position of
the point P is obtained as follows.
θ 1 − θ 2 if (θ 1 − θ 2 ) ≥ 0
θP =  θ 1 , θ 2 , θ P ∈ [ 0, 2 π ) (27)
θ 1 − θ 2 + 2π if (θ 1 − θ 2 ) < 0
Therefore, the method to measure absolute angular position
is validated. If the angle values θ1 and θ2 are obtained, the
absolute angular position of any point P on the circle is easily
calculated via their difference values. This method is easy to be
used in the absolute angular position sensors.
Algorithmic flowchart of the method achieving to absolute
angular position is shown in Fig. 8. Each inductor generates
four channels of differential signals SinP+, SinP-, CosP+ and
CosP-. Through signal processing part, four channels of
standard trigonometric signals dpSin11, dpCos11, dpSin22 and
dpCos22 are obtained. Signal processing part including the
band-pass filter and amplitude & phase judgment is presented
in section IV. Based on the four channel signals, the angle value
θ is obtained. In the algorithm, tangent function is used to
calculate angle value to reduce errors caused by amplitude
unequal between sine and cosine signals. Besides, A, B and Δp
which are the amplitude, median and phase compensation of
the signals are considered in the calculating process. Then, the
angle θpi(i=1,2) which belong to [0, π/2] are obtained. In the
following, cosine signals are used to judge the quadrant of the
angles θpi to minimize measuring errors. Cos11 and Cos22
represent cos(θp1) and cos(θp2), respectively. According to the
judgment, θi(i=1,2) changing range from 0 to 2π are generated.
Then, based on the equation (27), we compare the angle values
of θ1 and θ2. If θ1 ≥ θ2, their different value Δθ is the absolute
angular position. However, if θ1 < θ2 , the absolute angular
position value θabs is obtained by (Δθ+2π).

Fig. 7. Code disc of the sensor.

The numbers of the copper sheets on the outer and inner
circles are N and (N-1), respectively. The signals of sine and
cosine are generated between any two neighboring copper
sheets and therefore, the angle changing range between any two
neighboring copper sheets is 360 degree. Two angle values are
calculated by the outer and the inner circles, respectively.
Therefore, as shown in Fig.7, any point P is expressed in
different forms by the outer and inner signals.
θ1 2π θ2 2π
θP = +N1 × = +N × θ 1 , θ 2 , θ P ∈ [ 0, 2 π ) ; (24)
N N ( N − 1) 2 ( N − 1)
N = 1, 2,3 L n ; N 1 = 0,1, 2,3 L ( N − 1) ; N 2 = 0,1, 2 L ( N − 2 )
where N1 and N2 are the integral numbers of the copper sheets
on different circles between P and the initial line, respectively,
θ1 and θ2 are the angle values calculated by the sine and cosine
signals.
The equation (24) is changed into the form as follows.
θ − θ 2 when N 1 = N 2 (25)
θ P1 = θ P2 =  1
θ 1 − θ 2 +2 π when N 1 = N 2 + 1
Through analyzing numerical relationships of N1, N2, θ1 and Fig. 8. Flowchart of absolute angular position acquisition.
θ2, the following equivalent conditions are obtained.

0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
F. Code Disc
Main structure of the code disc is illustrated in Fig.7. N and
ROO are acquired according to the requirements of the
applications. Then, the other parameters of the outer circle are
calculated as follows:
  LC 
 N = 2π  ROO − 2  L P
   (28)
 part. Then, the signals are converted to digital ones thorough
 ( OO
W + W OI ) 3
 L P = 2
×
2
In (28), LP is the signal period length of the outer circle.
(WOO+WOI)/2 is the width of the copper sheet of the outer circle
which is about 2/3 of the period length according to experience.
Then RIM, the central circle radius of the inner copper sheets,
is determined as equation:
R IM = ( N -1) LP 2π = 3( N -1)(W IO + W II ) 8π (29)
III. DESIGN OF THE SENSOR AND THE EXPERIMENTAL
PLATFORM
A. Design of The Sensor
Main structure of the sensor can be seen in Fig.9 and two
inductors, the code disc and the signal processing circuit board
constitute the sensor.
Fig. 9. Main structure of the senor.
In this paper, the five planar spiral copper coils mentioned
above are embedded into the inductor using MEMS
(Micro-Electro-Mechanical System) technology. The coils etch
on different layers of the silicon chips. Configuration and the
X-ray photograph of the inductor are shown in Fig.9 (b). These
two inductors are fixed on one side of the board as shown by
Fig. 9(e). Their centers are on the central circles of the outer and
the inner copper sheets and the angle between the inductors is
90 degree.
The code disc, another part of the sensor is shown in Fig.9(c).
There are two circles of copper sheets listing on the surface.
The substrate material of the code disc is copper-clad laminate.
0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
The other side of the signal processing board is mainly
composed of five parts including MCU(Micro Control Unit),
ADC (Analog to Digital Converter), ASPC(Analog Signal
Processing Circuit), C&P(Communication and Power) part and
JTAG(Joint Test Action Group). As the analog sine and cosine
signals are generated by the inductors, they have to be filtered
and changed to single signals from difference ones by ASPC
the ADC. Besides, the digital signal processing and the absolute
position angle calculation process are undertaken by the MCU.
At last, the absolute position angle P is transmitted through the
C&P part.
B. Establish The Experimental Platforms
To test and calibrate the senor system at different rotating
speeds, two experimental platforms are established. Fig.10
gives us an illustration to the experimental platform with the
maximum rotating speed is 5 r/min while the high rotating
speed experiment setup which can reach up to 1000 r/min is
shown in Fig.11.
Fig. 10. Low-speed experiment platform.
In the low-speed experimental platform, the sensor
installation device is labeled (a) in Fig.10 and the detailed
structure can refer to the 3D decomposition figure shown in the
lower part of Fig.10. Parts 4 and 7 are used to fix the code
disc(5) and the signal processing circuit board(6), respectively.
The part 7 is a three dimensional movement platform which can
adjust positions of the inductors in XYZ directions. In fact, the
part 3 is a highly integrated robot joint used to rotate the code
disc. The code disc is fixed on the joint through part 4. The
output part of the joint is labeled 3-1 and an absolute
photoelectric encoder with measuring precision of 0.03 degree
is installed in this part to calibrate the sensor. Part 1 and 2 are
the assisting components to fix the joint on the platform 8. In
the experimental platform, all the signals such as the position
information measured by the sensor and the photoelectric
encoder, status of the joint are delivered to the joint controller
represented 3-4 in Fig.10. Part (b), a signal acquisition system
is developed to store, observe and process signals of the joint
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

controller. To be easily observed in the testing process, an
oscilloscope (d) is used. Some other necessary components
such as the power system (c) is elaborated.
In the high-speed experimental platform, a robot joint
labeled (5) in the low part of Fig. 11 is used. An absolute
magnetic encoder with measuring precision 0.05 degree is
inserted in the joint to measure position of the motor. However,
code disc (2) of the sensor is fixed on the motor output port
through a clutch (4). Electrical system of the joint (6) is placed
on the platform. Besides, similar to the experimental platform
above, the power system (b), oscilloscope (c) and the signal
acquisition system (d) are used.
IV. EXPERIMENTAL RESULTS AND ANALYSIS
Based on the testing platforms above, the experiments with
different rotating speeds are carried out.
A. Experiment with low rotating speed
In this experiment, rotating speed of the code disc is about
2.47r/min and the original signals of the sensor are shown in
Fig. 12. The number of the sampling points is 375621 and the
total sampling time is about 75.1s. In each circle, the number of
the sampling points is about 121400 and therefore, there are
two integral cycles shown in Fig. 12. Sin1 and Cos1 are the
signals of the outer inductor and the others are the inner one’s.
Supply voltage of the inductors is 2.5v and the amplitudes of
the signals are between 0 to 2.5v. Comparing with the same
channel signals of different circles, it is clear that the signals
have better performance on repeatability. Both of the sine and
cosine signals of the same inductor have a similar changing
tendency at the same position.

Fig. 11. High-speed experiment platform.

Some important parameters of the sensor and the
experimental platforms are listed in TABLE I.
TABLE I
IMPORTANT PARAMETERS OF THE SENSOR AND THE EXPERIMENTAL
PLATFORM

Items Values

inner radius of the sensor 21 mm

outer radius of the sensor 40 mm
width of the sensor ≤4.5 mm
weight of the sensor 19 g
distance between the copper sheets and the inductors 0.2 mm
dimension of the inductor 9×8×0.9 mm3
width of the copper sheet 0.85 mm
length of the copper sheet 3.3 mm
numbers of the copper sheets on the outer circle 150
numbers of the copper sheets on the inner circle 149
radial run-out error of the code disc +0.02 mm
side face run-out error of the code disc ±0.03 mm
communication clock of the sensor 6.25MHz
absolute position can be obtained once 200us Fig. 12. Original signals of the sensor at 2.47r/min.
low-speed experiment platform ≤5 r/min To be easily observed, three cycles of the signals of the two
high-speed experiment platform ≤1000 r/min
inductors are presented in Fig.13, respectively.

0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Fig. 13. Selected signals of the inductors.
In Fig.13, the blue ones are one cycle signals with maximum
amplitudes and the red ones are with minimum amplitudes.
Besides, in each inductor, two cycles of random signals are
selected which are represented by green color in Fig.13.
From Fig. 13, the high frequency noise exits on the signals.
There are amplitude, phase and median value differences
between the sine and cosine signals of the same channel.
Therefore, the signals need to be processed in these two
aspects.
Firstly, to eliminate noise, the amplitude-frequency
characteristics of the signals are acquired by FFT method. As
frequency characteristics of all the four channel signals are the
same, we take the SinP1 signal for example and the analysis
results are illustrated in Fig. 14
Fig. 14. Amplitude-frequency characteristics of SinP1
From Fig. 14, the core frequency of the signals is about
6.3Hz. Therefore, a band-pass filter with bandpass frequency is
0.3-12 Hz is designed. One cycle of SinP1 and CosP1 signals
after filtering can be seen in Fig.15. It is known that the curves
are more smoothly after filtering the noise. Besides, the time
delay caused by the filter is about 6ms which can be accepted in
the applications.
Secondly, to analyze amplitude, phase and median value
relationships between cosine and sine signals, the curve fitting
method is used. dCos11 and dSin11 signals are used to fit
Cos11 and Sin11 signals. The general expression of Cos11 and
Sin11 signals are shown in equation (30).
 Sin11 = dSin11 = A1 sin( w × t + ∆ P1 ) + B1

 Cos11 = dCos11 = A2 cos( w × t + ∆ P2 ) + B 2
0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
dCos11 and dSin11 are the fitting signals of Cos11 and Sin11,
respectively.
Fig. 15. Filtered and ideal signals of SinP1 and CosP1.
In order to calculate conveniently, dCos11 is changed to the
standard trigonometric function dpCos11 and dSin11 is
converted to dpSin11 while maintaining amplitude, phase and
median value relationships between the signals.
 dpCos11 = cos( w × t ) (31)

 dpSin11 = A sin( w × t + ∆ P ) + B
In (31), dpCos11 is the standard trigonometric signal
transformed from dCos11 and dpSin11 are the signals
corresponding to dpCos11. A, Δp and B are amplitude, phase
and median value relationships of dpCos11 and dpSin11,
respectively.
Based on the processed signals SinP1 and CosP1, the angle
value is obtained shown in Fig. 16. Fig. 16 gives us an
illustration to one cycle of angle value curve of the inductor 1.
The blue line is obtained by Cos11 and Sin11 while the red one
is calculated by dpCos11 and dpSin11. It is obvious that
linearity property of the angle curve is improved after
compensating amplitude, phase and median value difference
between sine and cosine signals.
Fig. 16. Angle value curves.
Fig. 17 gives an illustration to the absolute angular position
curves. In the upper part of Fig. 17, the red line is measured by
the absolute magnetic rotary position sensor and the position
curve measured by the absolute photoelectrical encoder
represented as the blue line is used to calibrate the sensor
designed in the paper. From Fig. 17, these two lines are in good
agreement. Taking the blue line as the standard, measuring
error of the sensor can be obtained shown in the lower half part
of Fig. 17. The measuring precision of the sensor is [-0.5, +0.5]
degree.
(30)
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Fig. 17. Absolute angular position curves and errors.
B. Experiment with high rotating speed
In this experiment, rotating speed of the motor is about
720r/min and the original signals of the sensor are shown in Fig.
18. The number of the sampling points is 625 and the total
sampling time is about 0.125s. One entire circle is from 0.03s to
0.113s.
Fig. 18. Original signals of the sensor at 720 r/min.
0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
Fig. 19. Absolute angular position curves and errors.
Based on the original signals, the signal processing which is
similar to the part B is undertaken. Through signal filtering and
compensation, the absolute angular position is obtained as
shown in Fig. 19. In the upper part of Fig. 19, the red line is
measured by the absolute magnetic rotary position sensor and
the position curve measured by the absolute magnetic encoder
represented by the blue line is used to calibrate the sensor.
Measuring error of the sensor shown in the lower half part of
Fig. 19 is [-0.5 +0.5] degree which is the same to the measuring
precision of part B.
C. Error Analysis
From the equations (30) and (31), the position angle can be
calculated as follows.
 (dpSin11 - B - A sin ∆ P × dCos11) 
θ = a tan   (32)
 A cos ∆ p × dCos11 
A = A1 A2 ; B = B1 − B 2 ; ∆ p = ∆ p1 − ∆ p 2
In (32), θ is relevant to the parameters A, B and Δp and
therefore, their errors lead to measurement errors of absolute
angular position sensor. Firstly, as Fig. 12 and Fig. 18 show,
signal amplitudes changes with positions and therefore, the
values A are various at different positions. Based on A1/A2 ≠
(A1+Δ)/(A2+Δ), it causes errors to the absolute angle value.
According to the experiments above, the maximum and
minimum values of A1 are 2.39v and 2.08v and the maximum
and minimum values of A2 are 2.26v and 1.97v. The amplitudes
changing rate of the original signals are about 12.4% and 11.6%,
respectively. However, the amplitude differences of any two
neighboring signals, named Δ1 and Δ2, are 0.149v and 0.04v,
respectively. Their changing rates are 0.6% and 0.8%. From the
experiments results, the amplitude values are the same at the
same point of different circles, which means the sensor has
good performance on consistency. From this phenomenon, it
indicates that the errors are caused by hardware errors. For
example, the manufacturing errors of the senor and
experimental platform. They lead to the distances between the
code disc and the inductors are not same at different positions.
Besides, the error of the median value B is another reason
leading to measuring errors. From the experiment results, the
median value error of different signals is about 0.025v and
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

takes about 1.0% ratio of the signals. It is also caused by the magnetic sensors. As shown in TABLE II, width of AMRS-1 is
distance error. As the amplitudes of sine and cosine signals vary only 4.5mm which is much smaller than other sensors.
in different cycles, the median values B1 and B2 are different in (2) It is easy-to-integrate. As the inner diameter of AMRS-1
different cycles and consequently, B is not constant in the is with large inner diameter and small width, it is easy to be
whole circle. integrated into the devices with hollow structures such as robot
At last, the phase difference Δp is another parameter which joint.
has effect on the values of the absolute angle. Through signal (3) It is light. Weight of the sensor is only 19g which is only
processing, changing range of the phase difference Δp1 and Δp2 half weight of the other magnetic sensors.
is from 0 to 0.1 radian. In theory, it is a constant value in the (4) Like some of the other magnetic sensors, it has no
whole circle. However, as the manufacturing errors of the requirement to the rotating speed.
copper sheets, the phase differences of sine and cosine are (5) The excitation signals of the sensor is 4MHz and
different in different periods. therefore, it can tolerant to the disturbance and vibration with
From the analysis above, measuring errors of the sensor are frequency of 2MHz which is much higher than the other
mainly caused by the manufacturing errors of the sensor and the commercial sensor.
experimental platform. All the errors are accumulated and lead (6) Similar to the other magnetic sensors, it is robustness and
to the absolute position measurement error reaching up to [-0.5º, tolerance to dust and oil.
+0.5º] which is about 0.27% of the total measurement range. As discussed above, measuring precision of the AMRS-1 is
low comparing with the commercial magnetic sensors listed in
V. CONCLUSION the TABLE II. However, it is only a prototype of the sensor. In
In the paper, a novel absolute magnetic rotary sensor has the developing process, we find some reasons for low
been developed. The output signals are optimized through measuring precision, and some further measures will be taken
analysis of the dimension of the planar spiral copper coils and to improve performance of the sensor. Firstly, design a
the position relationships among the big coil, the smaller coils mechanical structure packaging the sensor to improve the
and the copper sheets. The simulation and experiment results mechanical assembly precision of the sensor. Besides, the
show effectiveness of the sensor. Through calibration with high signal conditioning circuit of the sensor should be optimized.
precision encoders, measuring precision of the sensor is [-0.5º, Then, a parameter identification method will be developed to
+0.5º] which is low comparing with some commercial sensors. identify the phase, amplitude and median value differences
However, it still has some advantages and the detailed among the signals. At last, the calibrating method and devices
parameters comparison with some other commercial absolute will be designed to improve measuring precision of the sensor.
magnetic sensor can be shown in TABLE II. In the table,
according to working principle, the magnetic sensors are REFERENCES
divided into two types. In each type, one or two typical
commercial magnetic sensors are listed. AMRS-1 represents [1] Yee-Pien Yang and Yi-Yuan Ting, “Improved angular displacement
estimation based on hall-effect sensors for driving a brushless
the absolute magnetic rotary sensor developed in the paper. permanent-magnet motor,” IEEE Trans. Ind. Electron., vol.61, no.1,
TABLE II pp.504–511, Jan. 2014.
COMPARISON WITH DIFFERENT TYPES OF SENSORS [2] Ghassemi, F., Tafazoli, S., Lawrence, P.D., and Hashtrudi-Zaad, K.,
“Design and calibration of an integration-free accelerometer-based
Type I Type II joint-angle sensor,” IEEE Trans. Instrum. Meas., vol.57, no.1,
pp.150–159, Jan. 2008.
Working
hall effect electromagnetic induction [3] A. Bünte and S. Beineke, “High-performance speed measurement by
principle
suppression of systematic resolver and encoder errors,” IEEE Trans. Ind.
ROTASYN MU2S
name DS-90 AMRS-1 Electron., vol. 51, no. 1, pp. 49–53, Feb. 2004.
Resolver 30-32N
[4] Jovan S. Bajić, Dragan Z. Stupar, Bojan M. Dakić, Miloš B. Živanov, and
producer Netzer admotec ICHaus
László F. Nagy, “An absolute rotary position sensor based on cylindrical
status commercial laboratory
coordinate color space transformation,” Sens. Actuators A, Phys., vol. 213,
outer
90 mm 75mm 29 mm 80 mm pp.27–34, Jun. 2014.
diameter
[5] Nay Lin Htun Aung, ChaoBi, Abdullah Al Mamun, Cheng Su Soh, and
inner
50 mm 45 mm 12 mm 42 mm Yu YinQuan, “A demodulation technique for spindle rotor position
diameter
detection with resolver,” IEEE Trans. Magn., vol.49, no.6, pp.2614–2619,
width 10 mm 22mm 8mm 4.5mm
Jun. 2013.
weight of
50 g 200g 50g 19g [6] Figueiredo, J., “Resolver models for manufacturing,” IEEE Trans. Ind.
the sensor
Electron., vol.58, no.8, pp.3693–3700, Aug. 2011.
resolution 19 bits -- -- 16bits
[7] Yijing Wang, Zhiqi Zhu, and Zhiqiang Zuo, “A Novel Design Method for
100
precision
mDeg
0.02Deg 500 mDeg -0.5～0.5Deg Resolver-to-Digital Conversion,” IEEE Trans. Ind. Electron., vol.PP,
no.99, Dec. 2014.
Maximum
[8] Dinulovic, D., Hermann, D., Fluegge, J., and Gatzen, H.-H.,
operational 750 rpm -- -- --
“Development of a linear micro-inductosyn sensor,” IEEE Trans. Magn.,
speed
vol.42, no.10, pp.2830–2832, Oct. 2006.
Disturbance
≤2kHz ≤12KHz ≤1mT ≤2MHz [9] Wu, S.-T.; Chen, J.-Y.; and Wu, S.-H., “A rotary encoder with an
endurance
eccentrically mounted ring magnet,” IEEE Trans. Instrum. Meas., vol.63,
From TABLE II, the advantages of the absolute angular no.8, pp.1907–1915, July. 2014.
rotary sensor are listed as follows: [10] Wilfried Hortschitz, Harald Steiner, Matthias Sachse, Michael Stifter,
Franz Kohl, Johannes Schalko, Artur Jachimowicz, Franz Keplinger, and
(1) It is small-size comparing with other commercial Thilo Sauter, “Robust precision position detection with an optical MEMS

0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.
This article has been accepted for publication in a future issue of this journal, but has not been fully edited. Content may change prior to final publication. Citation information: DOI
10.1109/TIE.2014.2387794, IEEE Transactions on Industrial Electronics
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS

hybrid device,” IEEE Trans. Ind. Electron., vol.59, no.12, pp.4855–4862, Yangyang Dong received the B.S. degree in applied
Dec. 2012. mathematics from the BH University, Jilin, China, in
[11] Tseng, Po-Hsun, Chi-Jia Tong, and Ming-Tzer Lin, “Design a fast 2008 and the M.S. degree in probability and
tracking resolver to digital conversion method using FPGA for rotary mathematical statistics from Harbin Institute of
motion applications,” Journal of the Chinese Institute of Engineers, pp. Technology, Harbin, China, in 2010. She is currently
745–753 vol. 32, Jun. 2009. working toward the Ph.D. degree in mechanical
[12] Dexin Wang, Jay Brown, Tim Hazelton, and Jim Daughton, “360 angle engineering from the Harbin Institute of Technology
sensor using spin valve materials with SAF structure,” IEEE Trans. Shenzhen Graduate School, Shenzhen, China. Her
Magn., vol.41, no.10, pp.3700–3702, Oct. 2005. research interests focus on MEMS, piezoelectric
[13] Y. Kikuchi, F. Nakamura, H. Wakiwaka, and H. Yamada, “Consideration actuated systems, ultrasonic transducers, hysteresis
of magnetization and detection on magnetic rotary encoder using finite modeling and compensation for smart systems and
element method,” IEEE Trans. Magn., vol.33, no.2, pp. 2159–2162, Mar. nonlinear control theory.
1997.
[14] Seung-Ho Jeong; Se-Hyun Rhyu; Byung-Il Kwon; and Byung-taek Kim,
“Design of the rotary magnetic position sensor with the sinusoidally
magnetized permanent magnet,” IEEE Trans. Magn., vol.43, no.4,
pp.1837–1840, Apr. 2007. Chuangqiang Guo received his Ph.D. degree in
[15] Khaburi, D.A. “Software-Based Resolver-to-Digital Converter for Mechanical Engineering from Harbin Institute of
DSP-Based Drives Using an Improved Angle-Tracking Observer,” IEEE Technology (China) in 2012. He is currently an
Trans. Instrum. Meas., vol.61, no.4, pp.922–929 Apr. 2012. assistant research fellow in the State Key Laboratory
[16] Jianhui Hu, Jibin Zou, Fei Xu, Yong Li, and Yanchao Fu, “An improved of Robotics and System, Harbin Institute of
PMSM rotor position sensor based on linear hall sensors,” IEEE Trans. Technology. His current research interests focus on
Magn., vol. 48, no. 11, pp.3591–3594, Nov. 2012. design and control approaches to developing a space
[17] Hung Van Hoang and Jae Wook Jeon, “An efficient approach to correct remote manipulator with high accuracy and high
the signals and generate high-resolution quadrature pulses for magnetic reliability.
encoders,” IEEE Trans. Ind. Electron., vol. 58, no. 8, pp.3634–3646, Aug.
2011.
[18] Hou, C.-C.; Chiang, Y.-H.; Lo, C.-P., "DSP-based resolver-to-digital
conversion system designed in time domain," Power Electronics, IET,
vol.7, no.9, pp.2227-2232, Sep. 2014.
[19] Attaianese, C.; Tomasso, G., "Position Measurement in Industrial Drives Minghe Jin received the B.S. degree in vehicle
by Means of Low-Cost Resolver-to-Digital Converter," IEEE Trans. engineering, and the M.S. and Ph.D. degrees in
Instrum. Meas., vol.56, no.6, pp.2155-2159, Dec. 2007. mechanical engineering from Harbin Institute of
[20] Jianhui Hu, Jibin Zou, Fei Xu, Yong Li, and Yanchao Fu, “An improved Technology, Harbin, China, in 1993, 1996, and 2000,
PMSM rotor position sensor based on linear hall sensors,” IEEE Trans. respectively.
Magn., vol. 48, no. 11, pp.3591–3594, Nov. 2012. He is currently a Professor with the State Key
[21] Grover, Frederick W., “The calculation of the mutual inductance of Laboratory of Robotics and Systems, Harbin Institute
circular filaments in any desired positions,” Proceedings of the IRE, of Technology. His current research interests include
vol.32, no.10, pp.620–629, Oct. 1944. the dexterous robot hand, space robotics, and
[22] Babic, S. and Akyel, C., “Magnetic force between inclined circular real-time embedded control systems.
filaments placed in any desired position,” IEEE Trans. Magn., vol.48,
no.1, pp.69–80, Jan. 2012.

Hong Liu received the Ph.D. degree from Harbin

Zijian Zhang received the B.S. degree from
University of Jinan, Jinan, China, in 2008 and the M.S.
degree from Harbin Institute of Technology, Harbin,
China, in 2010. He is currently pursuing the Ph.D.
degree from the State Key Laboratory of Robotics and
Systems of Harbin Institute of Technology, Harbin,
China, all in mechanical engineering.
His research interests focus on sensors, electrical
system design of robot arms, synchronous impedance
control and multi-spaces priority impedance control.
Institute of Technology, Harbin, China, in 1993.
From 1991 to 1993, he was a Research Fellow with
the Institute of Robotics and System Dynamics,
Germany Aerospace Robotics Establishment,
Wessling, Germany. He is currently a Professor with
the State Key Laboratory of Robotics and System,
Harbin Institute of Technology. His current research
interests include the development of a dexterous
robot hand, space robotics, sensors, control
algorithms, etc.

Fenglei Ni received the B.S. and M.S. degrees in

electrical engineering and the Ph.D. degree in
mechanical engineering from Harbin Institute of
Technology, Harbin, China, in 1998, 2002, and 2007,
respectively.
Since 2012, he has been a Associate Professor in
mechanical engineering with Harbin Institute of
Technology. His research interests are ac motor
drives, power converters, and robot control
technologies.

0278-0046 (c) 2013 IEEE. Personal use is permitted, but republication/redistribution requires IEEE permission. See
http://www.ieee.org/publications_standards/publications/rights/index.html for more information.